WO2025234744A1 - Endoscopic suturing device - Google Patents

Abstract

Disclosed is an endoscopic suturing device. The endoscopic suturing device according to one aspect of the present invention comprises: a support housing coupled to an endoscope; a needle holder unit rotatably coupled to the support housing; and a needle member that is detachably coupled to the needle holder unit and configured to suture a target site while passing therethrough. The needle holder unit includes: a needle holder body that extends in the height direction of the support housing; and a needle sheath through-via that is formed inside the needle holder body, extends along an extension direction of the needle holder body, and is open at one end in the extension direction and accommodates a tendon sheath part. The needle member may be at least partially inserted into the needle holder body, and surrounded and supported by a portion of the tendon sheath part positioned inside the needle holder body.

Description

Endoscopic suture device

The present invention relates to an endoscopic suture device, and more particularly, to an endoscopic suture device having a structure in which a configuration for suturing a target area can be easily restrained and released, thereby enabling a suturing procedure to be easily performed.

An endoscope is a device that inserts a camera directly into the body of a person or animal to examine internal organs. Endoscopes allow examination of internal organs, joints, and blood vessels without making incisions, making the procedure simpler and easier than traditional invasive procedures.

Furthermore, from the patient's perspective, it allows for easy and accurate assessment of the internal condition without excessive damage to the body. Therefore, technologies utilizing endoscopes to assess the condition of various organs within the body are gaining attention.

Procedures performed in conjunction with endoscopic examinations include incisional or suturing procedures. The most widely known procedure, colonoscopy, utilizes an endoscope to determine the presence of tumors and, if found, to remove them immediately, preventing the progression of the disease to more serious consequences.

The above procedures, including the process of confirming the presence of a tumor and removing it, require various devices to be inserted into the body. Examples include a standard endoscope to confirm the presence of a tumor, an incision tool to remove the discovered tumor, and a suture tool to close the wound after tumor removal.

In this case, it is assumed that the endoscope and other aforementioned instruments will be inserted into the body through the oral cavity or other means. Therefore, it is desirable for these instruments to be as miniaturized as possible and to be inserted into the body together with the endoscope. This is to minimize unnecessary contact with other organs within the body and to minimize human error that may occur when controlling multiple instruments individually.

Accordingly, technologies for inserting not only endoscopes but also endoscopic tools into the body have been introduced.

Japanese Patent Publication No. 2024-061787 discloses an endoscopic suture system with an external instrument channel. Specifically, the endoscopic suture system is disclosed to be capable of performing both endoscopic procedures and suturing procedures by combining the endoscopic suture system with an endoscope provided in the endoscopic system. The prior art discloses the effect of combining multiple instrument channels into an endoscopic system, enabling simultaneous performance of various procedures.

However, the endoscopic suture system with an external instrument channel disclosed in the above-mentioned prior art only provides a method for performing various procedures. In other words, the above-mentioned prior art fails to provide a method for easily controlling the suture system to perform procedures such as suturing easily and simply.

Korean Patent Publication No. 10-2023-0173725 discloses a suture-based suturing device. Specifically, the device includes a mounting structure connectable to the distal end of an endoscope, enabling suturing as well as endoscopic procedures.

However, the suture-based device disclosed in the above-mentioned prior art document has a structure in which the suture ring, which performs the suturing operation, protrudes from the anterior side of the endoscope and is unstably connected to the endoscope. In other words, the above-mentioned prior art document does not provide a method for stably maintaining the position of the suture ring protruding from the anterior side of the endoscope.

Furthermore, the above prior art only discloses that a specific tissue can be sutured using a tissue perforation member, but does not disclose how to move the tissue perforation member and perform the suture procedure.

Japanese Patent Publication No. 2024-061787 (May 8, 2024)

Korean Patent Publication No. 10-2023-0173725 (December 27, 2023)

The present invention is intended to solve the above problems, and an object of the present invention is to provide an endoscopic suturing device having a structure that can easily bind and release a member for suturing a target area.

Another object of the present invention is to provide an endoscopic suture device having a structure capable of stably restraining the above-mentioned member.

Another object of the present invention is to provide an endoscopic suture device having a structure in which the position of the above-mentioned member can be easily adjusted.

Another object of the present invention is to provide an endoscopic suture device having a structure that can prevent arbitrary detachment of the above-mentioned member.

Another object of the present invention is to provide an endoscopic suture device having a structure capable of binding and releasing the above-mentioned member in various forms.

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

According to one aspect of the present invention, an endoscopic suturing device is provided, comprising: a support housing coupled to an endoscope; a needle holder portion rotatably coupled to the support housing; and a needle member detachably coupled to the needle holder portion and configured to penetrate a target area and suture the target area, wherein the needle holder portion includes: a needle holder body extending in a height direction of the support housing; and a needle sheath through-hole formed inside the needle holder body, extending along an extension direction of the needle holder body, and having one end in the extension direction formed open to receive a tendon sheath portion, wherein the needle member is at least partially inserted into the inside of the needle holder body and surrounded and supported by a portion of the tendon sheath portion positioned inside the needle holder body.

At this time, the tendon sheath portion includes a part of the needle sheath that penetrates the needle sheath penetration hole and extends along the extension direction of the needle holder body; a part of the needle tendon that is positioned inside the needle holder body and extends along the extension direction of the needle holder body; and another part of the needle tendon that is positioned inside the needle holder body and is continuous with one end of the part of the needle sheath and one end of the part of the needle tendon, respectively, and an endoscopic suturing device can be provided in which the needle member is supported on one side in the height direction by the other part.

Additionally, an endoscopic suture device may be provided in which the other portion of the needle tendon extends roundly to surround the outer side of the needle member.

At this time, an endoscopic suture device may be provided, wherein the needle holder portion is positioned inside the needle holder body, is spaced apart from the needle sheath, and includes a tendon ball coupled to the other end of the part of the needle tendon.

Additionally, an endoscopic suture device may be provided in which the tendon ball is positioned to face the needle sheath penetration hole with the needle member interposed therebetween.

At this time, the tendon ball may be provided as an endoscopic suture device having a sphere shape.

In addition, an endoscopic suturing device may be provided in which the tendon ball is supported by being coupled to the inner surface of the needle holder body.

At this time, an endoscopic suture device may be provided in which the tendon ball and the needle sheath are positioned facing each other with a portion of the needle holder body interposed therebetween.

In addition, an endoscopic suturing device may be provided in which the needle sheath penetration hole includes a first needle sheath penetration hole formed on one side of the needle holder body and communicating the inside and the outside of the needle holder body; and a second needle sheath penetration hole formed on the other side of the needle holder body and communicating the inside and the outside of the needle holder body, and the first needle sheath penetration hole and the second needle sheath penetration hole are arranged to face each other with the needle member interposed therebetween.

At this time, the tendon sheath includes a part of the needle sheath that penetrates the first needle sheath through-hole and extends along the extension direction of the needle holder body; another part of the needle sheath that penetrates the second needle sheath through-hole and extends along the extension direction of the needle holder body; and a needle tendon that is continuous with an end of the part of the needle sheath and an end of the other part of the needle sheath, respectively, and the needle member is supported on one side in the height direction by the needle tendon.

In addition, an endoscopic suture device may be provided, which includes a needle holder through-hole formed through one side of the needle holder body to connect the inside and the outside of the needle holder body and into which the needle member is inserted.

At this time, an endoscopic suture device may be provided, wherein the tendon sheath includes the needle member inserted into the needle holder through-hole and a portion extending roundly to surround the needle holder through-hole on one side in the height direction of the needle holder body.

In addition, an endoscopic suturing device may be provided, wherein the needle member includes a needle body extending in one direction and each end in the extending direction having a peak shape; and a tendon sheath coupling groove formed recessed in one side of the needle body to accommodate the tendon sheath portion.

At this time, an endoscopic suture device may be provided, wherein the tendon sheath portion includes: a portion of the needle sheath that penetrates the needle sheath penetration hole and extends along the extension direction of the needle holder body; a portion of the needle tendon that is positioned inside the needle holder body and extends along the extension direction of the needle holder body; and another portion of the needle tendon that is positioned inside the needle holder body and is continuous with one end of the portion of the needle sheath and one end of the portion of the needle tendon, respectively, and is retractably inserted into the tendon sheath coupling groove.

In addition, an endoscopic suturing device may be provided, wherein the needle holder portion includes a first needle holder portion that is detachably connected to one end of the needle member and is connected to one of the tendon sheath portions; and a second needle holder portion that is detachably connected to the other end of the needle member and is connected to the other of the tendon sheath portions.

At this time, an endoscopic suture device may be provided, wherein the tendon sheath coupling groove includes a first tendon sheath coupling groove positioned adjacent to the one end of the needle member and receiving one of the tendon sheath portions coupled to the first needle holder portion; and a second tendon sheath coupling groove positioned adjacent to the other end of the needle member and receiving the other of the tendon sheath portions coupled to the second needle holder portion.

In addition, an endoscopic suturing device may be provided, wherein the tendon sheath coupling grooves are formed in a pair and arranged to be spaced apart along the one direction, and the needle holder portion includes a first needle holder portion coupled with the tendon sheath portion accommodated in one of the tendon sheath coupling grooves; and a second needle holder portion coupled with the tendon sheath portion accommodated in the other of the tendon sheath coupling grooves.

At this time, an endoscopic suture device may be provided in which the needle member includes a thread through hole formed through the central portion of the extension direction of the needle body and to which a suture is connected.

In addition, an endoscopic suturing device may be provided in which the needle member includes a needle step portion that is formed protruding on the other side of the needle body opposite to the one side and extends in the one direction.

At this time, an endoscopic suture device may be provided in which the needle step portion is extended by a shorter length than the needle body, and each end of the needle step portion in the extension direction is positioned inward along the one direction compared to each end of the needle body in the extension direction.

According to the above configuration, the endoscopic suture device according to an embodiment of the present invention can easily bind and release a member for suturing a target area.

In addition, according to the above configuration, the endoscopic suture device according to the embodiment of the present invention can stably restrain the member.

In addition, according to the above configuration, the endoscopic suture device according to the embodiment of the present invention can easily adjust the position of the member.

In addition, according to the above configuration, the endoscopic suture device according to the embodiment of the present invention can prevent the member from being randomly detached.

In addition, according to the above configuration, the endoscopic suture device according to the embodiment of the present invention can bind and release the member in various forms.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

FIG. 1 is a perspective view showing an endoscopic suture device according to an embodiment of the present invention in a state in which the device is operated in a first arm operation position.

FIG. 2 is a perspective view showing a state in which an endoscopic suture device according to an embodiment of the present invention is operated in a second arm operation position.

Figures 3 to 5 are exploded perspective views showing the configuration of the female portion provided in the endoscopic suture device of Figures 1 and 2.

Fig. 6 is a perspective view showing a coupling housing provided in the dark portion of Figs. 1 and 2.

Figure 7 is a side view illustrating the combination housing of Figure 6.

Figures 8 and 9 are cross-sectional views showing the internal structure of the combination housing of Figure 6.

Figures 10 to 13 are other exploded perspective views showing the configuration of the dark portion of Figures 1 and 2.

Fig. 14 is a perspective view showing the joint structure of the support housing and the arm portion provided in the arm portion of Figs. 1 and 2.

Fig. 15 is a perspective view showing a support housing provided in the dark portion of Figs. 1 and 2.

Fig. 16 is a cross-sectional view illustrating the support housing of Fig. 15.

Figures 17 and 18 are perspective views showing the joint structure of the gear member and tendon sheath provided in the dark portion of Figures 1 and 2.

Fig. 19 is a cross-sectional view showing the joint structure of the support housing and the arm portion provided in the arm portion of Figs. 1 and 2.

FIG. 20 is a perspective view illustrating a dark section according to another embodiment of the present invention.

Fig. 21 is an exploded perspective view showing the configuration of the dark part of Fig. 20.

Fig. 22 is a perspective view showing a gear member provided in the dark part of Fig. 20.

Fig. 23 is a cross-sectional view showing the support housing of the dark part and the connecting structure of the dark part of Fig. 20.

Fig. 24 is a perspective view showing the joint structure between gear members provided in the dark part of Fig. 20.

FIG. 25 and FIG. 26 are perspective views illustrating a needle member provided in a dark portion according to each embodiment of the present invention.

FIG. 27 is a cross-sectional view illustrating a joint structure between a needle holder portion and other components provided in a dark portion according to one embodiment of the present invention.

Fig. 28 is a side cross-sectional view showing the joint structure of the needle holder portion and tendon sheath portion provided in the dark portion of Fig. 27 and the process of restraining and releasing the needle member accordingly.

FIG. 29 is a perspective view showing a joint structure between a needle holder part and other components provided in a dark part according to another embodiment of the present invention.

Fig. 30 is a side cross-sectional view showing the joint structure of the needle holder and tendon sheath provided in the endoscopic suture device of Fig. 29 and the process of restraining and releasing the needle member accordingly.

FIG. 31 and FIG. 32 are perspective views illustrating an operating unit provided in an endoscopic suture device according to an embodiment of the present invention.

Fig. 33 is a plan view showing the operating unit of Figs. 31 and 32.

Fig. 34 is a partial perspective view showing the operating unit of Figs. 31 and 32.

Figures 35 and 36 are exploded perspective views showing the configuration of the operating unit of Figures 31 and 32.

Fig. 37 is a perspective view showing an operating housing provided in the operating unit of Figs. 31 and 32.

Fig. 38 is a partially open perspective view showing the configuration of the operating unit of Figs. 31 and 32.

Figure 39 is an exploded perspective view showing the configuration of the operating unit of Figure 38.

Fig. 40 is a perspective view showing the configuration of the operating housing provided in the operating unit of Figs. 31 and 32.

Figures 41 and 42 are exploded perspective views showing the configuration of the rotary operating unit provided in the operating unit of Figures 31 and 32.

Fig. 43 is an exploded perspective view showing the configuration of the arm operating unit and the needle operating unit provided in the operating units of Figs. 31 and 32.

Figure 44 is a plan view and a partial enlarged view showing the dark operation unit of Figure 43.

Fig. 45 is a perspective view showing a lever lifting member provided in the operating unit of Fig. 38.

Fig. 46 is a plan view showing the joint structure of the lever member and the lever lifting member provided in the operating unit of Fig. 38.

Fig. 47 is a front view showing the lever driving member and lever pin member provided in the operating unit of Fig. 38.

Figure 48 is a cross-sectional view illustrating the lever drive member and lever pin member of Figure 47.

Figure 49 is an exploded perspective view showing the needle operating unit of Figure 43.

Fig. 50 is a cross-sectional view showing the joint structure between the components of the needle operating unit of Fig. 43.

Figures 51 and 52 are perspective views showing a lever restraint member provided in the needle operating unit of Figure 43.

FIGS. 53 to 55 are open plan views illustrating a process in which the operations of the arm operating unit and the needle operating unit are linked according to an embodiment of the present invention.

Figures 56 and 57 are partially open plan views illustrating the process of operating the needle operating unit of Figure 43.

Figures 58 to 61 are a partially open plan view and a partially open perspective view illustrating the process of operating the needle rod section of Figure 43.

This invention was derived as part of the performance of the following national project.

[Task ID]

2024: 2420002587

2025, 2026, 2027: Before assigning a unique number

[Ministry Name] Ministry of SMEs and Startups

[Research Management Specialist Agency] Small and Medium Business Technology Information Promotion Agency

[Research Project Name] High-Risk, High-Performance R&D Project

[Research Project Title] Development of a High-Reflection Flexible Surgical Robot Platform for Minimally Invasive Surgery

[Organizer] Endrobotics Co., Ltd.

