Patent ID: 12185918

BEST MODE

Hereinafter, the preferred embodiments will be described with reference to the accompanying drawings. The present disclosure is described with reference to the embodiments shown in the drawings, but this is just described as an embodiment, and the technical spirit of the present disclosure and the main structure and operation are not limited thereby.

FIG.3is a side view of an operation apparatus10according to an embodiment of the present disclosure.

In some drawings includingFIG.3, x, y and z axes perpendicular to one another are indicated. The x-y-z coordinate system by the x, y and z axes defined in the specification, drawings and claims is not an absolute coordinate system, but an arbitrary coordinate system for describing the steering direction of an end effector30and a positional relationship between the elements of the operation apparatus10. A plane defined by the x and y axes is referred to as an x-y plane, a plane defined by the x and z axes as an x-z plane, and a plane defined by the y and z axes as a y-z plane. Hereinafter, the lengthwise direction of the end effector30(the substantial lengthwise direction of the entire operation apparatus10) is described as being parallel to the x axis.

The operation apparatus10according to this embodiment is a surgical instrument for minimally invasive surgery, and is a non-powered manually operated apparatus driven by an operator's manipulation without power. However, the operation apparatus10is not necessarily limited to the surgical instrument. Any apparatus for performing a predetermined operation by steering the end effector30using a wire may be the operation apparatus of the present disclosure. Additionally, the operation apparatus10does not need to be a non-powered manually operated apparatus, and may be a partially automated apparatus using power or a fully automated apparatus.

As shown inFIG.3, the operation apparatus10includes an insertion unit11that is inserted into the body, and a manipulation unit12to manipulate the end effector30and a surgical tool20outside the body.

The insertion unit11includes the surgical tool20, the end effector30and a tube40in a sequential order from the front end. The manipulation unit12includes a fixture50to which the tube40is fixed, an actuation unit60and a handle70.

FIG.4is an enlarged diagram of the insertion unit11of the operation apparatus10.

Referring toFIG.4, the end effector30according to this embodiment is a series segment type structure that bends in whole, including a plurality of segments31connected in a line, each segment31being rotatable relative to each other. The end effector30bends in whole by the relative rotation of each segment31to steer the direction of a tip32. The end effector30is bendable in three dimensions (3D) to steer the direction of the tip32in 3D.

To help the understanding,FIGS.3and4show the end effector30in bent state, but in the initial unsteered state of the end effector30, each segment31is aligned in line and the end effector30is in unbent state.

The plurality of segments31according to this embodiment is rotatable relative to each other by a rolling motion, but is not limited thereto. For example, the plurality of segments31may be connected by pin coupling. Additionally, the end effector30is not necessarily limited to the structure including the plurality of segments and may be a single body that is rotatable with respect to the tube40.

The surgical tool20is coupled to the tip32of the end effector30. The surgical tool20according to this embodiment is scissors used to cut the tissues. The surgical tool20may be a different type of tool, for example, a laser irradiator and forceps, according to the task or the purpose of use of the operation apparatus10. Additionally, the surgical tool20may be detachably coupled to the end effector30and may be replaced with a different type of tool when needed.

Referring back toFIG.3, the tube40according to this embodiment includes a rigid part42having no flexibility extending from the fixture50, and a flexible part41having flexibility extending from the rigid part42. When at least a portion of the tube40is made of a flexible material that can be bent, the tube40may be properly inserted along the curved lumen in the body. The length of the rigid part42and the flexible part41may be adjusted to conform to the shape of the lumen in the body for entry into the surgery site. Additionally, the entire tube40may be formed as the flexible part or the rigid part when needed.

FIG.5is an enlarged diagram of the manipulation unit12of the operation apparatus10.

The fixture50is configured to fix the operation apparatus10in a proper position. The fixture50is held or fixed to a frame to fix the position and serves as a reference point of motion of the actuation unit60or the insertion unit11.

As shown inFIG.5, the actuation unit60of the manipulation unit12includes a joint module300connected to the fixture50, and a compensation module100and a manipulation shaft200rotatably connected to the fixture50by the joint module300.

Although not shown inFIGS.3and5, the operation apparatus10includes four wires21,22,23,24(seeFIG.14). The four wires21,22,23,24extend through the end effector30, the tube40and the fixture50with their front ends fixed to the tip32of the end effector30. According to this embodiment, the rear ends of the four wires21,22,23,24are connected to the compensation module100.

