US 12,251,183 B2
Multi-joint type surgical device
Youngjae Song, Seongnam-si (KR); Jung Joo Lee, Seongnam-si (KR); Heejin Kim, Seongnam-si (KR); and Dongkyu Jang, Seongnam-si (KR)
Assigned to LIVSMED INC., Seongnam-si (KR)
Filed by LIVSMED INC., Seongnam-si (KR)
Filed on May 1, 2024, as Appl. No. 18/651,817.
Application 18/651,817 is a continuation of application No. 18/384,859, filed on Oct. 29, 2023, granted, now 12,004,828.
Application 18/384,859 is a continuation of application No. PCT/KR2022/006086, filed on Apr. 28, 2022.
Claims priority of application No. 10-2021-0055321 (KR), filed on Apr. 28, 2021.
Prior Publication US 2024/0285357 A1, Aug. 29, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/29 (2013.01); A61B 34/71 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A multi-joint type surgical device comprising a driving part configured to control a pitch rotation of an end tool,
wherein the driving part includes:
a driving part pitch relay pulley formed such that at least a portion of a wire is wound therearound; and
a driving part pitch satellite pulley that changes a position thereof relative to the driving part pitch relay pulley by moving relative to the driving part pitch relay pulley while being spaced a certain distance from the driving part pitch relay pulley, and is formed such that at least a portion of the wire is wound therearound,
wherein, when the driving part pitch satellite pulley is moved relative to the driving part pitch relay pulley, the pitch rotation of the end tool is controlled as an overall length of the wire in the driving part is changed.