[Contribution rate] 100

[Research period for the current year]

2024: March 1, 2024 - December 31, 2024

2025: January 1, 2025 - December 31, 2025

2026: January 1, 2026 - December 31, 2026

2027: January 1, 2027 - February 28, 2027

[Total research period] March 1, 2024 - February 28, 2027

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. To clearly explain the present invention, parts irrelevant to the description are omitted in the drawings, and the same reference numerals designate identical or similar components throughout the specification.

The words and terms used in this specification and claims should not be construed as limited to their ordinary or dictionary meanings, but should be interpreted in a way that is consistent with the technical idea of the present invention, in accordance with the principles by which the inventor can define terms and concepts in order to best explain his or her invention.

Therefore, the embodiments described in this specification and the configurations illustrated in the drawings correspond to a preferred embodiment of the present invention, and do not represent all of the technical ideas of the present invention, so there may be various equivalents and modified examples that can replace the configuration at the time of filing of the present invention.

In the following description, descriptions of some components may be omitted to clarify the features of the present invention.

The term "fluid communication" as used herein refers to one or more elements being fluidly connected to one another. In one embodiment, the fluid communication may be formed by elements such as conduits, pipes, or piping. In the following description, the fluid communication may be used in the same sense as one or more elements being "fluidly connected" to one another.

The term "conduction" as used herein refers to the connection of one or more elements to enable the transmission of current or electrical signals. In one embodiment, the conduction may be formed in a wired form, such as by a conductor element, or in a wireless form, such as Bluetooth, Wi-Fi, or RFID. In one embodiment, the conduction may also include the meaning of "communication."

The term "fluid" used in the following description refers to any form of material that can flow and change shape or volume, etc., due to an external force. In one embodiment, the fluid may be a liquid such as water or a gas such as air.

The terms “upper side,” “lower side,” “left side,” “right side,” “front side,” and “rear side” used in the following description shall be understood with reference to the coordinate system depicted throughout the attached drawings.

Referring to FIGS. 1 to 5, an endoscopic suture device (1) according to an embodiment of the present invention is illustrated. The endoscopic suture device (1) according to an embodiment of the present invention can be operated in combination with a conventional endoscope (not shown). That is, the endoscopic suture device (1) can be utilized as an add-on to an endoscope (not shown).

In addition, the endoscopic suture device (1) may be positioned adjacent to the endoscope (not shown), but may be positioned on the outer periphery of the endoscope (not shown) so as not to obstruct the field of view of the endoscope (not shown). Accordingly, not only endoscopic procedures but also suturing procedures can be performed easily and accurately.

At this time, the endoscopic suture device (1) can be rotated relative to the attached endoscope (not shown). Accordingly, the area photographed by the endoscope (not shown) can be operated at various angles.

Furthermore, the endoscopic suture device (1) can bind and release a component for suturing (i.e., a needle member (400) to be described later) in various forms, and change the position of the component. Accordingly, the suturing process of the target area for suturing can be performed easily and accurately.

In addition, the endoscopic suture device (1) can be linked to the process of binding and releasing the above-described configuration and the operation of another configuration (i.e., the operating arm (300) to be described later) that binds the above-described configuration. That is, the above-described configuration can be released only when the other configuration is positioned at a predetermined position.

Therefore, operator error can be intuitively prevented, thereby improving work accuracy.

In the illustrated embodiment, the endoscopic suture device (1) includes a female portion (10) and a tendon sheath portion (30). In addition, referring further to FIGS. 31 to 36, the endoscopic suture device (1) further includes an operating portion (20).

The arm (10) is configured to be inserted into the body together with an endoscope (not shown) to perform a preset procedure. The arm (10) can be coupled with the endoscope (not shown) and moved together. In one embodiment, the arm (10) can be coupled with the endoscope (not shown) to enable linear or rotational movement.

The operating unit (20) is a component that controls the operation of the arm (10). The operating unit (20) is not inserted into the body but is located outside the body, and can be operated by an operator or any device. The operating unit (20) is connected to the arm (10), and the operation of the operating unit (20) can be linked to the operation of the arm (10).

The tendon sheath (30) is a configuration that connects the arm portion (10) and the operating portion (20). The tendon sheath (30) is respectively coupled to the arm portion (10) and the operating portion (20) and provides the operation applied to the operating portion (20) to the arm portion (10). In one embodiment, the tendon sheath (30) may be configured to operate the operating arm portion (300) or the needle holder portion (500) provided in the arm portion (10). Furthermore, the tendon sheath (30) may rotate the endoscope coupling body (120), which will be described later, so that the endoscopic suture device (1) rotates relatively to the endoscope (not shown).

The tendon sheath (30) can be divided into a tendon and a sheath. The tendon is operated by an external force applied to the operating unit (20), thereby operating the operating arm (300) or the needle holder unit (500) or rotating the endoscope coupling body (120). The sheath protects the tendon by wrapping it radially outward. For this purpose, a hollow space may be formed within the sheath.

Additionally, the sheath can be fixedly connected to the arm (10) or the operating portion (20) to support the tendon.

At this time, the tendon system (30) may be configured in multiple pieces to connect various configurations provided in the arm (10) and the operating section (20).

In the embodiments illustrated in FIGS. 1 to 7, the tendon sheath (30) is configured to include a needle tendon sheath (31), an arm tendon sheath (32), and a rotation tendon sheath (33).

The needle tendon sheath (31) is connected to the needle holder portion (500) of the arm portion (10) to be described later and the needle operating portion (900) of the operating portion (20), respectively. The needle tendon sheath (31) is moved by an external force applied to the needle operating portion (900) to release the needle member (400) from the needle holder portion (500) or bind it to the needle holder portion (500).

A plurality of needle tendon sheaths (31) may be provided. The plurality of needle tendon sheaths (31) may be respectively coupled to a plurality of needle holder parts (500a, 500b). The plurality of needle tendon sheaths (31) may be respectively coupled to a needle drive part (930) and a needle load part (940). The plurality of needle tendon sheaths (31) may be moved together with the needle drive part (930) or the needle load part (940).

In the illustrated embodiment, the needle tendon sheath (31) includes a first needle tendon sheath (31a) and a second needle tendon sheath (31b). The first needle tendon sheath (31a) is coupled with the first needle holder portion (500a), and the second needle tendon sheath (31b) is coupled with the second needle holder portion (500b).

The first needle tendon sheath (31a) and the second needle tendon sheath (31b) can be respectively coupled to the needle drive unit (930) and the needle load unit (940) at different locations.

The needle tendon sheath (31) may be configured to include a needle tendon (31') and a needle sheath (31''). The needle tendon (31') may serve to restrain or release a needle member (400) to be described later. The needle tendon (31') may be at least partially accommodated within the needle holder portion (500) and may at least partially surround the needle member (400). The needle tendon (31') may be coupled with the needle rack gear (932) of the needle operating portion (900) and may move together.

The needle sheath (31'') at least partially surrounds the needle tendon (31'). The needle sheath (31'') can be coupled to the needle holder portion (500). In one embodiment, the needle sheath (31'') can be penetratingly coupled to be fixed to the needle holder portion (500).

In addition, the needle sheath (31'') can be coupled with the needle load portion (940) and moved together. As will be described later, when the needle load portion (940) is manipulated, the needle sheath (31'') can be moved together. Consequently, the needle sheath (31'') can be moved relative to the needle tendon (31'), thereby binding or releasing the needle member (400).

The arm tendon sheath (32) is connected to the operating arm (300) of the arm section (10) and the operating arm (800) of the operating section (20), which will be described later. The arm tendon sheath (32) transmits an external force applied to the operating arm section (800) to the operating arm section (300).

A plurality of arm tendon sheaths (32) may be provided. The plurality of arm tendon sheaths (32) may be respectively coupled to the plurality of operating arms (300a, 300b). One side of the plurality of arm tendon sheaths (32) may be coupled to the lever lifting member (830), and the other side of the plurality of arm tendon sheaths (32) may be respectively coupled to the lever driving member (840).

In the illustrated embodiment, the arm tendon sheath (32) includes a first arm tendon sheath (32a) and a second arm tendon sheath (32b). The first arm tendon sheath (32a) is coupled with a first gear member (350a) of the first operating arm (300a), and the second arm tendon sheath (32b) is coupled with a second gear member (350b) of the second operating arm (300b).

The first arm tendon sheath (32a) and the second arm tendon sheath (32b) can be respectively coupled to the lever lifting member (830) and the lever driving member (840) at different positions.

The female tendon sheath (32) may be configured to include a female tendon (32') and a female sheath (32''). The female tendon (32') may apply a rotational force to a gear member (350) to be described later. The female tendon (32') is connected to the gear member (350), the lever lifting member (830), and the lever driving member (840), respectively. The female tendon (32') may be moved together with the lever lifting member (830) and the lever driving member (840).

The female sheath (32'') at least partially surrounds the female tendon (32'). The female sheath (32'') can be coupled to the support body (210) of the operating arm (300). In one embodiment, the female sheath (32'') can be penetrated and secured to the support body (210).

Additionally, the female sis (32'') can be fixedly connected to the operating housing (600) of the operating unit (20) to be described later. The female sis (32'') can movably accommodate and support the female tendon (32').

The rotating tendon sheath (33) is connected to the joint housing (100) of the arm portion (10) to be described later and the rotation operating section (700) of the operating section (20), respectively. The rotating tendon sheath (33) transmits an external force applied to the rotation operating section (700) to the joint housing (100).

The rotating tendon sheath (33) may be formed to form a continuous closed loop. A portion of the rotating tendon sheath (33) may be coupled with the endoscope coupling body (120) of the coupling housing (100). In addition, another portion of the rotating tendon sheath (33) may be accommodated in the operating housing (600) and coupled with the rotation transmission member (720) of the rotating operating unit (700).

The rotation tendon sheath (33) can be rotated together with the rotation transmission member (720). In addition, the endoscope coupling body (120) can be rotated together with the rotation tendon sheath (33).

Although not shown, the rotation tendon sheath (33) may also be configured to include a rotation tendon and a rotation sheath. The rotation tendon may be directly coupled to the endoscope coupling body (120) and the rotation transmission member (720). The rotation sheath may at least partially surround the rotation tendon and be fixedly coupled to the coupling body (110) and the operating housing (600). The rotation sheath may support and protect the rotation tendon.

Below, each component of the arm section (10) and the operating section (20) will be described in turn, and the process of linking the operations between each component will be described later. In addition, the specific coupling relationship between the tendon sheath section (30) and the arm section (10) or the operating section (20) will also be described later.

Referring again to FIGS. 1 to 5, the arm portion (10) according to the illustrated embodiment includes a coupling housing (100), a support housing (200), an operating arm portion (300), a needle member (400), and a needle holder portion (500).

The coupling housing (100) is configured to couple the female portion (10) with an endoscope (not shown). A hollow space is formed within the coupling housing (100), through which an endoscope (not shown) can be connected. In other words, the coupling housing (100) is configured to surround the endoscope (not shown) that has penetrated the hollow space from the radial outside.

In one embodiment, the coupling housing (100) can be rotated around the endoscope (not shown). That is, the coupling housing (100) can be moved along the outer circumference of the endoscope (not shown). In the above embodiment, the position and angle of the endoscopic suturing device (1) can be adjusted without separating the endoscopic suturing device (1) and the endoscope (not shown).

The coupling housing (100) is coupled with the support housing (200). The support housing (200) can rotatably support the operating arm (300) while being coupled with the coupling housing (100).

In the embodiments illustrated in FIGS. 6 to 9, the coupling housing (100) includes a coupling body (110), an endoscope coupling body (120), a coupling protrusion (130), and an inclined protrusion (140).

The coupling body (110) constitutes a portion of the outer shape of the coupling housing (100). A hollow space is formed inside the coupling body (110) to accommodate the endoscope coupling body (120). The coupling body (110) is coupled to the endoscope coupling body (120) and supports it. At this time, the coupling body (110) can rotatably support the endoscope coupling body (120).

A coupling protrusion (130) is formed on one side of the outer circumference of the coupling body (110), in the illustrated embodiment, on the front side. The coupling housing (100) can be coupled to the support housing (200) via the coupling protrusion (130).

An inclined protrusion (140) is formed on the outer side of the coupling body (110), in the illustrated embodiment, the front side. The support housing (200) coupled with the coupling housing (100) and the operating arm (300) supported thereby are supported by the inclined protrusion (140) and can be extended at a predetermined angle with respect to the endoscope (not shown).

The coupling body (110) may have any shape to which other configurations of the coupling housing (100) can be coupled and formed. In the illustrated embodiment, the coupling body (110) is a three-dimensional shape having one side of the outer periphery, i.e., the front side, as a flat surface, while the other side has a rounded curved shape that is convex outward.

At this time, a hollow is formed inside the coupling body (110) that penetrates in the height direction, i.e., in the vertical direction in the illustrated embodiment. An endoscope coupling body (120) can be penetrated and coupled into the hollow. The hollow can be formed as a cylindrical space having a circular cross-section and a vertical height corresponding to the shape of the endoscope coupling body (120).

In the illustrated embodiment, the coupling body (110) includes a rotating sieve through hole (111).

The rotational sheath penetration hole (111) is a portion where the coupling body (110) is coupled with the rotational tendon sheath (33). The rotational sheath penetration hole (111) can be formed as a space corresponding to the rotational tendon sheath (33) or the rotational sheath.

A rotational sheath penetration hole (111) is formed on one side of the outer circumference of the coupling body (110), on the front side in the illustrated embodiment. The rotational sheath penetration hole (111) extends in the height direction of the coupling body (110), in the vertical direction in the illustrated embodiment. One side of the extension direction of the rotational sheath penetration hole (111), on the lower side in the illustrated embodiment, may be formed open to provide a passage through which the rotational tendon sheath (33) is inserted.

The other side of the extension direction of the rotational sheath penetration hole (111), in the illustrated embodiment, the upper side, is formed open and communicates with the rotational tendon receiving space (123) of the endoscope coupling body (120). The rotational tendon sheath (33) or the rotational tendon can extend from the rotational sheath penetration hole (111) to the rotational tendon receiving space (123).

The rotational sheath penetration hole (111) may have a shape corresponding to the shape of the rotational tendon sheath (33) or the rotational tendon or rotational sheath provided therewith. In the illustrated embodiment, the rotational sheath penetration hole (111) is formed as a cylindrical space having a circular cross-section and a vertical height.

A plurality of rotational sheath penetration holes (111) may be formed. Each of the plurality of rotational sheath penetration holes (111) may be respectively connected to the exterior of the coupling body (110) and the rotational tendon receiving space (123). In the illustrated embodiment, the rotational sheath penetration holes (111) are formed in pairs and spaced apart from each other in the left-right direction.

In the above embodiment, the rotation tendon sheath (33) may extend into the rotation tendon receiving space (123) through one rotation tendon through-hole (111) and may extend to the outside of the coupling body (110) through another rotation tendon through-hole (111).

The endoscope coupling body (120) is configured such that the coupling housing (100) is coupled with an endoscope (not shown). A hollow space (i.e., an endoscope receiving space (121) to be described later) is formed through the interior of the endoscope coupling body (120), through which an endoscope (not shown) can be coupled. In one embodiment, the endoscope coupling body (120) can movably support an endoscope (not shown).

In other words, the coupling housing (100) can be moved linearly relative to the endoscope (not shown) coupled with the endoscope coupling body (120).

The endoscope coupling body (120) is coupled to the coupling body (110). Specifically, the endoscope coupling body (120) is coupled through a hollow space formed inside the coupling body (110).

The endoscope coupling body (120) can be rotatably coupled to the coupling body (110). The endoscope coupling body (120) can be rotated relative to the coupling body (110). The rotation can be achieved by an external force applied to the rotation operating unit (700) and transmitted to the rotation tendon sheath (33). For this purpose, the endoscope coupling body (120) is coupled to the rotation tendon sheath (33).