The compensation module100according to this embodiment includes tension compensators101,102to keep the wires tight.

Hereinafter, the operation and function of the tension compensators101,102will be described with reference toFIGS.6to9.

FIGS.6to9are schematic diagrams showing the configuration of the operation apparatus10. The detailed configuration of the operation apparatus10will be provided below. The surgical tool20and the handle70are omitted in FIGS.6to9.

As described below, 3D steering of the end effector30is possible, but the steering trajectory formed by the tip32of the end effector30on the x-z plane will be first described herein.

As shown inFIGS.6to9, the operation apparatus10includes a first wire21to steer the end effector30in the clockwise direction on the x-z plane, and a second wire22to steer the end effector30in the counterclockwise direction on the x-z plane.

The first wire21and the second wire22are spaced apart in the z direction with respect to the lengthwise central axis of the end effector30, and extend along the lengthwise direction of the end effector30. The first wire21and the second wire22extend through the end effector30, the tube40and the fixture50with their front ends fixed to the tip32of the end effector30.

For convenience for illustration, it appears as if the rear ends of the first wire21and the second wire22are fixed to the manipulation shaft200inFIGS.6to9, but in this embodiment, the rear ends of the first wire21and the second wire22are connected to the compensation module100. However, the rear ends of the first wire21and the second wire22may be fixed to the manipulation shaft200as shown inFIGS.6to9.

The manipulation shaft200is connected to the fixture50rotatably around a y-axial rotation central axis Ry perpendicular to the x-z plane on which the steering trajectory of the end effector30is placed.

The first tension compensator101and the second tension compensator102can change the position by moving forward away from the manipulation shaft200or moving back close to the manipulation shaft200.

The first tension compensator101is placed facing the first wire21and connected to the first wire21. In the specification, “connection” of two elements includes direct connection to bring the corresponding elements into operation, as well as indirect connection or contact to bring the corresponding elements into operation.

According to this embodiment, the first tension compensator101is formed in contact with the first wire21on the side of the first wire21. A first spring111which is an elastic member is connected to the first tension compensator101. The first spring111provides the first tension compensator101with a pushing force on the first wire21against a compression force of the first wire21on the first tension compensator101.

When the compression force on the first tension compensator101is stronger with the increasing tension of the first wire21, the first tension compensator101is pushed and moved back by the first wire21. When the compression force on the first tension compensator101is weaker with the decreasing tension of the first wire21(as the first wire21becomes loose), the first tension compensator101moves forwards and pushes the first wire21. That is, the first tension compensator101changes the position in response to the tension of the first wire21.

The second tension compensator102is placed facing the second wire22and connected to the second wire22. According to this embodiment, the second tension compensator102is formed in contact with the second wire22on the side of the second wire22. A second spring112which is an elastic member is connected to the second tension compensator102. The second spring112provides the second tension compensator102with a pushing force on the second wire22against a compression force of the second wire22on the second tension compensator102.

When the compression force on the second tension compensator102is stronger with the increasing tension of the second wire22, the second tension compensator102is pushed and moved back by the second wire22. When the compression force on the second tension compensator102is weaker with the decreasing tension of the second wire22(as the second wire22becomes loose), the second tension compensator102moves forwards and pushes the second wire22. That is, the second tension compensator102changes the position in response to the tension of the second wire22.

As shown inFIG.6, in the initial unsteered state of the end effector30, the compression force of the first wire21on the first tension compensator101and the pushing force of the first spring111on the first tension compensator101are balanced, and the first wire21is kept tight. Likewise, the compression force of the second wire22on the second tension compensator102and the pushing force of the second spring112on the second tension compensator102are balanced, and the second wire22is kept tight.

In the initial state, the tension of the first wire21and the tension of the second wire22are substantially equal, and the first tension compensator101and the second tension compensator102are substantially symmetrical with respect to the lengthwise central axis of the end effector30.

To move the surgical tool20closer to the surgery site, the insertion unit11is pushed into a cannula (not shown) that has been inserted into the body. In general, since the lumen in the body is not straight, the cannula is bent to conform to the shape of the lumen. Accordingly, as the tube40is inserted into the cannula, the flexible part41is bent to conform to the shape of the cannula.

FIG.7shows the operation apparatus10with the flexible part41in bent state.

