US 12,004,828 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 Oct. 29, 2023, as Appl. No. 18/384,859.
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 2024/0058083 A1, Feb. 22, 2024
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)] 30 Claims
OG exemplary drawing
 
1. A multi-joint type surgical device comprising:
an end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and formed to be rotatable together with the jaws around a first shaft, the end tool being formed to allow at least pitch rotation and yaw rotation;
a jaw wire coupled to the end tool jaw pulley and moved in response to rotation of the end tool jaw pulley;
a connection part formed to extend in one direction, having the jaw wire passing therethrough, and having one end portion to which the end tool is coupled; and
a driving part coupled to the other end portion of the connection part and configured to control the pitch rotation and the yaw rotation of the end tool,
wherein the driving part includes:
a driving part jaw pulley formed to be rotatable around a second shaft, and coupled to the jaw wire;
a driving part relay pulley formed adjacent to the driving part jaw pulley, formed to rotate around a shaft fixed in position, and formed such that at least a portion of the jaw wire is wound therearound; and
a driving part satellite pulley formed adjacent to the driving part relay pulley, formed to be movable relative to the driving part relay pulley so that a position thereof relative to the driving part relay pulley is changed, and formed such that at least a portion of the jaw wire is wound therearound,
the end tool jaw pulley and the jaw are rotated while the jaw wire is moved in response to the rotation of the driving part jaw pulley,
two strands of the jaw wire, which emerge while being wound around the driving part jaw pulley, extend toward the end tool after being sequentially wound around the driving part relay pulley, the driving part satellite pulley, and the driving part relay pulley, and
when the driving part satellite pulley is moved relative to the driving part relay pulley, an overall length of the jaw wire in the driving part is changed so that the end tool performs the pitch rotation.