The endoscope coupling body (120) may have a shape corresponding to the shape of the coupling body (110) or the endoscope (not shown). In the illustrated embodiment, the endoscope coupling body (120) is formed in a cylindrical shape with a circular cross-section and a vertical height.

In the illustrated embodiment, the endoscope coupling body (120) includes an endoscope receiving space (121), a coupling slit (122), a rotation tendon receiving space (123), and a rotation tendon coupling hole (124).

The endoscope receiving space (121) is a space formed inside the endoscope coupling body (120). An endoscope (not shown) is penetrated and coupled into the endoscope receiving space (121). The endoscope receiving space (121) is formed to penetrate in the height direction of the endoscope coupling body (120), in the vertical direction in the illustrated embodiment. Each end of the endoscope receiving space (121) in the height direction, in the illustrated embodiment, the upper end and the lower end, are each formed to be open, so that an endoscope (not shown) can be penetrated and coupled.

The endoscope receiving space (121) may have a shape corresponding to the shape of an endoscope (not shown). In the illustrated embodiment, the endoscope receiving space (121) is formed as a cylindrical space having a circular cross-section and a vertical height.

At this time, a plurality of protrusions may be formed on the inner periphery of the endoscope coupling body (120) surrounding the endoscope receiving space (121) and extending in the height direction, i.e., in the up-down direction, and spaced apart along the inner periphery. The protrusions may support the outer periphery of the endoscope (not shown).

A coupling slit (122) is formed on one side of the endoscope coupling body (120) in the height direction, in the illustrated embodiment, on the lower side. The coupling slit (122) is formed by partially cutting into the outer circumferential surface of the endoscope coupling body (120). In the illustrated embodiment, the coupling slit (122) extends upward from the lower end of the endoscope coupling body (120) by a predetermined length and is formed to penetrate in the radial direction.

As the coupling slit (122) is formed, the endoscope (not shown) can be easily coupled with the endoscope coupling body (120). In other words, the endoscope (not shown) can be inserted into the endoscope receiving space (121) in a direction from the lower side of the endoscope coupling body (120) in the illustrated embodiment, where the coupling slit (122) is formed.

A plurality of coupling slits (122) may be formed. A plurality of coupling slits (122) may be formed spaced apart by a predetermined interval along the outer circumference of the endoscope coupling body (120). Accordingly, the coupling slits (122) provide a space for the endoscope coupling body (120) to be deformed, so that the endoscope (not shown) can be easily inserted into the endoscope receiving space (121).

The rotation tendon receiving space (123) is a space for receiving the rotation tendon of the rotation tendon sheath (33). The rotation tendon receiving space (123) is connected to the rotation sheath penetration hole (111) and the rotation tendon connecting hole (124), respectively. The rotation tendon receiving space (123) can extend between the rotation sheath penetration hole (111) and the rotation tendon connecting hole (124).

A rotation tendon receiving space (123) is formed inside the endoscope coupling body (120). At this time, the rotation tendon receiving space (123) is located between the outer circumference of the endoscope coupling body (120) and the endoscope receiving space (121) along the radial direction.

The rotation tendon receiving space (123) may be in any shape that can form a path for the rotation tendon by being connected to the rotation system penetration hole (111) and the rotation tendon connecting hole (124), respectively. In the illustrated embodiment, the rotation tendon receiving space (123) is formed as a ring-shaped space.

One diametrical side of the rotating tendon receiving space (123), the front side in the illustrated embodiment, is connected to a pair of rotating sheath penetration holes (111) at different positions. The other diametrical side of the rotating tendon receiving space (123), the rear side in the illustrated embodiment, is connected to a rotating tendon connecting hole (124).

The rotation tendon connecting hole (124) is a portion where the rotation tendon is fixed to the endoscope connecting body (120). The rotation tendon connecting hole (124) is connected to the rotation tendon receiving space (123), so that the rotation tendon can pass through the rotation tendon connecting hole (124).

The rotary tendon coupling hole (124) extends in the height direction of the endoscope coupling body (120), in the vertical direction in the illustrated embodiment. One side of the extension direction of the rotary tendon coupling hole (124), the lower side in the illustrated embodiment, is in communication with the rotary tendon receiving space (123). The other side of the extension direction of the rotary tendon coupling hole (124), the upper side in the illustrated embodiment, is formed open.

A plurality of rotation tendon coupling holes (124) may be formed. The plurality of rotation tendon coupling holes (124) may be spaced apart from each other along the outer periphery of the endoscope coupling body (120). In the illustrated embodiment, a pair of rotation tendon coupling holes (124) are formed.

In the above embodiment, the rotary tendon can be fixedly connected to the endoscope coupling body (120) by passing through one rotary tendon coupling hole (124) from the bottom to the top and passing through the other rotary tendon coupling hole (124) from the top to the bottom.

Accordingly, when the rotary tendon sheath (33) is moved, the endoscope coupling body (120) coupled thereto can be rotated together. Consequently, the coupling body (110) can be rotated relative to the endoscope coupling body (120) and the endoscope (not shown) coupled thereto.

The coupling protrusion (130) is configured to couple the coupling housing (100) with the support housing (200). The coupling housing (100) can be coupled with the support housing (200) while being coupled with an endoscope (not shown).

The engaging protrusion (130) is engaged with the engaging body (110). Specifically, the engaging protrusion (130) is engaged with an inclined protrusion (140) formed on one side of the outer circumference of the engaging body (110), that is, on the front side in the illustrated embodiment, and is formed to protrude therefrom. Accordingly, it will be understood that the engaging protrusion (130), the inclined protrusion (140), and the engaging body (110) are sequentially positioned in a direction from the radially outer side of the engaging body (110) toward the inner side.

The coupling protrusion (130) is inserted and coupled into the housing coupling groove (211) of the support housing (200). The coupling protrusion (130) may have a shape corresponding to the shape of the housing coupling groove (211). In the illustrated embodiment, the coupling protrusion (130) is formed as a cylindrical protrusion having a circular cross-section and a height in the front-back direction.

A plurality of coupling protrusions (130) may be formed. The plurality of coupling protrusions (130) are spaced apart from each other and can be respectively coupled with a plurality of housing coupling grooves (211) at a plurality of locations. In the illustrated embodiment, the coupling protrusions (130) are formed in pairs and spaced apart in the width direction of the coupling body (110), i.e., in the left-right direction.

The number and arrangement of the coupling protrusions (130) may be changed depending on the number and arrangement of the housing coupling grooves (211).

The inclined protrusion (140) is configured to adjust the coupling angle of the coupling housing (100) and the support housing (200). As the inclined protrusion (140) is formed, the operating arm (300) coupled with the support housing (200) can be extended at a predetermined angle (i.e., a first angle (a1) to be described later) with respect to the coupling housing (100) or an endoscope (not shown) coupled thereto.

Accordingly, the operating arm (300) and the needle member (400) and needle holder (500) combined therewith can be extended at an angle optimized for various procedures without obstructing the field of view of the endoscope (not shown).

The inclined protrusion (140) is coupled with the connecting body (110). The inclined protrusion (140) is located on one side of the outer periphery of the connecting body (110), i.e., the front side in the illustrated embodiment. The inclined protrusion (140) is continuous with the one side of the outer periphery of the connecting body (110), i.e., the front side.

The inclined protrusion (140) is coupled with the engaging projection (130). The engaging projection (130) is formed protruding on the outer side of the inclined protrusion (140), the front side in the illustrated embodiment.

The inclined protrusion (140) supports the support housing (200). The support housing (200) can be supported by the inclined protrusion (140) in a state where the housing coupling groove (211) is coupled with the coupling protrusion (130).

The inclined protrusion (140) may be formed so that its horizontal cross-sectional area changes along its height direction. In the illustrated embodiment, the inclined protrusion (140) is formed so that the cross-sectional area on one side in the height direction, that is, the lower side, is larger than the cross-sectional area on the other side in the height direction, that is, the upper side. That is, the cross-sectional area of the inclined protrusion (140) decreases from the lower side to the upper side. This means that one outer surface of the inclined protrusion (140), the front side in the illustrated embodiment, extends slantingly toward the rear in a direction from the lower side to the upper side.

That is, the above-mentioned one side of the inclined protrusion (140), i.e., the front side, is formed as an inclined surface whose angle with the front side of the connecting body (110) is a first angle (a1).

The support housing (200) rotatably supports the operating arm (300). The operating arm (300) can be rotated in either a clockwise or counterclockwise direction while being coupled with the support housing (200). Accordingly, the needle holder (500) coupled with the operating arm (300) and the needle member (400) coupled thereto can also be rotated in either of the above directions.

The support housing (200) is coupled with the coupling housing (100). At this time, the support housing (200) can be coupled with the coupling housing (100) in a detachable but coupled state. That is, the support housing (200) coupled with the coupling housing (100) does not move arbitrarily.

The support housing (200) is coupled with the tendon sheath (30). In one embodiment, the support housing (200) may be coupled with the female tendon sheath (32). In the embodiment, the female sheath (32'') may be penetrably coupled to the support housing (200) so as to be fixed thereto, and the female tendon (32') may be coupled with a gear member (350) that is rotatably coupled to the support housing (200).

The support housing (200) partially accommodates the tendon sheath (30). As will be described below, the female tendon sheath (32) (i.e., the female tendon (32')) coupled to the gear member (350) of the operating arm (300) may penetrate the support housing (200) and be exposed to the outside. In the illustrated embodiment, the female tendon sheath (32) may penetrate the lower side of the support housing (200) and be exposed to the outside through its upper and lower sides.

A portion of the exposed arm tendon sheath (32) is coupled to the arm manipulation section (800) of the manipulation section (20). The manipulation arm section (300) can be operated by an external force applied to the arm manipulation section (800).

In the embodiment illustrated in FIGS. 10 to 19, the support housing (200) includes a support body (210), an arm support plate (220), an arm coupling plate (230), an arm receiving portion (240), a gear coupling shaft (250), a gear receiving groove (260), and a gear communication hole (270).

The support body (210) constitutes a portion of the outer shape of the support housing (200). Other components of the support housing (200) are combined or formed into the support body (210). In the illustrated embodiment, an arm support plate (220), an arm coupling plate (230), and a gear coupling shaft (250) are combined into the support body (210). In addition, an arm receiving portion (240) is formed in the support body (210).

The support body (210) is coupled with the coupling housing (100). Specifically, the support body (210) is coupled with the coupling protrusion (130) and can be supported by the inclined protrusion (140).

The support body (210) is coupled with the tendon sheath (30). Specifically, the female tendon sheath (32) is penetratedly coupled to the support body (210). At this time, the female sheath (32'') is fixedly coupled to the support body (210) through the penetration, and the female tendon (32') can be configured to be movable within the female sheath (32''). The female tendon (32') can be coupled with the gear member (350) of the operating arm (300).

The support body (210) is coupled with the arm support plate (220). In one embodiment, the support body (210) may be formed integrally with the arm support plate (220) and be continuous. In the illustrated embodiment, the arm support plate (220) is coupled to the upper side of each side in the width direction of the support body (210), i.e., the front side and the rear side.

The support body (210) is coupled with the female coupling plate (230). In one embodiment, the support body (210) may be formed integrally with the female coupling plate (230) and be continuous. In the illustrated embodiment, the female coupling plate (230) is coupled to the central portion in the width direction of the support body (210), i.e., the upper side between the pair of female support plates (220).

A female receiving portion (240) is formed in the support body (210). One side of the support body (210) in the height direction, the upper side in the illustrated embodiment, is defined as the female receiving portion (240). As will be described below, the support body (210) at least partially surrounds the female receiving portion (240).

The support body (210) may have any shape that can be combined with other components of the support housing (200) or formed into other components. In the illustrated embodiment, the support body (210) has a polygonal cross-section and a three-dimensional shape having a vertical height. At this time, an opening may be formed inside the support body (210) for the female sheath (32'') of the tendon sheath (30) to penetrate therethrough.

In the illustrated embodiment, the support body (210) includes a housing coupling groove (211).

The housing coupling groove (211) is configured to couple the support body (210) with the coupling housing (100). A coupling protrusion (130) is inserted and coupled into the housing coupling groove (211).

The housing coupling groove (211) is formed on one side of the width direction of the support body (210), i.e., the rear side in the illustrated embodiment. The housing coupling groove (211) is formed by being recessed into the one side of the support body (210), i.e., the rear side. It will be understood that the one side is in the direction facing the coupling housing (100).

The housing coupling groove (211) may have a shape corresponding to the shape of the coupling protrusion (130). In the illustrated embodiment, the housing coupling groove (211) is formed as a cylindrical space having a circular cross-section and a depth in the front-back direction.

A plurality of housing coupling grooves (211) may be formed. The plurality of housing coupling grooves (211) are spaced apart from each other and can be respectively coupled with the plurality of coupling protrusions (130). In the illustrated embodiment, the housing coupling grooves (211) are formed in pairs and spaced apart in the longitudinal direction of the support body (210), and in the left-right direction in the illustrated embodiment.

The number and arrangement of the housing coupling grooves (211) can be changed in accordance with the number and arrangement of the coupling protrusions (130). In an embodiment in which a plurality of housing coupling grooves (211) and coupling protrusions (130) are provided, relative rotation or movement of the coupling housing (100) and the support housing (200) can be prevented.

The arm support plate (220) guides the rotation of the operating arm (300) coupled with the support housing (200). The arm support plate (220) comes into contact with the housing coupling portion (320) of the operating arm (300), thereby enabling stable rotation of the arm support plate (220).

The arm support plate (220) is coupled to the support body (210). The arm support plate (220) is continuous with the widthwise end of the support body (210), in the illustrated embodiment, the upper end at the front or rear. In one embodiment, the arm support plate (220) may be formed integrally with the support body (210).

The arm support plate (220) may have any shape that can guide the rotation of the operating arm (300). In the illustrated embodiment, the arm support plate (220) is formed in a polygonal shape having a length in the left-right direction, a thickness in the front-back direction, and a height in the up-down direction. At this time, one side of the arm support plate (220) in the height direction, the upper end in the illustrated embodiment, is formed to be rounded so as to be convex toward the other side in the height direction, the lower end in the illustrated embodiment.

Accordingly, the housing joint (320) of the operating arm (300) is guided by the upper end of the arm support plate (220) and can be stably rotated.

The arm support plate (220) is disposed spaced apart from the arm coupling plate (230). In the illustrated embodiment, the arm support plate (220) is disposed spaced apart from the arm coupling plate (230) along the width direction of the support body (210), i.e., the front-back direction. An arm receiving portion (240) is formed between the arm support plate (220) and the arm coupling plate (230). The arm support plate (220) surrounds the arm receiving portion (240) from the outer side in the width direction.

A plurality of arm support plates (220) may be formed. The plurality of arm support plates (220) are spaced apart along the width direction of the support body (210) and are positioned facing each other with an arm coupling plate (230) positioned therebetween. In the illustrated embodiment, the arm support plates (220) are formed in pairs and are positioned facing each other with an arm coupling plate (230) therebetween.

The arm coupling plate (230) is a portion where the support housing (200) is coupled to the operating arm (300). A gear coupling shaft (250) is formed on the arm coupling plate (230). The arm coupling plate (230) rotatably supports the operating arm (300) coupled to the gear coupling shaft (250).

The female coupling plate (230) is coupled to the support body (210). The female coupling plate (230) is continuous with the upper end of the center in the width direction of the support body (210). In one embodiment, the female coupling plate (230) may be formed integrally with the support body (210).