As shown inFIG.7, when the flexible part41bends in the counterclockwise direction inFIG.7, the first wire21is pulled and tension increases, and the second wire22becomes looser with the decreasing tension.

When the tension of the first wire21increases, the compression force on the first tension compensator101in contact on the side is stronger, and accordingly the first tension compensator101is pushed and moved back by the first wire21.

In contrast, when the tension of the second wire22reduces, the compression force on the second tension compensator102in contact on the side is weaker. The second spring112provides a force in a direction of pushing the second wire22, and the second tension compensator102advances toward the second wire22to keep the second wire22tight until the compression force of the second wire22and the elastic force of the second spring112are balanced. As described above, the tension compensator according to this embodiment changes the position in response to the tension of the connected wire to keep the corresponding connected wire tight.

As shown inFIG.7, when the tube40enters the body and the tip32(or the surgical tool) of the end effector30is placed in a predetermined position, the surgery is performed by properly steering the end effector30.

FIG.8shows the steering of the end effector30in the clockwise direction.

The operator rotates the manipulation shaft200around the y-axial rotation central axis Ry. By the manipulation of the manipulation shaft200, the compression force of the first wire21on the first tension compensator101is stronger with the increasing tension of the first wire21, and the compression force of the second wire22on the second tension compensator102is weaker with the decreasing tension of the second wire22.

When the first tension compensator101and the second tension compensator102are in operating state in which they can freely operate, the first tension compensator101is pushed and moved further back by the first wire21. Accordingly, even though the first wire21is pulled, the point of action of force is not fixed, so the force is not transmitted to the end effector30. That is, until the position of the first tension compensator101is fixed by the complete compression of the first spring111, the end effector30can be scarcely steered, namely, “backlash” may occur.

To address this phenomenon, according to this embodiment, when the wire connected to the tension compensator is pulled to steer the end effector30, the tension compensator is in lock state in which the position is not changed.

Describing in more detail with reference toFIG.8, when the first wire21is pulled back to steer the end effector30in the clockwise direction, the first tension compensator101is shifted to the lock state in which the position is not changed from the corresponding position. That is, the point of action of force on the first wire21is fixed. In contrast, the second tension compensator102is still in the operating state in which the position can be changed.

Accordingly, when the manipulation shaft200is rotated in the clockwise direction, in the state in which the point of action of force is fixed, the first wire21kept tight is pulled, and the end effector30is immediately steered in the clockwise direction. That is, “backlash” does not occur.

When the end effector30is steered in the clockwise direction, the tension of the second wire22changes (when the end effector30is only steered on the x-z plane, the tension will reduce, but as described below, when 3D steering of the end effector30takes place, the tension of the second wire22may increase). As the second tension compensator102is in the operating state, the second tension compensator102spontaneously changes the position until the compression force of the second wire22and the elastic force of the second spring112are balanced, to keep the second wire22tight.

FIG.9shows the steering of the end effector30in the counterclockwise direction.

The end effector30may be restored from the state ofFIG.8to the linear state, or may be further steered in the counterclockwise direction. In this instance, the operator rotates the manipulation shaft200in the counterclockwise direction.

When the manipulation shaft200is rotated in the counterclockwise direction, the second wire22is pulled back, and at that moment, the second tension compensator102is shifted to the lock state in which the position is not changed from the corresponding position. That is, the point of action of force on the second wire22is fixed. In contrast, the first tension compensator101is shifted from the lock state to the operating state in which the position can be changed.

Accordingly, when the manipulation shaft200is rotated in the counterclockwise direction, in the state in which the point of action of force is fixed, the second wire22kept tight is pulled, and the end effector30is substantially immediately steered in the counterclockwise direction.

When the end effector30is steered in the counterclockwise direction, the tension of the first wire21changes (when the end effector30is only steered on the x-z plane, the tension will reduce, but as described below, when 3D steering of the end effector30takes place, the tension of the first wire21may increase). As the first tension compensator101is in the operating state, the first tension compensator101spontaneously changes the position until the compression force of the first wire21and the elastic force of the first spring111are balanced, to keep the first wire21tight.

As described above, the operation apparatus10according to this embodiment may always keep the wire tight using the tension compensator of which the position changes in response to the tension of the wire. Accordingly, it is possible to maintain the precision of the operation apparatus10by preventing the wire from getting loose for some reasons, for example, when steering the end effector, when the tube bends during the insertion into the body, and when the wire is worn out.

Further, according to this embodiment, when the wire is pulled to steer the end effector, the tension compensator is shifted to the lock state in which the position is not changed, to immediately steer the end effector in response to the wire manipulation, thereby improving the workability of the operation apparatus10.

Although this embodiment describes that the tension compensator is connected to the spring and changes the position in response to the tension of the wire, the present disclosure is not necessarily limited thereto.

The tension compensator may be any configuration that changes the shape in response to the tension of the wire, for example, an air pocket that is expanded or compressed by air pressure, or an element made of a shape-memory alloy that shrinks or expands by heat.

That is, the tension compensator according to the present disclosure is configured to keep the wire tight by changing the shape or position in response to the tension of the connected wire.

In this embodiment, the tension compensator is fixed to the compensation module and connected to the wire, but the tension compensator may be connected to the manipulation shaft.

Additionally, the tension compensator may change the position by an air cylinder or a link, rather than the spring.

When the tension compensator is configured to change the position by the spring as in this embodiment, it is possible to realize the non-powered operation apparatus10by the spontaneous position change of the tension compensator in response to the tension of the connected wire without a separate precise control by air or a source of power, for example, electricity.

The tension compensator may be shifted to the lock state by connecting a stopper to the manipulation shaft200and fixing the position of the tension compensator through a separate manipulation means, but the operation apparatus10according to this embodiment spontaneously shifts the tension compensator between the operating state and the lock state by the rotation of the manipulation shaft200.

FIGS.10to12are diagrams detailing the actuation unit60of the operation apparatus10.

As shown inFIG.10, the compensation module100includes a rotating frame120, a connecting frame130and a fixed frame140.

The rotating frame120is connected to the joint module300and is rotatable around the y-axial rotation central axis Ry with respect to the fixture50.

The fixed frame140includes a first fixed frame141positioned on the side of the first wire21, and a second fixed frame142positioned on the side of the second wire22with respect to the manipulation shaft200.

The connecting frame130has the front end to which the rotating frame120is fixed, and the rear end to which the first fixed frame141and the second fixed frame142are fixed at the same time.

The rotating frame120, the connecting frame130and the fixed frame140are fixed together, and when the rotating frame120rotates around the y-axial rotation central axis Ry, the entire compensation module100rotates around the y-axial rotation central axis Ry.

The first fixed frame141has a first receiving portion145inclined closer to the first wire21as it goes toward the rear end. The first spring111and the first tension compensator101are movably inserted into the first receiving portion145.

The first tension compensator101placed in the first receiving portion145is positioned at an angle along the inclined plane of the first receiving portion145. The first tension compensator101moves the position in the diagonal direction along the inclined plane of the first receiving portion145.

Since the compression force of the first wire21generally acts in the direction of inclination in which the first tension compensator101is positioned, the first tension compensator101may easily operate in response to the tension of the first wire21.

The first tension compensator101includes a head161having a portion of an approximately cylindrical shape, and a body162in the shape of a plate having a height that is lower than the head161and a predetermined length. The body162has a gear163having gear teeth on the upper surface.

The upper surface of the first receiving portion145is cut to a predetermined width to expose the gear163of the first tension compensator101(seeFIG.14).

Likewise, the second fixed frame142has a second receiving portion146inclined closer to the second wire22as it goes toward the rear end. The second spring112and the second tension compensator102are movably inserted into the second receiving portion146.

The second tension compensator102placed in the second receiving portion146is positioned at an angle along the inclined plane of the second receiving portion146. The second tension compensator102moves the position in the diagonal direction along the inclined plane of the second receiving portion146.

The second tension compensator102includes a head171having a portion of an approximately cylindrical shape, and a body172in the shape of a plate having a height that is lower than the head171and a predetermined length. The body172has a gear173having gear teeth on the upper surface.

The upper surface of the second receiving portion146is cut to a predetermined width to expose the gear173of the second tension compensator102.

The manipulation shaft200according to this embodiment is connected to the joint module300and is rotatably formed around the y-axial rotation central axis Ry with respect to the fixture50. The manipulation shaft200and the compensation module100have the same rotation central axis with respect to the fixture50, but each of them is independently rotatable around the axial rotation central axis Ry.

The manipulation shaft200includes a main shaft201, and branch shafts210,220formed from the side of the main shaft201toward the first wire21and the second wire22, respectively.