The female coupling plate (230) is positioned between a pair of female support plates (220). At this time, the female coupling plate (230) is spaced apart from the pair of female support plates (220), and a female receiving portion (240) is formed between them. The female coupling plate (230) is positioned between the pair of female receiving portions (240). In other words, the female receiving portion (240) can be partitioned into a plurality of small spaces partitioned in the front-back direction by the female coupling plates (230).

The arm coupling plate (230) may have any shape that can rotatably support the operating arm (300). In the illustrated embodiment, the arm coupling plate (230) is formed in a polygonal shape having a length in the left-right direction, a thickness in the front-back direction, and a height in the up-down direction. At this time, a gear coupling shaft (250) and a gear receiving groove (260) are formed on each side of the thickness direction of the arm coupling plate (230), i.e., the front side and the rear side in the illustrated embodiment.

Additionally, a gear communication hole (270) communicating with a gear receiving groove (260) is formed through the inside of the female coupling plate (230).

The female coupling plate (230) partially surrounds the female receiving portion (240).

The arm receiving portion (240) receives the housing coupling portion (320) of the operating arm portion (300). The housing coupling portion (320) can be rotated while being received in the arm receiving portion (240). Therefore, it can be said that the arm receiving portion (240) rotatably receives the housing coupling portion (320).

The female receiving portion (240) may be defined as a space surrounded by other components of the support housing (200). In the illustrated embodiment, the outer side of the female receiving portion (240) in the width direction is surrounded by the female support plate (220), and the inner side of the female receiving portion (240) in the width direction is surrounded by the female coupling plate (230). One side of the female receiving portion (240) in the height direction, the lower side in the illustrated embodiment, is surrounded by the support body (210).

Each side of the female receptacle (240) in the longitudinal direction, i.e., the left and right sides, and the other side in the height direction, i.e., the upper side in the illustrated embodiment, is formed open. Accordingly, the housing coupling part (320) can be rotated so that a portion thereof is exposed to the outside of the female receptacle (240).

The female receiving portion (240) can be partitioned into a plurality of small spaces by the female coupling plate (230). In the illustrated embodiment, the female receiving portion (240) is composed of one portion positioned on the front side and another portion positioned on the rear side. In the above embodiment, the one portion and the other portion of the female receiving portion (240) are arranged to face each other with the female coupling plate (230) interposed therebetween.

The gear coupling shaft (250) is coupled with the gear member (350) of the operating arm (300). The gear coupling shaft (250) rotatably supports the gear member (350). The gear member (350) of the operating arm (300) can be rotated by the arm tendon sheath (32) while coupled with the gear coupling shaft (250).

The gear coupling shaft (250) is coupled with the female coupling plate (230). The gear coupling shaft (250) is formed to protrude outward from the female coupling plate (230). In the illustrated embodiment, the gear coupling shaft (250) is formed to protrude in the thickness direction of the female coupling plate (230), in the front-back direction in the illustrated embodiment.

The gear coupling shaft (250) may have any shape that can be coupled with the gear member (350) and rotatably support it. In the illustrated embodiment, the gear coupling shaft (250) has a cylindrical shape with a circular cross-section and a length in the front-rear direction. The gear coupling shaft (250) may be penetrated and coupled into a hollow space (not indicated in the drawing) formed inside the gear member (350).

A plurality of gear coupling shafts (250) can be formed. The plurality of gear coupling shafts (250) can be coupled to the gear members (350) provided on the first operating arm (300a) and the second operating arm (300b), respectively, to rotatably support them.

In the illustrated embodiment, the gear coupling shaft (250) is provided in pairs including a first gear coupling shaft (250a) and a second gear coupling shaft (250b).

The first gear coupling shaft (250a) is formed to extend rearward from one side of the face of the arm coupling plate (230) toward the coupling housing (100), in the illustrated embodiment, the rear side. The first gear coupling shaft (250a) is coupled to the gear member (350) provided on the first operating arm (300a) to rotatably support it.

At this time, the first gear coupling shaft (250a) may be positioned to one side of the longitudinal direction of the female coupling plate (230), that is, to the right in the illustrated embodiment. The first gear coupling shaft (250a) is positioned inside the first gear receiving groove (260a).

The second gear coupling shaft (250b) is formed to extend forward from the other side of the face of the arm coupling plate (230) opposite the coupling housing (100), i.e., the front side in the illustrated embodiment. The second gear coupling shaft (250b) is coupled to the gear member (350) provided on the second operating arm (300b) to rotatably support it.

At this time, the second gear coupling shaft (250b) may be positioned to the left in the illustrated embodiment, on the other side in the longitudinal direction of the female coupling plate (230). The second gear coupling shaft (250b) is positioned inside the second gear receiving groove (260b).

The gear receiving groove (260) rotatably receives the gear member (350) of the operating arm (300). A gear coupling shaft (250) is positioned inside the gear receiving groove (260). The gear member (350) coupled with the gear coupling shaft (250) may have its radial outer circumference positioned inside the gear receiving groove (260). That is, the gear receiving groove (260) provides a space for the gear member (350) to rotate without being obstructed by other components.

A gear receiving groove (260) is formed on the inside of the female coupling plate (230). The gear receiving groove (260) is formed by being recessed into the thickness direction surface of the female coupling plate (230).

The gear receiving groove (260) may have any shape that can rotatably receive the gear member (350). In the illustrated embodiment, the gear receiving groove (260) is a space shaped like a disk with a circular cross-section and a thickness in the front-back direction. In the above embodiment, the cross-section of the gear receiving groove (260), the cross-section of the gear coupling shaft (250), and the cross-section of the gear member (350) may be formed concentrically.

A plurality of gear receiving grooves (260) can be formed. The plurality of gear receiving grooves (260) can be coupled with the gear members (350) provided on the first operating arm (300a) and the second operating arm (300b), respectively, to rotatably receive them.

In the illustrated embodiment, the gear receiving groove (260) is provided in a pair, including a first gear receiving groove (260a) and a second gear receiving groove (260b).

The first gear receiving groove (260a) is recessed into one side of the face of the female coupling plate (230) facing the coupling housing (100), in the illustrated embodiment, the rear side. The first gear receiving groove (260a) rotatably receives a gear member (350) provided on the first operating arm (300a).

At this time, the first gear receiving groove (260a) may be positioned on one side of the longitudinal direction of the female coupling plate (230), that is, to the right in the illustrated embodiment. The first gear coupling shaft (250a) is positioned in the first gear receiving groove (260a).

The second gear receiving groove (260b) is recessed into the other side of the face of the female coupling plate (230) opposite the coupling housing (100), in the illustrated embodiment, the front side. The second gear receiving groove (260b) rotatably receives a gear member (350) provided on the second operating arm (300b).

At this time, the second gear receiving groove (260b) may be positioned on the other side of the longitudinal direction of the female coupling plate (230), that is, to the left in the illustrated embodiment. The second gear coupling shaft (250b) is positioned in the second gear receiving groove (260b).

The gear communication hole (270) connects the first gear receiving groove (260a) and the second gear receiving groove (260b). The gear communication hole (270) is formed penetratingly within the female coupling plate (230) and connects the first gear receiving groove (260a) and the second gear receiving groove (260b) along the longitudinal direction of the female coupling plate (230), i.e., the left-right direction in the illustrated embodiment.

The gear communication hole (270) can provide a passage for gear members (350) accommodated in the first gear accommodation groove (260a) and the second gear accommodation groove (260b) to be gear-coupled with each other.

That is, in the case of the arm (10) provided in the endoscopic suture device (1) according to another embodiment to be described later, the gear members (350) provided in the first operating arm (300a) and the second operating arm (300b) can be gear-coupled to each other through the gear communication hole (270).

In the above embodiment, both the first operating arm (300a) and the second operating arm (300b) can be adjusted simply by coupling the arm tendons (32') provided in the single arm tendon sheath (32) with one gear member (350). A detailed description thereof will be provided later.

The operating arm (300) is a component that is connected to and operated by the operating unit (20) among the components of the arm (10). The operating arm (300) is connected to the operating unit (20) by the arm tendon (32') of the arm tendon sheath (32). When the arm operating unit (800) of the operating unit (20) described later is operated, the arm tendon (32') can be moved to move the operating arm (300).

The operating arm (300) is coupled to the support housing (200). The operating arm (300) is rotatably coupled to the support housing (200) and is rotatably supported by the support housing (200).

The operating arm (300) is coupled with the needle member (400). Specifically, the operating arm (300) is coupled with the needle holder member (500), thereby indirectly coupled with the needle member (400). The operating arm (300) is rotated together with the needle holder member (500), so that the position of the needle member (400) can be adjusted.

A plurality of operating arms (300) may be provided. The plurality of operating arms (300) are coupled to the support housing (200) at different positions and can be rotated by being coupled to a plurality of arm tendon sheaths (32), respectively.

In the illustrated embodiment, the manipulation arm (300) is provided as a pair including a first manipulation arm (300a) and a second manipulation arm (300b).

The first manipulation arm (300a) is positioned on one side facing the coupling housing (100), that is, on the rear side in the illustrated embodiment. The first manipulation arm (300a) is rotatably supported by an arm support plate (220) positioned on the rear side, and is supported by the rear side of an arm coupling plate (230). The first manipulation arm (300a) is rotatably received in an arm receiving portion (240) positioned on the rear side, and is rotatably supported by a first gear coupling shaft (250a).

The second manipulation arm (300b) is positioned on the opposite side of the coupling housing (100), that is, on the front side in the illustrated embodiment. The second manipulation arm (300b) is rotatably supported by an arm support plate (220) positioned on the front side, and is supported by the front side of the arm coupling plate (230). The second manipulation arm (300b) is rotatably received in an arm receiving portion (240) positioned on the front side, and is rotatably supported by a second gear coupling shaft (250b).

Additionally, the first manipulation arm (300a) is positioned on one side of the longitudinal direction of the support body (210), to the right in the illustrated embodiment. The second manipulation arm (300b) is positioned on the other side of the longitudinal direction of the support body (210), to the left in the illustrated embodiment.

The first manipulation arm (300a) can be rotated by being coupled with the arm tendon (32') of the first arm tendon sheath (32a). The first manipulation arm (300a) is coupled with the first needle holder portion (500a) and rotated together. In addition, the second manipulation arm (300b) can be rotated by being coupled with the arm tendon (32') of the second arm tendon sheath (32b). The second manipulation arm (300b) is coupled with the second needle holder portion (500b) and rotated together.

The first manipulation arm (300a) and the second manipulation arm (300b) differ in their connection positions with the support housing (200), but their structures and functions are identical. Accordingly, the common parts of the first manipulation arm (300a) and the second manipulation arm (300b) are collectively referred to as the manipulation arm portion (300) hereinafter.

In the embodiments illustrated in FIGS. 1 to 19, the operating arm (300) includes an operating arm body (310), a housing coupling portion (320), a pulley member (340), a gear member (350), and a shaft member (360).

The operating arm body (310) constitutes a portion of the outer shape of the operating arm portion (300). The operating arm body (310) extends obliquely in the vertical direction. One side of the extending direction of the operating arm body (310), the upper side in the illustrated embodiment, is coupled with the needle holder portion (500). The other side of the extending direction of the operating arm body (310), the lower side in the illustrated embodiment, is coupled with the housing coupling portion (320).

The manipulation arm body (310) may be configured to include a plurality of parts extending at an angle to each other. In the illustrated embodiment, the manipulation arm body (310) includes a part extending in the height direction of the support body (210), in the vertical direction in the illustrated embodiment, and another part extending continuously from the part and forming a predetermined angle (i.e., a second angle (a2)) with the part.

One side of the extension direction of the above part, in the illustrated embodiment, the upper side, is continuous with the lower side of the other part. The other side of the extension direction of the above part, in the illustrated embodiment, the lower side, is continuous with the housing joint (320).

One side of the extension direction of the other part, in the illustrated embodiment, the upper side, is coupled with the needle holder part (500). The other side of the extension direction of the other part, in the illustrated embodiment, the lower side, is continuous with the upper side of the one part.

The housing coupling portion (320) is a portion where the operating arm portion (300) is coupled to the support housing (200). The housing coupling portion (320) is positioned adjacent to the arm support plate (220) of the support housing (200) so that its rotation can be guided. In addition, the housing coupling portion (320) is positioned adjacent to the arm coupling plate (230) so that its forward-backward position can be maintained.

The housing coupling portion (320) is continuous with the operating arm body (310). One side of the housing coupling portion (320) in the height direction, the upper end in the illustrated embodiment, is continuous with the lower end of the said part of the operating arm body (310).

The housing coupling portion (320) is gear-coupled with the gear member (350). When the gear member (350) rotates, the housing coupling portion (320) can also rotate correspondingly. Accordingly, the needle holder portion (500) coupled with the housing coupling portion (320) (i.e., by the operating arm body (310)) can also rotate.

The housing coupling portion (320) is coupled with the shaft member (360). A through hole (not indicated in the drawing) is formed inside the housing coupling portion (320), through which the shaft member (360) can be coupled. The housing coupling portion (320) can be rotatably coupled with the support housing (200) by the shaft member (360).

The housing coupling portion (320) may be rotatably supported at least partially by the arm support plate (220). Additionally, the housing coupling portion (320) may be at least partially accommodated in the arm receiving portion (240). As described above, the housing coupling portion (320) may be rotatably accommodated in the arm receiving portion (240).

In the illustrated embodiment, a portion of the other side in the height direction of the housing coupling portion (320), i.e., the lower end, is rotatably received in the female receiving portion (240), and the other portion is rotatably supported by the female support plate (220).

The housing coupling portion (320) may be any shape that is continuous with the operating arm body (310) and can be rotatably coupled with the support housing (200). In the illustrated embodiment, the housing coupling portion (320) has a polygonal cross-section and is plate-shaped with a thickness in the front-back direction.

In the illustrated embodiment, the housing coupling portion (320) includes a housing gear portion (321).

The housing gear portion (321) is configured such that the housing coupling portion (320) is gear-coupled with the gear member (350). When the gear member (350) rotates, the housing coupling portion (320) in which the housing gear portion (321) is formed can rotate. Accordingly, the operating arm body (310) and the needle holder portion (500) coupled with the housing coupling portion (320) can rotate.

The housing gear portion (321) is formed on one surface of the housing coupling portion (320) facing the support housing (200). The housing gear portion (321) is located at the lower end of the housing coupling portion (320). The housing gear portion (321) extends along the lower outer periphery of the housing coupling portion (320).

The housing gear portion (321) may be provided in any shape that can be gear-coupled with the gear member (350). In the illustrated embodiment, the housing gear portion (321) is configured to include a plurality of teeth.

The housing gear portion (321) is rotatably received at least partially in the female receiving portion (240). That is, the housing gear portion (321) constitutes a portion of the housing coupling portion (320) that is received in the female receiving portion (240).

In the illustrated embodiment, it is assumed that the gear member (350) is rotatably coupled to the gear coupling shaft (250), and the housing gear portion (321) is rotatably coupled to the female coupling plate (230) by the shaft member (360), and is simultaneously gear-coupled with the gear member (350).

Alternatively, a gear member (350) may be rotatably provided on the inner surface of the housing coupling portion (320), and a separate tooth portion may be formed on the female coupling plate (230) to enable gear coupling.

In any case, it is sufficient if the housing joint (320) and the operating arm body (310) can be rotated together by the rotational force applied to the gear member (350).

The pulley member (340) rotatably supports the gear member (350). The pulley member (340) is inserted into a hollow space formed inside the gear member (350) and is rotatably coupled to the gear coupling shaft (250). Accordingly, the gear member (350) can rotate around the gear coupling shaft (250).