The main shaft201is connected to the joint module300rotatably around the y-axial rotation central axis Ry, and passes through the compensation module100. The rear end of the main shaft201extends over the compensation module100.

According to this embodiment, the size of an internal passage150of the compensation module100through which the main shaft201passes is larger than the diameter of the main shaft201. Accordingly, the main shaft201is spaced apart from the internal passage150of the compensation module100.

The first branch shaft210has an approximately “┐” shape that extends toward the first wire21and bends toward the first tension compensator101. A gear211that is engaged with the gear163of the first tension compensator101is formed on the inner surface at the end of the first branch shaft210.

The first wire21passes through the rotating frame120, and extends over the first branch shaft210and the head161of the first tension compensator101. The rear end of the first wire21is fixed to the first fixed frame141.

Likewise, the second branch shaft220has an approximately “┐” shape that extends toward the second wire22and bends toward the second tension compensator102. A gear221that is engaged with the gear173of the second tension compensator102is formed on the inner surface at the end of the second branch shaft220.

The second wire22passes through the rotating frame120, and extends over the second branch shaft220and the head171of the second tension compensator102. The rear end of the second wire22is fixed to the second fixed frame142.

As shown inFIG.10, a state in which the manipulation shaft200does not rotate relative to the compensation module100(i.e., a state in which the central axis of the manipulation shaft200and the compensation module100is placed in parallel to the x axis) is referred to as a neutral state. As described in more detail below, the compensation module100is connected to the joint module300by a rotary damper, and thus is supported to prevent it from rotating itself by its self-weight in the neutral state. The neutral state of the manipulation shaft200is maintained by the operator holding it to prevent it from rotating downwards. However, the manipulation shaft200may be also connected to the joint module300by the rotary damper to keep it in the neutral state.

In the neutral state, the manipulation shaft200is not in contact with the compensation module100and the first tension compensator101and the second tension compensator102connected thereto.

In more detail, in the neutral state, the gear211of the first branch shaft210of the manipulation shaft200is in non-contact with the gear163of the first tension compensator101a little bit apart, and the gear221of the second branch shaft220is in non-contact with the gear173of the second tension compensator102a little bit apart. Accordingly, both the first tension compensator101and the second tension compensator102are brought into the operating state in which the position can change in response to the tension of the connected wires.

AlthoughFIG.10shows the neutral state in which the first tension compensator101and the second tension compensator102are arranged in symmetry, the first tension compensator101and the second tension compensator102are not necessarily placed in symmetric position in the neutral state. When both the first tension compensator101and the second tension compensator102are shifted from the neutral state to the operating state, and the wire becomes loose irrespective of the active steering of the end effector30such as the bending of the tube40, each tension compensator spontaneously moves the position in response to the tension change of the connected wire, to keep the wire tight (seeFIG.7).

In the neutral state, to steer the end effector30in a direction (the clockwise direction), the operator rotates the manipulation shaft200around the y-axial rotation central axis Ry.

In this instance, as the manipulation shaft200and the compensation module100are independently rotatable around the y-axial rotation central axis Ry, the compensation module100supported by the rotary damper is maintained and only the manipulation shaft200rotates the y-axial rotation central axis Ry.

As shown inFIG.11, since the first branch shaft210and the first tension compensator101are a little bit apart from each other, when only the manipulation shaft200rotates around the y-axial rotation central axis Ry, the manipulation shaft200and the first tension compensator101(to be exact, the first branch shaft210and the first tension compensator101) come into contact with each other almost instantaneously.

Accordingly, the gear211of the first branch shaft210and the gear163of the first tension compensator101are engaged with each other, and the first tension compensator101is brought into the lock state in which the position is fixed at the current position. In contrast, the second tension compensator102is not interfered by the manipulation shaft200and thus is still in the operating state.

Subsequently, as shown inFIG.12, when the manipulation shaft200in contact with the first tension compensator101(i.e., the lock state of the first tension compensator101) is continuously rotated in the clockwise direction, the manipulation shaft200applies force to the compensation module100, and the manipulation shaft200and the compensation module100rotate around the y-axial rotation central axis Ry together.

The first wire21fixed to the compensation module100is pulled back by the rotation of the compensation module100.