The pulley member (340) is coupled with the gear member (350). The pulley member (340) is inserted into a through hole formed inside the gear member (350). The pulley member (340) is coupled with the gear coupling shaft (250). The pulley member (340) is rotatably coupled with the gear coupling shaft (250), but the gear member (350) can be fixedly coupled.

In other words, the pulley member (340) can rotate around the gear engagement axis (250) together with the gear member (350).

The gear member (350) is coupled with the female tendon (32') and receives rotational force from the female tendon (32'). The gear member (350) is coupled with the female tendon (32'). At this time, the gear member (350) of the first operating arm (300a) is coupled with the female tendon (32') of the first female tendon sheath (32a), and the gear member (350) of the second operating arm (300b) is coupled with the female tendon (32') of the second female tendon sheath (32b).

At this time, the gear member (350) of the first manipulation arm (300a) and the gear member (350) of the second manipulation arm (300b) can be manipulated to rotate in different directions. Accordingly, it will be understood that the first manipulation arm (300a) and the second manipulation arm (300b) are simultaneously rotated in either a direction toward each other or a direction opposite to each other.

The gear member (350) is coupled with the housing coupling portion (320). Specifically, the gear member (350) is gear-coupled with the housing gear portion (321) formed on the lower side of the inner surface of the housing coupling portion (320). When the gear member (350) is rotated by the arm tendon (32'), the housing gear portion (321) and the housing coupling portion (320) can also be rotated together.

The gear member (350) is coupled to the pulley member (340). The gear member (350) can be rotatably coupled to the gear coupling shaft (250) by the pulley member (340). The gear member (350) can be rotated about the gear coupling shaft (250).

The gear member (350) may be provided in any form that can be coupled with the female tendon (32') to rotate together, and can be gear-coupled with the housing gear portion (321) to rotate the housing coupling portion (320). In the illustrated embodiment, the gear member (350) is configured to include an outer tooth portion (351), an inner tooth portion (352), a female tendon support portion (353), and a female tendon through-hole (354).

The external tooth portion (351) is gear-engaged with the housing gear portion (321). The external tooth portion (351) extends along the outer periphery of the gear member (350). The external tooth portion (351) is formed to have the longest radial length among the parts of the gear member (350).

At this time, the external tooth portion (351) may be formed on a portion of the outer circumference of the gear member (350). On another portion of the outer circumference of the gear member (350), a portion where the female tendon (32') is coupled, i.e., a female tendon support portion (353) to be described later, may be formed.

The inner tooth portion (352) is formed radially inward compared to the outer tooth portion (351). The inner tooth portion (352) extends along a hollow formed on the inner side of the gear member (350). The inner tooth portion (352) extends radially outwardly surrounding the pulley member (340).

The internal tooth portion (352) can be gear-coupled with an internal tooth portion (352) formed on another gear member (350).

That is, as will be described later, in other embodiments illustrated in FIGS. 20 to 24, the first gear member (350a) of the first operating arm (300a) and the second gear member (350b) of the second operating arm (300b) can be gear-coupled to each other by the internal teeth (352).

In the above embodiment, both gear members (350) of the first and second operating arms (300a, 300b) can be rotated by the rotational force applied by the single arm tendon (32').

The female tendon support (353) is a configuration in which the gear member (350) is supported by the female tendon (32'). The female tendon support (353) may be defined as a portion of the outer circumference of the gear member (350). In the illustrated embodiment, the female tendon support (353) may be defined as an upper portion of the outer circumference of the gear member (350), i.e., a portion in which the external tooth portion (351) is not formed.

A female tendon through hole (354) is formed through the inside of the female tendon support member (353). The female tendon support member (353) can support the female tendon (32') that is connected through the female tendon through hole (354). That is, by the female tendon support member (353), the movement of the female tendon (32') can be converted into the rotation of the gear member (350).

The female tendon penetration hole (354) accommodates the female tendon (32'). The female tendon penetration hole (354) is formed penetratingly in the thickness direction, in the front-back direction in the illustrated embodiment, within the female tendon support member (353). A plurality of female tendon penetration holes (354) may be formed. In the illustrated embodiment, a pair of female tendon penetration holes (354) are formed and spaced apart from each other along the outer circumferential direction of the female tendon support member (353).

The female tendon (32') can be coupled to the gear member (350) by passing through one female tendon through-hole (354) in one direction and then passing through another female tendon through-hole (354) in the other direction.

The shaft member (360) rotatably supports the housing coupling portion (320). The shaft member (360) penetrates a through hole formed in the housing coupling portion (320).

The shaft member (360) may be provided in any shape that can rotatably support the housing coupling portion (320). In the illustrated embodiment, the shaft member (360) has a cylindrical shape with a circular cross-section and a length in the front-back direction.

At this time, the shaft member (360) provided in one of the first and second manipulation arms (300a) can be inserted and coupled into the interior of the shaft member (360) provided in the other. In the illustrated embodiment, the shaft member (360) provided in the second manipulation arm (300b) passes through a through hole formed in the interior of the arm coupling plate (230) and is inserted and coupled into the shaft member (360) provided in the first manipulation arm (300a).

Referring to FIGS. 20 to 24, a dark section (10) according to another embodiment of the present invention is illustrated as an example.

In the present embodiment, the gear members (350) of the first operating arm (300a) and the second operating arm (300b) can be gear-coupled to each other. Therefore, both the first operating arm (300a) and the second operating arm (300b) can be rotated by the rotational force applied by the arm tendon (32') provided on a single arm tendon sheath (32a) coupled to one of the gear members (350).

In this embodiment, the gear member (350) of the first operating arm (300a) and the gear member (350) of the second operating arm (300b) are gear-coupled to each other through the gear communication hole (270). Specifically, the internal teeth (352) of each gear member (350) are gear-coupled to each other through the gear communication hole (270), so that rotation of one gear member (350) can cause rotation of the other gear member (350).

In the above embodiment, the gear member (350) of the first operating arm (300a) and the gear member (350) of the second operating arm (300b) rotate in opposite directions. Therefore, it will be understood that the first operating arm (300a) and the second operating arm (300b) rotate simultaneously in either a direction toward or opposite to each other.

In this embodiment, a single tendon sheath (32a) can rotate both of the operating arms (300a, 300b), resulting in a simple structure and convenient operation. Furthermore, due to the characteristics of the gear coupling, each gear member (350) can rotate in different directions, enabling intuitive operation.

Referring to FIGS. 25 and 26, the endoscopic suture device (1) according to the illustrated embodiment includes a needle member (400).

The needle member (400) substantially performs the function of the endoscopic suture device (1), i.e., the function of suturing the target area. The needle member (400) can suture the area by repeatedly penetrating and separating from the area. To this end, the needle member (400) can be connected to a suture thread. The needle member (400) can be penetrated and separated from the area together with the suture thread.

The needle member (400) can be coupled to the operating arm (300) by the needle holder (500). The needle member (400) can be moved together with the operating arm (300) while being held by the needle holder (500).

In addition, the needle member (400) can be held or released by the needle holder portion (500) by the needle tendon (31'). As will be described later, the needle holder portions (500) can be provided in pairs, similar to the operating arm portion (300). The needle member (400) held by one needle holder portion (500) can be released and moved to the other needle holder portion (500).

The above process is repeated, and penetration and separation of the needle member (400) can be performed.

In the illustrated embodiment, the needle member (400) includes a needle body (410), a suture penetration hole (420), a tendon sheath engagement groove (430), and a needle step (440).

The needle body (410) constitutes the outer shape of the needle member (400). The needle body (410) extends in one direction, and a portion adjacent to each end in the extending direction can be held by a first needle holder portion (500a) and a second needle holder portion (500b), respectively.

The needle body (410) extends between a pair of needle holder parts (500a, 500b). In the illustrated embodiment, the needle body (410) extends in the left-right direction, but has a rounded curved shape that is convex toward the upper rear side.

Each end of the needle body (410) in the extension direction, the left and right ends in the illustrated embodiment, may have a peak shape. By virtue of this shape, the needle member (400) can easily penetrate and separate from the area.

A suture penetration hole (420) is formed inside the needle body (410).

The suture penetration hole (420) is the portion where the suture is connected to the needle member (400). The suture is connected through the suture penetration hole (420) and penetrates and separates from the portion together with the needle member (400). Through the above process, the portion can be sutured with the suture.

The suture penetration hole (420) is formed penetrating the interior of the needle body (410). In the illustrated embodiment, the suture penetration hole (420) is located at the central portion in the longitudinal direction of the needle body (410). The suture penetration hole (420) is formed to extend in the thickness direction of the needle body (410), i.e., in the direction toward the upper side of the rear and the lower side of the front in the illustrated embodiment. Each end of the suture penetration hole (420) in the longitudinal direction is formed to be open, so that a suture can pass through it.

The tendon sheath coupling groove (430) is a portion where the needle tendon sheath (31) for adjusting the needle member (400) is coupled. Specifically, the needle tendon (31') is partially received in the tendon sheath coupling groove (430). The tendon sheath coupling groove (430) is formed by being recessed into the outer surface of the needle body (410) to provide a space for partially receiving the needle tendon (31').

At this time, the tendon sheath coupling groove (430) may be formed in a portion of the outer surface of the needle body (410) where the needle tendon (31') is curved. That is, in the illustrated embodiment, the tendon sheath coupling groove (430) is formed in a recessed manner in the direction in which the needle body (410) is rounded so as to be convex, i.e., in the upper surface at the rear.

The tendon sheath coupling groove (430) is positioned adjacent to the end of the needle body (410) in the extension direction. At this time, it is preferable that the tendon sheath coupling groove (430) be positioned a predetermined distance away from the end of the needle body (410).

This is because the end of the needle body (410) is the part that penetrates the above-mentioned portion. That is, if the tendon sheath coupling groove (430) is positioned too close to the end of the needle body (410), there is a risk that the needle tendon (31') received when penetrating the above-mentioned portion may be randomly detached.

The tendon sheath coupling groove (430) may have any shape that can stably accommodate the needle tendon (31'). In the illustrated embodiment, the tendon sheath coupling groove (430) is formed as a space having a circular cross-section, but is in the shape of a hemisphere in which the depression depth at the center is longer than the depression depth at the outer periphery.

A plurality of tendon sheath coupling grooves (430) may be formed. A plurality of needle tendons (31') may be accommodated in each of the plurality of tendon sheath coupling grooves (430). In the illustrated embodiment, the tendon sheath coupling grooves (430) are provided in pairs, including a first tendon sheath coupling groove (431) and a second tendon sheath coupling groove (432).

The first tendon sheath coupling groove (431) is positioned on one side of the longitudinal direction of the needle body (410), in the illustrated embodiment, to the left. The needle tendon (31') of the first needle tendon sheath (31a) coupled with the first needle holder portion (500a) is coupled to the first tendon sheath coupling groove (431).

The second tendon sheath coupling groove (432) is positioned on the other side of the needle body (410) in the longitudinal direction, that is, to the right in the illustrated embodiment. The needle tendon (31') of the second needle tendon sheath (31b) coupled with the second needle holder portion (500b) is coupled to the second tendon sheath coupling groove (432).

The needle step portion (440) is configured to limit the length at which the needle member (400) is coupled with the needle holder portion (500). The needle member (400) can be coupled with the needle holder portion (500) for a length that the needle step portion (440) contacts with the needle holder portion (500). Therefore, the needle member (400) can be coupled with the needle holder portion (500) only for a predetermined length, so that the suturing procedure can be performed accurately.

The needle step portion (440) is formed protrudingly on the outer surface of the needle body (410). At this time, the needle step portion (440) may be formed at a position opposite to the position of the tendon sheath coupling groove (430). In the illustrated embodiment, the needle step portion (440) is formed protrudingly on the lower front surface of the needle body (410).

The needle step portion (440) extends in the extension direction of the needle body (410), i.e., in the left-right direction in the illustrated embodiment. At this time, the extension length of the needle step portion (440) may be formed to be less than or equal to the distance at which the first tendon sheath coupling groove (431) and the second tendon sheath coupling groove (432) are spaced apart.

Accordingly, the first tendon sheath coupling groove (431) and the second tendon sheath coupling groove (432) can be accommodated in the first and second needle holder portions (500a, 500b), but the needle step portion (440) can be maintained in a state of being positioned on the outside of the first and second needle holder portions (500a, 500b).

Referring again to FIGS. 1 to 5 and 10 to 13, an endoscopic suture device (1) according to an embodiment of the present invention includes a needle holder portion (500).

The needle holder portion (500) is coupled with the needle tendon sheath (31) to restrain or release the needle member (400). As the needle holder portion (500) restrains or releases the needle member (400), the needle member (400) changes position and penetrates and separates from the area, allowing a suturing procedure to be performed.

The needle holder portion (500) is coupled with the needle tendon sheath (31) of the tendon sheath portion (30). The needle holder portion (500) is fixedly coupled with the needle sheath (31'') and can movably support the needle tendon (31') coupled with the needle sheath (31''). The binding and release of the needle member (400) can be achieved by the coupling of the needle holder portion (500) and the needle tendon sheath (31), and the movement of the needle tendon (31').

The needle holder part (500) is coupled with the operating arm part (300). The needle holder part (500) can move together with the operating arm part (300). Accordingly, the needle member (400) restrained by the needle holder part (500) can also move together with the needle holder part (500) and the operating arm part (300). In the illustrated embodiment, the needle holder part (500) is coupled to one end in the height direction of the operating arm body (310), i.e., the upper end.

A plurality of needle holder parts (500) may be provided. The plurality of needle holder parts (500) may be movable by being respectively coupled to a plurality of operating arms (300). The plurality of needle holder parts (500) may simultaneously or simultaneously restrain the needle member (400). In addition, the plurality of needle holder parts (500) may respectively be coupled to a plurality of needle tendon sheaths (31).

In the illustrated embodiment, the needle holder portion (500) is provided as a pair including a first needle holder portion (500a) and a second needle holder portion (500b).

The first needle holder portion (500a) is coupled with the first operating arm (300a). The first needle holder portion (500a) is coupled with the first needle tendon sheath (31a) and restrains the needle member (400) on one longitudinal side, in the illustrated embodiment, on the right side. The first needle holder portion (500a) can be moved together with the first operating arm (300a).

The second needle holder portion (500b) is coupled with the second operating arm (300b). The second needle holder portion (500b) is coupled with the second needle tendon sheath (31b) and restrains the needle member (400) on the other side in the longitudinal direction, i.e., on the left side in the illustrated embodiment. The second needle holder portion (500b) can be moved together with the second operating arm (300b).

The first needle holder portion (500a) and the second needle holder portion (500b) differ in the operating arms (300a, 300b) to which they are coupled, but their structure and function are identical. Accordingly, in the following description, the common parts of the first needle holder portion (500a) and the second needle holder portion (500b) are collectively referred to as the needle holder portion (500).

In the embodiment illustrated in FIGS. 27 to 28, the needle holder portion (500) includes a needle holder body (510), a needle holder through hole (520), a needle sheath through hole (530), and a tendon ball (540).

The needle holder body (510) constitutes the outer shape of the needle holder portion (500). The needle holder body (510) is the portion where the needle holder portion (500) is coupled to the operating arm portion (300). In the illustrated embodiment, the needle holder body (510) is continuous with the upper end of the operating arm body (310).

The needle holder body (510) is formed or combined with another configuration of the needle holder portion (500). In the illustrated embodiment, a needle holder through hole (520) is formed through the needle holder body (510) in the width direction, i.e., in the left-right direction. In addition, a needle sheath through hole (530) is formed through the needle holder body (510) in the height direction.

Furthermore, a tendon ball (540) is placed in a space formed inside the needle holder body (510) and is coupled to the inner surface of the needle holder body (510).

The needle holder body (510) movably supports the needle tendon (31'), fixedly supports the needle sheath (31''), and may have any shape in which other configurations of the needle holder portion (500) can be formed or combined. In the illustrated embodiment, the needle holder body (510) has a three-dimensional shape having a length in the front-back direction, a width in the left-right direction, and a height in the up-down direction.

At this time, the needle holder body (510) may be formed to have a height that extends obliquely with respect to the vertical direction. That is, the needle holder body (510) may extend in the same direction as the above-mentioned part of the operating arm body (310), that is, the part that extends obliquely at an acute angle with respect to the vertical direction.

Accordingly, it will be understood that the needle holder body (510) extends obliquely toward the coupling housing (100) and the endoscope (not shown) coupled thereto.

A space is formed inside the needle holder body (510). The space is connected to the needle holder through hole (520) and the needle sheath through hole (530), respectively. The needle member (400) and the needle tendon sheath (31) can be at least partially positioned in the space. In addition, a tendon ball (540) is positioned in the space of the needle holder body (510).

The needle holder through hole (520) is a portion where the needle holder portion (500) is connected to the needle member (400). The needle holder through hole (520) is formed through the interior of the needle holder body (510). The needle holder through hole (520) extends in the width direction of the needle holder body (510), i.e., in the left-right direction in the illustrated embodiment.

Each end of the extension direction of the needle holder through-hole (520), the left and right ends in the illustrated embodiment, are formed open. The needle member (400) can be at least partially inserted into the interior of the needle holder body (510) through the needle holder through-hole (520). The needle holder through-hole (520) is positioned adjacent to one side in the height direction of a portion of the needle holder body (510), the upper end in the illustrated embodiment.

The needle holder through hole (520) may have a shape corresponding to the shape of the needle body (410). In the illustrated embodiment, the needle holder through hole (520) is formed as a polygonal prism-shaped space having a cross-section including a curve and a length in the left-right direction. At this time, the cross-sectional area of the needle holder through hole (520) is preferably greater than or equal to the cross-sectional area of the needle body (410), but less than the cross-sectional area of the needle body (410) including the needle step portion (440).

Accordingly, each end of the needle member (400) in the extension direction of the needle body (410) can be inserted into the needle holder through hole (520), but the needle step portion (440) can be maintained outside the needle holder through hole (520).

The needle sheath penetration hole (530) is a space into which the needle sheath (31'') is inserted. The needle sheath penetration hole (530) is formed inside the needle holder body (510). At this time, the needle sheath penetration hole (530) extends along the height direction of the needle holder body (510), and one end in the extension direction, the lower end in the illustrated embodiment, is open. The needle sheath (31'') can be exposed to the outside of the needle holder body (510) through the one end.

The other end of the needle sheath penetration hole (530) in the extension direction, the upper side in the illustrated embodiment, is formed open and communicates with a space formed inside the needle holder body (510). The needle tendon (31') partially accommodated in the needle sheath (31'') extends from the needle sheath penetration hole (530) to the space and can be combined with the tendon ball (540) accommodated in the space.

The needle sheath penetration hole (530) may have a shape corresponding to the shape of the needle tendon sheath (31). In the illustrated embodiment, the needle sheath penetration hole (530) has a cylindrical shape with a circular cross-section and extends obliquely with respect to the vertical direction. In this case, the needle sheath (31'') may be arranged so that its end is aligned with one side of the longitudinal direction of the needle sheath penetration hole (530), that is, the upper end in the illustrated embodiment.

The cross-sectional diameter of the needle sheath penetration hole (530) may be formed to be larger than the cross-sectional diameter of the needle sheath (31''). Accordingly, the needle sheath (31'') and the needle tendon (31') penetrating through the needle sheath (31'') may be accommodated together in the needle sheath penetration hole (530). The needle tendon (31') may be coupled to a tendon ball (540) disposed inside the needle holder body (510) through the needle sheath penetration hole (530).

At this time, the needle tendon (31') may be formed to have at least one bending part. That is, as illustrated in FIGS. 27 and 28, the needle tendon (31') includes a portion that is received in the needle sheath penetration hole (530) and extends in a straight shape, another portion that is coupled with the tendon ball (540) and extends in a straight shape, and another portion that is continuous with the one portion and the other portion, respectively, and is rounded so as to be convex toward the upper rear side.

At this time, the above-mentioned one part, the above-mentioned other part, and the above-mentioned further part may each surround the needle member (400). In particular, the above-mentioned further part extending in a curved shape may be inserted into the tendon sheath coupling groove (430) of the needle member (400).

That is, in the embodiment shown in (a) of Fig. 28, the needle tendon (31') is pulled downwardly forward, and another portion of the needle tendon (31') is received in the tendon sheath coupling groove (430). In this state, the needle member (400) is restrained by the needle tendon (31').

Additionally, in the embodiment shown in (b) of FIG. 28, the needle tendon (31') is pushed upwardly at the rear, and another portion of the needle tendon (31') is pulled out from the tendon sheath coupling groove (430). In this state, the needle member (400) can be released from the needle tendon (31') and pulled out from the needle holder through hole (520).

For this purpose, the needle tendon (31') can be formed of a material having high strength and a certain elasticity.

The tendon ball (540) supports the needle tendon (31') inserted into the needle holder body (510) and the needle sheath penetration hole (530). Specifically, the tendon ball (540) supports one end of the needle tendon (31') located inside the needle holder body (510).

The tendon ball (540) is accommodated in a space formed inside the needle holder body (510). The tendon ball (540) is coupled to the inner surface of the needle holder body (510) and can be maintained at a preset position.

Accordingly, when the needle tendon (31') is manipulated, the end of the needle tendon (31') that is connected to the tendon ball (540) is maintained in that position. In addition, other parts of the needle tendon (31') are deformed and the needle member (400) can be released.

The tendon ball (540) may have any shape capable of fixing and supporting the above-described end of the needle tendon (31'). In the illustrated embodiment, the tendon ball (540) is provided in a spherical shape.

In this embodiment, only one needle sheath (31a, 31b) of the needle tendon sheaths (31a, 31b) coupled to each needle holder portion (500a, 500b) is exposed to the outside of the needle holder portion (500a, 500b). The one needle sheath (31'') and the needle tendon (31') inside thereof are connected to the operating portion (20).

Additionally, in the embodiments illustrated in FIGS. 29 to 30, the needle holder portion (500) includes a needle holder body (510), a needle holder through hole (520), and a needle sheath through hole (530).

In this embodiment, the needle holder portion (500) is different in that it does not include a tendon ball (540) and the needle sheath (31'') is exposed to the outside at multiple locations.

That is, the needle holder body (510) and the needle holder through hole (520) according to the present embodiment have the same structure and function. Accordingly, the description of the needle holder body (510) and the needle holder through hole (520) will be replaced with the description described above.

In the present embodiment, the needle tendon (31') includes a portion that is received in one needle sheath penetration hole (530) and extends in a straight shape, another portion that is received in another needle sheath penetration hole (530) and extends in a straight shape, and another portion that is continuous with the one portion and the other portion, respectively, and is rounded so as to be convex toward the upper rear side.

At this time, the above-mentioned one part, the above-mentioned other part, and the above-mentioned further part may each surround the needle member (400). In particular, the above-mentioned further part extending in a curved shape may be inserted into the tendon sheath coupling groove (430) of the needle member (400).

That is, in the embodiment shown in (a) of Fig. 30, the needle tendon (31') is pulled downwardly forward, and another portion of the needle tendon (31') is received in the tendon sheath coupling groove (430). In this state, the needle member (400) is restrained by the needle tendon (31').

Additionally, in the embodiment shown in (b) of FIG. 30, the needle tendon sheath (31) is pushed upwardly at the rear, and another portion of the needle tendon (31') is pulled out from the tendon sheath engaging groove (430). In this state, the needle member (400) can be released from the needle tendon (31') and pulled out from the needle holder through hole (520).

For this purpose, as described above, the needle tendon (31') can be formed of a material having high strength and a certain degree of elasticity.

In the present embodiment, in order to accommodate the one part and the other part of the needle tendon sheath (31), a pair of needle sheath through holes (530) are provided, including a first needle sheath through hole (531) and a second needle sheath through hole (532).

The first needle sheath penetration hole (531) is located on one side of the needle holder body (510) in the height direction, in the illustrated embodiment, on the upper side. The first needle sheath penetration hole (531) accommodates a portion of the needle sheath (31''), in the illustrated embodiment, on the upper side.

The second needle sheath penetration hole (532) is located on the other side in the height direction of the needle holder body (510), in the illustrated embodiment, on the lower side. The second needle sheath penetration hole (532) accommodates another part of the needle sheath (31''), in the illustrated embodiment, on the lower side.

In the above embodiment, the first needle sheath penetration hole (531) and the second needle sheath penetration hole (532) are arranged facing each other with the operating arm body (310) therebetween.

In this embodiment, the needle tendon (31') can move together with the one part and the other part to restrain or release the needle member (400).

Additionally, in this embodiment, each of the needle tendon sheaths (31a, 31b) coupled to each needle holder portion (500a, 500b) has two strands exposed to the outside of the needle holder portion (500a, 500b). The two strands of each needle tendon sheath (31a, 31b) are connected to the operating portion (20).

The tendon sheath (30) coupled with the aforementioned arm portion (10), i.e., the needle tendon sheath (31) and the arm tendon sheath (32), can be coupled with the operating unit (20). The worker can operate the arm portion (10) using the operating unit (20) connected to the arm portion (10) via the tendon sheath (30) without directly operating the arm portion (10). That is, the operating unit (20) can be configured to remotely operate the arm portion (10).

At this time, the operating unit (20) can be configured to minimize the risk of misoperation that may occur depending on the skill level of the operator. That is, the operating unit (20) is configured to operate in a manner in which a configuration for operating the operating arm unit (300), a configuration for operating the needle holder unit (500), and a configuration for operating the tendon sheath unit (30) are interlinked with each other.

Therefore, in a situation where the needle member (400) must not be released, the operating unit (20) can be adjusted so that the needle member (400) cannot be released.

For example, if the needle member (400) is released while the first and second needle holders (500a, 500b) are spaced apart from each other, there is a risk that the needle member (400) may fall into the body at will. In the above state, the configuration of the operating unit (20) for releasing the needle member (400) may be adjusted to be impossible to operate, thereby preventing the needle member (400) from being accidentally detached.

That is, the needle member (400) can be released only when the first and second needle holder parts (500a, 500b) are positioned adjacent to each other. In other words, the needle tendon (31') or the needle sheath (31'') can be manipulated so that the needle member (400) is released only when the needle member (400) is engaged with both the first and second needle holder parts (500a, 500b).

Therefore, the risk of accidents caused by the skill of the worker using the endoscopic suture device (1) can be minimized.

In the embodiments illustrated in FIGS. 31 to 36, the operating unit (20) includes an operating housing (600), a rotating operating unit (700), an arm operating unit (800), and a needle operating unit (900).

The operating housing (600) constitutes the outer shape of the operating unit (20). A space is formed inside the operating housing (600) to accommodate some components of the operating unit (20). In addition, other components of the operating unit (20) may be combined with the operating housing (600) or may be arranged outside thereof to be combined with some of the components.

In the illustrated embodiment, the operating housing (600) is coupled to and supports a rotation operating unit (700), an arm operating unit (800), and a needle operating unit (900). The rotation operating unit (700) is positioned outside the operating housing (600). The arm operating unit (800) and the needle operating unit (900) are partially positioned inside the operating housing (600), and the remainder is positioned outside the operating housing (600).

The operator can manipulate each component of the arm (10) by manipulating the rotating operation part (700) located on the outside of the operation housing (600), the above part of the arm operation part (800), and the above part of the needle operation part (900).

The operating housing (600) is coupled with the tendon sheath (30). Specifically, the tendon sheath (30) is penetrated and coupled to the operating housing (600) and is coupled with other components of the operating unit (20) coupled with the operating housing (600). The operating housing (600) can support the needle sheath (31'') of the needle tendon sheath (31), the female sheath (32'') of the female tendon sheath (32), and the rotating sheath of the rotating tendon sheath (33).

In the embodiments illustrated in FIGS. 31 to 41, the operating housing (600) includes a first operating housing (610), a second operating housing (620), a third operating housing (630), a tendon sheath coupling (640), a support frame (650), and a coupling frame (660).

The first operating housing (610) constitutes a portion of the outer shape of the operating housing (600). In the illustrated embodiment, the first operating housing (610) constitutes the outer shape of the upper side of the operating housing (600).

The first operating housing (610) is coupled with the third operating housing (630). The first operating housing (610) covers the third operating housing (630) and the needle driving unit (930) and the needle rod unit (940) coupled with the third operating housing (630), and can be coupled with the third operating housing (630).

The first operating housing (610) is coupled with the needle operating lever (910) and the needle load lever (920). The first operating housing (610) supports the needle operating lever (910) and the needle load lever (920) from the lower side.

The first operating housing (610) constitutes the upper side of the outer shape of the operating housing (600), and may have any shape that can be combined with and support the needle operating lever (910) and the needle load lever (920). In the illustrated embodiment, the first operating housing (610) is formed in a plate shape in which the length in the front-back direction is longer than the width in the left-right direction and the thickness in the up-down direction is greater.

At this time, the needle operation lever (910) and the needle load lever (920) can be connected to the needle operation unit (900) by penetrating the first operation housing (610), respectively. To this end, the first operation housing (610) includes a first operation through-hole (611) and a second operation through-hole (612).

The first manipulation through-hole (611) is formed through the interior of the first manipulation housing (610). In the illustrated embodiment, the first manipulation through-hole (611) is formed in the central portion in the longitudinal direction of the first manipulation housing (610). The position of the first manipulation through-hole (611) may be changed to correspond to the position of the needle driving unit (930).

The first operating through hole (611) may have a shape corresponding to the shape of the needle operating lever (910) or the needle driving gear (931). In the illustrated embodiment, the first operating through hole (611) is formed as a space in the shape of a disk having a circular cross-section and a thickness in the vertical direction.

A second operation through hole (612) is formed spaced apart from the first operation through hole (611).

The second manipulation through-hole (612) is formed through the interior of the first manipulation housing (610). In the illustrated embodiment, the second manipulation through-hole (612) is formed on one longitudinal side of the first manipulation housing (610), between the lower end in the illustrated embodiment, and the first manipulation through-hole (611). The position of the second manipulation through-hole (612) may be changed to correspond to the position of the needle rod portion (940).

The second operating through hole (612) may have a shape corresponding to the shape of the needle load lever (920) or the load lever coupling portion (942). In the illustrated embodiment, the second operating through hole (612) is formed as an oblong plate-shaped space that extends in the vertical direction and has a rounded cross-section so that each end in the extending direction is convex outward, and has a thickness in the vertical direction.

The second operating housing (620) constitutes another portion of the outer appearance of the operating housing (600). In the illustrated embodiment, the second operating housing (620) constitutes the outer appearance of the lower side of the operating housing (600).

The second operating housing (620) is coupled with the third operating housing (630). The second operating housing (620) covers the third operating housing (630) on one side in the height direction, the lower side in the illustrated embodiment, and is coupled with the third operating housing (630).

A space is formed inside the second operating housing (620). The space can at least partially accommodate a coupling frame (660) and an arm operating unit (800) coupled thereto.

The second operating housing (620) is coupled with a tendon sheath coupling portion (640). A space formed inside the second operating housing (620) can be communicated with the outside through the tendon sheath coupling portion (640). The tendon sheath portion (30) can extend into the interior of the operating housing (600) through the tendon sheath coupling portion (640) and be connected to the rotation operating portion (700), the arm operating portion (800), and the needle operating portion (900), respectively.