As the first tension compensator101is in the lock state, in the state in which the point of action of force is fixed, the first wire21kept tight is pulled, and the end effector30is immediately steered in the clockwise direction. Since the gap between the first branch shaft210and the first tension compensator101is very small compared to the total size of the operation apparatus10, the time until the first branch shaft210and the first tension compensator101come into contact with each other is very short. Accordingly, the operator does not actually feel the time until the first branch shaft210and the first tension compensator101come into contact with each other in steering process.

In this instance, the second tension compensator102is in the operating state and keeps the second wire22tight.

In the state ofFIG.12, when the operator rotates the manipulation shaft200in the counterclockwise direction to steer the end effector30in the contrary direction (the counterclockwise direction), only the manipulation shaft200rotates and the second branch shaft220and the second tension compensator102come into contact with each other. Since the gap between the second branch shaft220and the second tension compensator102is also still small, when only the manipulation shaft200rotates around the y-axial rotation central axis Ry in the counterclockwise direction, the second branch shaft220and the second tension compensator102come into contact with each other almost instantaneously. Accordingly, the gear221of the second branch shaft220and the gear173of the second tension compensator102are engaged with each other, and the second tension compensator102is brought into the lock state in which the position is fixed at the current position.

In contrast, the first branch shaft210and the first tension compensator101are spontaneously released from the contact state. Accordingly, the first tension compensator101is brought into the operating state.

Subsequently, when the manipulation shaft200in contact with the second tension compensator102(i.e., the lock state of the second tension compensator102) is continuously rotated in the counterclockwise direction, the manipulation shaft200applies force to the compensation module100, and the manipulation shaft200and the compensation module100rotate around the y-axial rotation central axis Ry in the counterclockwise direction together.

Accordingly, the second wire22fixed to the compensation module100is pulled back by the rotation of the compensation module100.

As the second tension compensator102is in the lock state, in the state in which the point of action of force is fixed, the second wire22kept tight is pulled, and the end effector30is immediately steered in the counterclockwise direction. In the same way asFIG.12, even when the second branch shaft220and the second tension compensator102are spaced apart to the maximum extent, the gap between them is very small compared to the total size of the operation apparatus10, so the time until the second branch shaft220and the second tension compensator102come into contact with each other is very short. Accordingly, the operator does not actually feel the time until the second branch shaft220and the second tension compensator102come into contact with each other in the steering process.

In this instance, the first tension compensator101is in the operating state, and keeps the first wire21tight.

As described above, according to this embodiment, the first tension compensator101and the second tension compensator102arranged opposite in the rotation direction of the end effector30are spontaneously and selectively shifted to the lock state or the operating state according to the rotation of one manipulation shaft200. Accordingly, there is no need for a separate device or operation for manipulation of the tension compensator, thereby improving workability of the operation apparatus10.

Hereinabove, for the understanding of the concept, the actuation unit60is chiefly shown on the side, and the steering trajectory of the end effector30on the x-z plane has been described. However, according to this embodiment, the manipulation shaft200accomplishes 3D motion, making it possible to simultaneously make a rotating motion around the y-axial rotation central axis Ry and a rotating motion around a z-axial rotation central axis Rz perpendicular to the y-axial rotation central axis Ry, and it is possible to steer the end effector30in 3D by the 3D manipulation of the manipulation shaft200.

It will be described in detail with reference toFIGS.13to15.FIGS.13to15are detailed diagrams of the operation apparatus10, focusing on the actuation unit60.

As shown inFIGS.13and14, the joint module300has a structure including two universal joints400,500to achieve 3D steering of the end effector30.

The first universal joint400is a joint which allows the compensation module100to make a rotating motion around the y-axial rotation central axis Ry and a rotating motion around the z-axial rotation central axis Rz at the same time.

The first universal joint400includes a body401in the shape of an approximately square frame, and axes410,420,430,440protruding from the outer surface of each side of the body401.

The central axis of the first axis410and the second axis420arranged opposite in the z direction is concentric with the z-axial rotation central axis Rz. The central axis of the third axis430and the fourth axis440arranged opposite in the y direction is concentric with the y-axial rotation central axis Ry.

As shown inFIGS.13and14, the rotating frame120of the compensation module100has an approximately “E” shape including a pair of flanges121. The first axis410and the second axis420are rotatably inserted into the pair of flanges121. That is, the compensation module100may be rotatably connected to the first axis410and the second axis420, and rotate on the x-y plane with respect to the body401of the first universal joint400(rotate around the z-axial rotation central axis Rz).