The second operating housing (620) constitutes the lower side of the outer shape of the operating housing (600), is coupled with the third operating housing (630) and the tendon sheath coupling portion (640), and may have any shape capable of accommodating the coupling frame (660). In the illustrated embodiment, the second operating housing (620) has a three-dimensional shape in which the length in the front-back direction is longer than the width in the left-right direction and the height in the up-down direction is greater.

The third manipulation housing (630) constitutes another portion of the exterior of the manipulation housing (600). In the illustrated embodiment, the third manipulation housing (630) constitutes the central portion in the height direction of the manipulation housing (600). The third manipulation housing (630) is positioned between the first manipulation housing (610) and the second manipulation housing (620).

The third operating housing (630) is coupled with the first operating housing (610). One side of the third operating housing (630) in the height direction, the upper side in the illustrated embodiment, is coupled with the first operating housing (610). The needle driving unit (930) and the needle rod unit (940) coupled with the one side of the third operating housing (630) and the third operating housing (630) are covered by the first operating housing (610).

The third operating housing (630) is coupled with the second operating housing (620). The other side of the third operating housing (630) in the height direction, the lower side in the illustrated embodiment, is coupled with the second operating housing (620). The third operating housing (630) is accommodated in a space formed inside the second operating housing (620).

The third operating housing (630) is coupled with the tendon sheath coupling portion (640). In the illustrated embodiment, one longitudinal side of the third operating housing (630), i.e., the front side, is coupled with the tendon sheath coupling portion (640). A portion of the tendon sheath portion (30) may be coupled with a needle drive portion (930) coupled with the third operating housing (630).

The third manipulation housing (630) constitutes another part of the outer shape of the manipulation housing (600) and may have any shape that can be coupled with the first and second manipulation housings (610, 620) and the tendon sheath joint (640). In the illustrated embodiment, the third manipulation housing (630) has a three-dimensional shape in which the length in the front-back direction is longer than the width in the left-right direction and the height in the up-down direction is greater.

The third operating housing (630) is coupled with the needle operating unit (900). Specifically, the third operating housing (630) is coupled with the needle driving unit (930) and the needle loading unit (940) to accommodate and support them.

To this end, in the illustrated embodiment, the third operating housing (630) includes a needle drive unit receiving space (631), a needle rod unit receiving space (632), and an operating housing through hole (633).

The needle drive unit receiving space (631) receives the needle drive unit (930) of the needle operating unit (900). The needle drive unit receiving space (631) is formed recessed into the interior of the third operating housing (630). In the illustrated embodiment, the needle drive unit receiving space (631) is formed in the central portion in the longitudinal direction of the third operating housing (630).

The needle drive unit receiving space (631) may have a shape corresponding to the shape of the needle drive unit (930). In the illustrated embodiment, the needle drive unit receiving space (631) is formed as a three-dimensional space having a rectangular cross-section and a vertical height.

The needle drive unit receiving space (631) can be arranged to overlap the first operating through-hole (611) and the operating housing through-hole (633) along the height direction. Accordingly, the needle drive unit (930) received in the needle drive unit receiving space (631) can be respectively coupled with the needle operating lever (910) and the lever restraint member (950).

The needle load unit receiving space (632) receives the needle load unit (940) of the needle operating unit (900). The needle load unit receiving space (632) is formed by being sunken into the interior of the third operating housing (630). In the illustrated embodiment, the needle load unit receiving space (632) is formed between one longitudinal side of the third operating housing (630), i.e., the lower end, and the needle driving unit receiving space (631).

The needle rod portion receiving space (632) may have a shape corresponding to the shape of the needle rod portion (940). In the illustrated embodiment, the needle rod portion receiving space (632) has a rectangular cross-section and a vertical height, but is formed as a space in which a groove for receiving a needle elastic member (960) is sunken on one side in the longitudinal direction, i.e., the rear side.

At this time, the length of the needle rod portion receiving space (632), in the illustrated embodiment, in the front-back direction, may be formed to be greater than the front-back direction length of the needle rod portion (940). Accordingly, the needle rod portion (940) received in the needle rod portion receiving space (632) can be moved in the front-back direction by a predetermined distance.

The needle load receiving space (632) can be arranged to overlap the second operating through hole (612) along the height direction. Accordingly, the needle load portion (940) received in the needle load receiving space (632) can be coupled with the needle load lever (920).

The operating housing through-hole (633) connects the needle drive unit receiving space (631) and the internal space of the second operating housing (620). The operating housing through-hole (633) is formed through the inner surface of the third operating housing (630) surrounding the needle drive unit receiving space (631) from one side in the height direction, i.e., from the lower side in the illustrated embodiment. The operating housing through-hole (633) is located in the needle drive unit receiving space (631).

The operating housing through-hole (633) provides a passage through which the needle drive gear (931) passes. The needle drive gear (931) can pass through the operating housing through-hole (633) and be coupled to the lever restraint member (950).

The operating housing through-hole (633) may have a shape corresponding to the shape of the needle drive gear (931). In the illustrated embodiment, the operating housing through-hole (633) is formed as a space in the shape of a disk having a circular cross-section and a thickness in the vertical direction.

The tendon sheath joint (640) is a configuration in which the tendon sheath joint (30) is coupled to the operating unit (20). The tendon sheath joint (30) can be coupled to a rotary operating unit (700), an arm operating unit (800), or a needle operating unit (900) coupled to the operating housing (600) through the tendon sheath joint (640).

The tendon sheath joint (640) is coupled to the second operating housing (620) and the third operating housing (630). In the illustrated embodiment, the tendon sheath joint (640) is coupled to one longitudinal side of the second and third operating housings (620, 630), in the illustrated embodiment, the front side end. A hollow space is formed inside the tendon sheath joint (640), so that the outside and the inside of the second and third operating housings (620, 630) can be communicated with each other.

The support frame (650) supports the needle rod portion (940) coupled with the third manipulation housing (630) on one side in the height direction. The support frame (650) covers the needle rod portion (940) coupled with the third manipulation housing (630) and is coupled with the third manipulation housing (630). The support frame (650) is positioned between the first manipulation housing (610) and the third manipulation housing (630).

In the illustrated embodiment, the support frame (650) includes a support through hole (651).

A support through hole (651) is formed penetrating the interior of the support frame (650). A needle load lever (920) or a load lever connecting portion (942) passes through the support through hole (651). The support through hole (651) is arranged to overlap the second operating through hole (612) and the load lever connecting portion (942) in the height direction, or in the vertical direction in the illustrated embodiment.

The support through hole (651) may have a shape corresponding to the shape of the second operation through hole (612). In the illustrated embodiment, the support through hole (651) is formed to have a rectangular cross-section in which the length in the vertical direction is longer than the width in the left-right direction and each end in the longitudinal direction is rounded so as to be convex outward.

In the above embodiment, the needle load lever (920) and the load lever coupling portion (942) can be moved a predetermined distance in the longitudinal direction of the second operating through hole (612) and the operating housing through hole (633), and in the forward and backward direction in the illustrated embodiment.

The coupling frame (660) is a configuration in which the operating housing (600) is coupled with the arm operating unit (800). The coupling frame (660) is accommodated in a space formed inside the second operating housing (620) and is covered by the third operating housing (630). The coupling frame (660) is positioned between the second operating housing (620) and the third operating housing (630).

The coupling frame (660) is coupled with the rotation operation unit (700). The rotational force applied to the rotation operation unit (700) can be transmitted to the endoscope coupling body (120) through the rotation tendon of the rotation tendon sheath (33). In the illustrated embodiment, one longitudinal side of the coupling frame (660), i.e., the rear end, is coupled with the rotation operation unit (700).

The coupling frame (660) is coupled to the arm operating unit (800). The coupling frame (660) can support or accommodate some components of the arm operating unit (800) so as to be rotatable and other components of the arm operating unit (800) so as to be movable.

In the embodiment illustrated in FIG. 40, the coupling frame (660) includes a coupling frame body (661), a lever shaft member (662), a lever receiving space (663), a lever driving member receiving space (664), a lever guide protrusion (665), a lever lifting member receiving space (666), a lever restraining member receiving space (667), an elastic member receiving space (668), and a sheath coupling opening (669).

The joining frame body (661) constitutes the outer shape of the joining frame (660). Other configurations of the joining frame (660) are formed or joined to the joining frame body (661).

In the illustrated embodiment, a lever shaft member (662), a lever guide protrusion (665), and a sheath engagement opening (669) are formed in the coupling frame body (661). In addition, a lever receiving space (663), a lever driving member receiving space (664), a lever lifting member receiving space (666), a lever restraining member receiving space (667), and an elastic member receiving space (668) are formed inside the coupling frame body (661).

The coupling frame body (661) may have a shape corresponding to the shape of the first to third operating housings (610, 620, 630). In the illustrated embodiment, the coupling frame body (661) has a three-dimensional shape in which the length in the front-back direction is longer than the length in the left-right direction and the height in the up-down direction is greater.

The lever shaft member (662) rotatably supports the lever member (810) of the arm operating unit (800). The lever member (810) can be rotatably connected to the lever shaft member (662) through a frame connecting portion (812). The lever shaft member (662) can function as a rotational axis of the lever member (810).

The lever shaft member (662) is positioned at a portion of the coupling frame body (661) where a lever receiving space (663) is formed. In the illustrated embodiment, the lever shaft member (662) is positioned to be biased toward one side of the longitudinal direction of the coupling frame body (661), i.e., the rear side.

The lever shaft member (662) is formed to extend from the inner surface of the coupling frame body (661) surrounding the lever receiving space (663) on one side in the height direction, i.e., the lower side in the illustrated embodiment, toward the other side in the height direction, i.e., the upper side.

The lever shaft member (662) may have any shape that can rotatably support the lever member (810). In the illustrated embodiment, the lever shaft member (662) is formed in a cylindrical shape with a circular cross-section and a vertical height.

A plurality of lever shaft members (662) may be formed. The plurality of lever shaft members (662) may be spaced apart from each other and may be respectively coupled to the plurality of lever members (810) at different locations. In the illustrated embodiment, the lever shaft members (662) are formed as a pair, including a first lever shaft member (662a) and a second lever shaft member (662b).

The first lever shaft member (662a) is positioned in the first lever receiving space (663a) located on one side in the width direction, on the left side in the illustrated embodiment. The first lever shaft member (662a) is coupled to the first lever member (810a) located on the left side and rotatably supports the first lever member (810a).

The second lever shaft member (662b) is positioned in the second lever receiving space (663b) located on the other side in the width direction, on the right side in the illustrated embodiment. The second lever shaft member (662b) is coupled to the second lever member (810b) located on the right side, and rotatably supports the second lever member (810b).

The first lever shaft member (662a) and the second lever shaft member (662b) are arranged facing each other with a lever drive member receiving space (664) therebetween.

The lever receiving space (663) rotatably receives the lever member (810) of the arm operating unit (800). A lever shaft member (662) is positioned in the lever receiving space (663). The lever member (810) can be rotated about the lever shaft member (662) in the lever receiving space (663).

The lever receiving space (663) can be formed at a position corresponding to the position of the lever shaft member (662). In the illustrated embodiment, the lever receiving space (663) is located on one side in the longitudinal direction of the coupling frame body (661), i.e., the rear side.

The lever receiving space (663) is formed by being recessed in one side of the coupling frame body (661). At this time, one side in the height direction of the lever receiving space (663), the lower side in the illustrated embodiment, is surrounded by the inner surface of the coupling frame body (661). Each side in the length direction of the lever receiving space (663), the upper side and the lower side in the illustrated embodiment, are surrounded by a lever guide protrusion (665).

The outer side in the width direction of the lever receiving space (663) can be formed open to provide a passage for exposing the lever member (810) to the outside. The inner side in the width direction of the lever receiving space (663) is connected to the lever driving member receiving space (664).

A plurality of lever receiving spaces (663) may be formed. The plurality of lever receiving spaces (663) can each rotatably receive a plurality of lever members (810). In the illustrated embodiment, the lever receiving space (663) includes a first lever receiving space (663a) that receives a first lever member (810a) and a second lever receiving space (663b) that receives a second lever member (810b).

The first lever receiving space (663a) and the second lever receiving space (663b) are arranged facing each other with the lever driving member receiving space (664) interposed therebetween.

The lever driving member receiving space (664) movably receives the lever driving member (840). The lever driving member receiving space (664) is located between a pair of lever receiving spaces (663a, 663b).

The lever drive member receiving space (664) is formed recessed on one side in the height direction of the coupling frame body (661), in the illustrated embodiment, on the upper surface. One side in the height direction of the lever drive member receiving space (664), in the illustrated embodiment, on the lower surface, is surrounded by the upper surface of the coupling frame body (661).

The lever driving member receiving space (664) is respectively connected to a pair of lever receiving spaces (663a, 663b). Accordingly, the lever driving member (840) can be gear-coupled with a pair of lever members (810a, 810b), respectively.

One longitudinal side of the lever driving member receiving space (664), the front side in the illustrated embodiment, is connected to the lever restraint member receiving space (667). Accordingly, the lever pin member (850) coupled with the lever driving member (840) can be coupled to or separated from the lever restraint member (950).

The lever guide protrusion (665) is configured to partially surround the lever receiving space (663) to limit the rotation angle of the lever member (810). The lever member (810) can only be rotated until it contacts the lever guide protrusion (665). Accordingly, the movement distance of the arm tendon (32') coupled with the lever member (810) is also limited, thereby preventing the operating arm (300) from rotating excessively.

The lever guide protrusion (665) can surround the longitudinal direction of the lever receiving space (663), the front side and the rear side in the illustrated embodiment. Accordingly, each side of the width direction of the lever receiving space (663) can be maintained in communication with the external and lever driving member receiving space (664).

A plurality of lever guide protrusions (665) may be provided. Each of the plurality of lever guide protrusions (665) may limit the rotation angle of the first lever member (810a) and the second lever member (810b).

In the illustrated embodiment, the lever guide protrusion (665) comprises a pair of first lever guide protrusions (665a) and a pair of second lever guide protrusions (665b).

A pair of first lever guide protrusions (665a) are spaced apart from each other and partially surround the front and rear sides of the first lever receiving space (663a), respectively. A pair of second lever guide protrusions (665b) are spaced apart from each other and partially surround the front and rear sides of the second lever receiving space (663b), respectively.

The lever lifting member receiving space (666) receives the lever lifting member (830) of the arm operating unit (800) so that it can be raised and lowered. The lever lifting member receiving space (666) is positioned at the other side in the longitudinal direction of the coupling frame body (661), that is, the front side in the illustrated embodiment. The lever lifting member receiving space (666) is formed by being recessed in one side in the height direction of the above-mentioned part of the coupling frame body (661), that is, in the upper surface.

One longitudinal side of the lever lifting member receiving space (666), the rear side in the illustrated embodiment, is connected to the lever restraint member receiving space (667). The lever lifting member (830) may be positioned adjacent to the lever restraint member (950).

The longitudinal side of the lever lifting member receiving space (666), in the illustrated embodiment, the front side, is connected to a plurality of elastic member receiving spaces (668). The lever lifting member (830) can be elastically supported by the lever elastic member (860).

Each side in the width direction of the lever lifting member receiving space (666) is surrounded by a joining frame body (661). The lever lifting member (830) may move in the forward and backward direction, but may not move in the left and right direction.

The lever restraint member receiving space (667) rotatably receives the lever restraint member (950). The lever restraint member receiving space (667) is located between the lever driving member receiving space (664) and the lever lifting member receiving space (666).

One longitudinal side of the lever restraint member receiving space (667), the rear side in the illustrated embodiment, is connected to the lever drive member receiving space (664). A lever pin member (850) can be retractably inserted and connected to the lever restraint member (950).