Referring toFIG.15, the fixture50includes a pair of flanges57that extend rearwards. For convenience of description, althoughFIG.15shows a half cross section of the fixture50, the fixture50in complete shape has an approximately bowling pin shape that symmetrically covers the shape of the fixture50shown inFIG.15.

The third axis430and the fourth axis440are rotatably inserted into the pair of flanges57respectively. That is, the body401of the first universal joint400may rotate on the x-z plane with respect to the fixture50(rotate around the y-axial rotation central axis Ry). When the body401rotates around the y-axial rotation central axis Ry with respect to the fixture50, the connected compensation module100rotates around the y-axial rotation central axis Ry with respect to the fixture50together.

Meanwhile, rotary dampers411,421,431,441are installed at the axes410,420,430,440of the first universal joint400respectively to inhibit the free rotation of the connected elements100,50around the axes.

The rotary dampers411,421,431,441give a predetermined rotation resistance for the fixture50or the compensation module100to prevent the compensation module100from rotating itself by the gravitational force or external forces, not by the operation of the manipulation shaft200and keep the compensation module100in the neutral state with respect to the fixture50.

The second universal joint500is a joint which allows the manipulation shaft200to make a rotating motion around the y-axial rotation central axis Ry and a rotating motion around the z-axial rotation central axis Rz at the same time.

The second universal joint500includes a body501in the shape of a square cube, and axes510,520,530,540protruding from the outer surface of each side of the body501.

The central axis of the first axis510and the second axis520arranged opposite in the z direction is concentric with the z-axial rotation central axis Rz. The central axis of the third axis530and the fourth axis540arranged opposite in the y direction is concentric with the y-axial rotation central axis Ry.

A head204surrounded by the rotating frame120in the main shaft201of the manipulation shaft200is rotatably connected to the third axis530and the fourth axis540. Accordingly, the manipulation shaft200may rotate on the x-z plane with respect to the body501of the second universal joint500(rotate around the y-axial rotation central axis Ry).

The first axis510and the second axis520of the second universal joint500are rotatably connected to the body401of the first universal joint400. The body501of the second universal joint500may rotate on the x-y plane with respect to the body401of the first universal joint400(rotate around the z-axial rotation central axis Rz). When the body501rotates around the z-axial rotation central axis Rz, the connected manipulation shaft200rotates around the z-axial rotation central axis Rz together.

Meanwhile, as shown inFIG.13, the axes410,420,430,440of the first universal joint400and the rotating frame120of the compensation module100have a wire hole through which the first wire21, the second wire22, the third wire23and the fourth wire24pass, respectively.

Here, the third wire23is a wire for steering the end effector30in the clockwise direction on the x-y plane, and the fourth wire24is a wire for steering the end effector30in the counterclockwise direction on the x-y plane.

As shown inFIG.15, the four wires21,22,23,24extending forwards with respect to the joint module300are fixed to the tip32of the end effector30through the fixture50, the tube40and the end effector30.

A guide member54and a guide member53are inserted into the fixture50, the guide member54is formed in the shape of a ring that matches the lower end of a large diameter portion52of the fixture50and the guide member53is formed in the shape of a plate that matches a small diameter portion51. The guide member54has four wire holes56, and the guide member53also has four wire holes55.

The four wires21,22,23,24converge through the guide member54and the guide member53and extend into the tube40.

Although not shown, in addition to the four wires21,22,23,24, an actuating wire (not shown) connected to the surgical tool20may extend into the end effector30, the tube40and the fixture50.

A hole through which the actuating wire passes may be formed at the center of the body501of the second universal joint500, and a hole through which the actuating wire passes may be formed along the lengthwise center of the main shaft201of the manipulation shaft200.

To reduce the size of the actuation unit60of the operation apparatus10, the manipulation shaft200has a middle202having a small thickness at an overlapping area with the compensation module100, and a tail203behind the middle202extending over the compensation module100, to which the handle70is coupled.

The actuating wire is connected to an actuator72of the handle70. When the operator holds a grip71of the handle70and pulls the actuator72with a finger, the actuating wire is pulled and the surgical tool20is put into operation. Otherwise, in case that the surgical tool20is a laser irradiator, the actuating wire may be replaced with a thin electrical wire, and the actuator72may be replaced with a switch.

Referring back toFIGS.13to15, the four wires21,22,23,24extending rearwards with respect to the joint module300extend to the compensation module100.

As shown inFIG.15, in addition to the first branch shaft210and the second branch shaft220, the manipulation shaft200according to this embodiment further include a third branch shaft230and a fourth branch shaft240formed opposite in the y axis direction.

The structure of third branch shaft230and the fourth branch shaft240and the gear structure formed on them are substantially the same as the first branch shaft210and the second branch shaft220and its detailed description is omitted herein.

Additionally, in addition to the first fixed frame141and the second fixed frame142, the compensation module100further includes a third fixed frame and a fourth fixed frame arranged opposite in the y axis direction. The third fixed frame and the fourth fixed frame are also fixed to the rotating frame120by the connecting frame130. The structure of the third fixed frame and the fourth fixed frame is substantially the same as the first fixed frame141and the second fixed frame142and its detailed description is omitted herein.

A third tension compensator103is connected to the third fixed frame, and a fourth tension compensator104is connected to the fourth fixed frame.

The structure of the third tension compensator103and the fourth tension compensator104and the gear structure formed on them are substantially the same as the first tension compensator101and the second tension compensator102and its detailed description is omitted herein.

The third wire23passes through the rotating frame120, and extends over the third branch shaft230and the head of the third tension compensator103. The rear end of the third wire23is fixed to the third fixed frame.

The fourth wire24passes through the rotating frame120, and extends over the fourth branch shaft240and the head of the fourth tension compensator104. The rear end of the fourth wire24is fixed to the fourth fixed frame.

A guide groove212is formed on the outer surface of the first branch shaft210to guide the first wire21, and the head164of the first tension compensator101also has a guide groove. The second to fourth branch shafts and the second to fourth tension compensators also have guide grooves.

The end effector30is steered on the x-y plane by the actuation of the third wire23and the fourth wire24by the rotation of the manipulation shaft200around the z-axial rotation central axis Rz.

In this instance, the third tension compensator103is formed in contact with the third wire23on the side of the third wire23. That is, the third tension compensator103changes the position in response to the tension of the third wire23.

Additionally, the fourth tension compensator104is formed in contact with the fourth wire24on the side of the fourth wire24. That is, the fourth tension compensator104changes the position in response to the tension of the fourth wire24.

When the end effector30is steered in the clockwise direction on the x-y plane, the third tension compensator103is brought into the lock state, and the fourth tension compensator104is brought into the operating state in which the position changes in response to the tension of the fourth wire24. On the contrary, when the end effector30is steered in the counterclockwise direction on the x-y plane, the fourth tension compensator104is brought into the lock state, and the third tension compensator103is brought into the operating state in which the position changes in response to the tension of the third wire23.

The operation of the third and fourth tension compensators for the steering of the end effector30on the x-y plane will be easily understood with reference toFIGS.6to12by changing y and z axes to z and y axes respectively, the y-axial rotation central axis Ry to the z-axial rotation central axis Rz, and the first tension compensator101and the second tension compensator102to the third tension compensator103and the fourth tension compensator respectively.

By the joint module300of double universal joint structure, the manipulation shaft200and the compensation module100may make a rotating motion around the y-axial rotation central axis Ry and a rotating motion around the z-axial rotation central axis Rz perpendicular to the y-axial rotation central axis Ry at the same time.

The first wire21and the second wire22are brought into operation by the rotation of the x-z plane components during 3D rotation of the manipulation shaft200, and the third wire23and the fourth wire24are brought into operation by the rotation of the x-y plane components during 3D rotation of the manipulation shaft200. Accordingly, it will be understood that the first tension compensator101and the second tension compensator102are selectively operated by the rotation of the x-z plane components during 3D rotation of the manipulation shaft200, and the third tension compensator103and the fourth tension compensator104are selectively operated by the rotation of the x-y plane components during 3D rotation of the manipulation shaft200.

According to this embodiment, as the four tension compensators automatically operate in response to the tension of the wires connected to each tension compensator, it is possible to keep all the four wires tight in the 3D steering of the end effector30, thereby improving the manipulation performance of the operation apparatus10.

Many modifications and variations will be obvious to those skilled in the art from the foregoing description. Accordingly, the foregoing description should be interpreted as an example, and is provided for the purpose of teaching the best mode for practicing the present disclosure to those skilled in the art. Changes may be substantially made to the structure and/or function of the present disclosure without departing from the spirit of the present disclosure.