The longitudinal side of the lever restraint member receiving space (667), in the illustrated embodiment the front side, is connected to the lever lifting member receiving space (666). The lever restraint member (950) may be positioned adjacent to the lever lifting member (830).

The elastic member receiving space (668) receives a lever elastic member (860) that elastically supports the lever lifting member (830). The elastic member receiving space (668) is located on one side of the lever lifting member receiving space (666) in the longitudinal direction, that is, on the front side in the illustrated embodiment. The elastic member receiving space (668) is recessed into the upper surface of the coupling frame body (661).

One longitudinal side of the elastic member receiving space (668), the rear side in the illustrated embodiment, is connected to the lever lifting member receiving space (666). The other longitudinal side of the elastic member receiving space (668), the front side in the illustrated embodiment, is closed so that the lever elastic member (860) can be supported.

A plurality of elastic member receiving spaces (668) may be formed. The plurality of elastic member receiving spaces (668) are spaced apart from each other to receive a plurality of lever elastic members (860), and may be respectively connected to the lever lifting member receiving spaces (666). In the illustrated embodiment, a pair of elastic member receiving spaces (668) are provided and are spaced apart from each other in the left-right direction. A pair of lever elastic members (860) are each received in a pair of elastic member receiving spaces (668).

The sis coupling opening (669) is configured such that the coupling frame (660) is coupled with the tendon sheath (30). The sis coupling opening (669) accommodates the female sheath (32'') of the female tendon sheath (32). The sis coupling opening (669) is recessed into one longitudinal edge of the coupling frame (660), in the illustrated embodiment, the upper edge of the lower side. The sis coupling opening (669) communicates with the lever lifting member receiving space (666) and the outside.

A plurality of sis coupling openings (669) may be formed. The plurality of sis coupling openings (669) may each accommodate a female sheath (32'') provided to a plurality of female tendon sheaths (32). In the illustrated embodiment, the sis coupling openings (669) are formed in pairs to accommodate a female sheath (32'') provided to the first and second female tendon sheaths (32a, 32b), respectively.

The rotational operating unit (700) is coupled with the rotational tendon sheath (33) and applies rotational force to the endoscope coupling body (120). The rotational force applied to the rotational tendon sheath (33) (or rotational tendon) is transmitted to the endoscope coupling body (120), so that the coupling body (110) and the endoscope coupling body (120) can be rotated relative to each other.

Accordingly, the relative angle between the endoscope (not shown) and the operating arm (300) can be adjusted, enabling more accurate treatment.

The rotational operating unit (700) is coupled to the operating housing (600). The rotational operating unit (700) is coupled to one longitudinal side of the operating housing (600), the rear side in the illustrated embodiment. The rotational operating unit (700) can be coupled to a rotational tendon of a rotational tendon sheath (33) extending into the interior of the operating housing (600).

The rotation operation unit (700) may be provided in any form that can apply rotational force by being coupled to the rotation tendon sheath (33). In the illustrated embodiment, the rotation operation unit (700) is provided in the form of a dial or knob.

In the embodiment illustrated in FIGS. 41 and 42, the rotation operation unit (700) includes an operation knob (710), a rotation transmission member (720), a rotation coupling member (730), and a rotation maintaining member (740).

The operating knob (710) constitutes the outer shape of the rotary operating part (700). The operating knob (710) is exposed on the outside of the operating housing (600) and can receive a rotational force from an operator or any device.

The operating knob (710) is coupled with a rotation transmission member (720). The rotation of the operating knob (710) can be transmitted to the rotation transmission member (720). The operating knob (710) and the rotation transmission member (720) can be rotated integrally.

The operating knob (710) may be provided in any shape that can receive rotational force. In the illustrated embodiment, the operating knob (710) is provided as a knob having a circular cross-section, a height in the front-back direction, and a protrusion formed on its outer periphery.

In the illustrated embodiment, the operating knob (710) includes a transmission member receiving groove (711) and a transmission shaft receiving groove (712).

The transmission member receiving groove (711) receives the rotation transmission boss (721) of the rotation transmission member (720). The transmission member receiving groove (711) is formed recessed on one side in the height direction of the operation knob (710), that is, on the front side in the illustrated embodiment.

The inner surface of the operating knob (710) surrounding the transmission member receiving groove (711) can press the rotation transmission boss (721) to rotate the rotation transmission member (720). To this end, the cross-section of the transmission member receiving groove (711) can be formed to include at least one straight line.

In the illustrated embodiment, the transmission member receiving groove (711) is formed into a rectangular shape whose cross-section is longer in the vertical direction than in the left-right direction, and each end in the longitudinal direction is convex outward. The shape of the transmission member receiving groove (711) can be changed to correspond to the shape of the rotational transmission boss (721).

A transmission shaft receiving groove (712) is formed inside the transmission absence receiving groove (711).

The transmission shaft receiving groove (712) rotatably receives the rotational transmission shaft (722) of the rotational transmission member (720). The transmission shaft receiving groove (712) is recessed into the one side, i.e., the front side, of the operation knob (710). The transmission shaft receiving groove (712) can be located at the center of the cross-section of the operation knob (710). The transmission shaft receiving groove (712) is located in the transmission member receiving groove (711).

The shape of the transmission shaft receiving groove (712) can be formed to correspond to the shape of the rotational transmission shaft (722). In the illustrated embodiment, the transmission shaft receiving groove (712) is formed as a groove having a circular cross-section and a depth in the front-back direction.

The rotation transmission member (720) is coupled with the operation knob (710) and rotates together. In addition, the rotation transmission member (720) is coupled with the rotation tendon sheath (33) (or the rotation tendon provided thereon) and rotates together. That is, the rotation transmission member (720) transmits the rotation of the operation knob (710) to the rotation tendon sheath (33).

The rotation transmission member (720) is coupled to the rotation coupling member (730). Specifically, the rotation transmission member (720) is rotatably received in the rotation coupling hollow (731) of the rotation coupling member (730) at least partially. The rotation transmission member (720) can be supported in its radial direction by the rotation coupling member (730).

The rotation transmission member (720) is coupled with the rotation maintenance member (740). Specifically, the rotation maintenance tooth portion (741) of the rotation maintenance member (740) can be gear-coupled to the rotation transmission member (720).

In the illustrated embodiment, the rotation transmission member (720) includes a rotation transmission boss portion (721), a rotation transmission shaft (722), a rotation transmission tooth portion (723), a rotation tendon coupling portion (724), and a rotation tendon receiving space (725).

The rotation transmission boss (721) is a configuration in which the rotation transmission member (720) is coupled with the operating knob (710). The rotation transmission boss (721) is formed to protrude or rise on one side of the longitudinal direction of the rotation transmission member (720), that is, on the rear side in the illustrated embodiment.

The rotation transmission boss (721) is inserted and coupled into the transmission member receiving groove (711). To this end, the rotation transmission boss (721) may be formed in a shape corresponding to the shape of the transmission member receiving groove (711). In the illustrated embodiment, the rotation transmission boss (721) is formed to have a rectangular cross-section extending in the vertical direction and having a height in the front-back direction.

Accordingly, the rotation transmission boss (721) is pressed by the inner surface of the transmission member receiving groove (711) surrounding the transmission member receiving groove (711), so that the operation knob (710) and the rotation transmission member (720) can be rotated simultaneously.

A rotation transmission shaft (722) is located inside the rotation transmission boss (721).

The rotation transmission shaft (722) functions as a rotation axis of the rotation transmission member (720) and the operation knob (710) coupled thereto. The rotation transmission shaft (722) is formed to protrude from the outer surface of the rotation transmission boss (721) in a direction toward the operation knob (710), i.e., toward the rear side.

The rotation transmission shaft (722) is rotatably inserted and coupled into the transmission shaft receiving groove (712). The rotation transmission shaft (722) can be formed in a shape corresponding to the shape of the transmission shaft receiving groove (712). In the illustrated embodiment, the rotation transmission shaft (722) has a cylindrical shape with a circular cross-section and a length in the front-back direction.

The rotation transmission tooth portion (723) is configured such that the rotation transmission member (720) is coupled with the rotation coupling member (730) and the rotation maintenance member (740). The rotation transmission tooth portion (723) is formed as a protrusion on the other side in the height direction of the rotation transmission member (720), the front side in the illustrated embodiment, and includes a plurality of concave and convex portions that are continuous along the outer periphery thereof.

The rotation transmission tooth (723) is gear-coupled with the rotation retention tooth (741) of the rotation retention member (740) inserted into the rotation coupling hollow (731). At this time, the rotation retention member (740) is fixedly coupled to the operating housing (600), so that the rotation transmission tooth (723) can rotate relative to the rotation retention tooth (741) while receiving a predetermined resistance.

Accordingly, the operator can feel a certain click sensation when rotating the operating knob (710). Accordingly, the operator can tactilely detect whether the rotating tendon sheath (33) and the endoscope coupling body (120) coupled thereto are rotating.

In addition, when the rotation of the operating knob (710) is completed, the rotation transmission tooth (723) and the rotation maintenance tooth (741) are maintained in a gear-engaged state. Therefore, the operating knob (710) that has completed rotation can be maintained at the corresponding angle without being rotated arbitrarily.

The rotation tendon joint (724) is a configuration in which the rotation transmission member (720) is coupled with the rotation tendon of the rotation tendon sheath (33). The rotation tendon joint (724) is formed on a portion of the outer circumference of the rotation transmission member (720), in the illustrated embodiment, on the upper portion.

The rotation tendon joint (724) is formed to penetrate the outer circumference of the rotation transmission member (720) in the height direction, in the vertical direction in the illustrated embodiment. One side of the rotation tendon joint (724) in the height direction, in the illustrated embodiment, the upper side, is open and communicates with the outside. The other side of the rotation tendon joint (724) in the height direction, in the illustrated embodiment, the lower side, is open and communicates with the rotation tendon receiving space (725).

A plurality of rotating tendon joints (724) may be formed. The plurality of rotating tendon joints (724) may be joined to the rotating tendons of a continuous single rotating tendon sheath (33). In the illustrated embodiment, the rotating tendon joints (724) are formed in pairs.

The rotation tendon receiving space (725) receives the rotation tendon of the rotation tendon sheath (33). The rotation tendon receiving space (725) is connected to the rotation tendon joint (724). The rotation tendon receiving space (725) is located radially inward of the outer circumference of the rotation transmission member (720).

The rotation tendon receiving space (725) can have any shape that allows the rotation tendon to rotate together with the rotation transmission member (720) without any misalignment. In the illustrated embodiment, the rotation tendon receiving space (725) is formed as an annular space that is recessed into the front side surface of the rotation transmission member (720). The rotation tendon receiving space (725) is located between the outer periphery of the rotation transmission member (720) and the rotation transmission teeth (723) along the radial direction.

The rotation coupling member (730) couples the rotation transmission member (720) and the rotation maintenance member (740). The rotation coupling member (730) is coupled to the rotation transmission member (720) and the rotation maintenance member (740), respectively.

The rotating coupling member (730) is coupled with the operating housing (600). On each side of the width direction of the rotating coupling member (730), and in the illustrated embodiment, on each side of the left and right directions, a through hole (not shown in the drawing) is formed to accommodate a fastening member (not shown) for coupling with the operating housing (600).

In the illustrated embodiment, the rotation coupling member (730) is formed with a rotation coupling hollow (731).

The rotation coupling hollow (731) is a space that accommodates the rotation transmission member (720) and the rotation maintenance member (740). The rotation coupling hollow (731) is formed to penetrate the rotation coupling member (730) in the height direction, and in the front-back direction in the illustrated embodiment.

At one end of the rotation coupling hollow (731), in the illustrated embodiment, a rearward end receives a rotation transmission tooth (723). At the other end of the rotation coupling hollow (731), in the illustrated embodiment, a frontward end receives a rotation retaining tooth (741) of a rotation retaining member (740).

The rotation coupling hollow (731) can have any shape that can accommodate the rotation transmission teeth (723) and the rotation maintenance teeth (741). In the illustrated embodiment, the rotation coupling hollow (731) has a cylindrical shape with a circular cross-section and a height in the front-back direction.

The rotation retaining member (740) is coupled with the rotation transmission member (720) to prevent arbitrary rotation of the rotation transmission member (720) and the operation knob (710) coupled thereto. In addition, the rotation retaining member (740) is coupled with the rotation coupling member (730) and the operation housing (600), respectively, to rotatably support the operation knob (710) and the rotation transmission member (720).

The rotation retaining member (740) is coupled with the rotation transmission member (720). Specifically, the rotation transmission tooth portion (723) is gear-coupled with the rotation retaining tooth portion (741) formed on the rotation retaining member (740). The rotation retaining member (740) rotatably supports the rotation transmission member (720) and the operation knob (710) coupled thereto.

The rotation maintaining member (740) is coupled with the rotation coupling member (730). The rotation maintaining member (740) can be coupled with the rotation transmitting member (720) while being inserted into the rotation coupling hollow (731) of the rotation coupling member (730).

In the illustrated embodiment, the rotation retaining member (740) includes a rotation retaining tooth (741).

The rotation maintaining tooth part (741) is a configuration that is coupled with the rotation transmitting tooth part (723) of the rotation transmitting member (720) among the configurations of the rotation maintaining member (740). The rotation maintaining tooth part (741) is gear-coupled with the rotation transmitting tooth part (723).

The rotation-maintaining tooth portion (741) is formed with a raised shape on one side facing the rotation transmission member (720), and in the illustrated embodiment, towards the rear side. A plurality of concave and convex portions may be formed on the outer periphery of the rotation-maintaining tooth portion (741). The plurality of concave and convex portions may be formed alternately and continuously along the outer periphery of the rotation-maintaining tooth portion (741).

By combining the rotation maintaining tooth (741) and the rotation transmitting tooth (723), the operator can feel a clicking sensation. In addition, as described above, the operating knob (710) and the rotation transmitting member (720) can be maintained in a rotated position.

Referring to FIGS. 43 to 49, the operating unit (20) according to an embodiment of the present invention includes a female operating unit (800).

The arm manipulation unit (800) receives an external force to manipulate the manipulation arm (300). The arm manipulation unit (800) is coupled to the manipulation arm (300) by the arm tendon sheath (32). The arm manipulation unit (800) is coupled to the arm tendon (32') of the arm tendon sheath (32).

The arm operating unit (800) is coupled to the operating housing (600). Specifically, the arm operating unit (800) is rotatably or movably coupled to the coupling frame (660). The arm operating unit (800) is partially covered by the third operating housing (630) that covers the coupling frame (660). Another portion of the arm operating unit (800) is exposed to the outside of the operating housing (600).

The arm operating part (800) is coupled with the needle operating part (900). Specifically, the arm operating part (800) is detachably coupled with the lever restraint member (950). As described above, by this coupling, the operations of the operating arm part (300) and the needle holder part (500) can be linked.

In the illustrated embodiment, the arm operating member (800) includes a lever member (810), a lever link member (820), a lever lifting member (830), a lever driving member (840), a lever pin member (850), and a lever elastic member (860).

The lever member (810) is configured such that the arm operating portion (800) is exposed to the outside of the operating housing (600). The lever member (810) can receive an external force from an operator or any device. In one embodiment, the lever member (810) can be moved inward toward the operating housing (600), i.e., in the width direction in the illustrated embodiment, by the applied external force.

The lever member (810) is coupled with the operating housing (600). Specifically, the lever member (810) is rotatably received in the lever receiving space (663) of the coupling frame (660) and rotatably coupled with the lever shaft member (662).

The lever member (810) is coupled to the female tendon (32') of the female tendon sheath (32) by the lever drive member (840). This coupling can be achieved by the lever member (810) being gear-coupled with the lever drive member (840).

The arm tendon (32') can move a pair of operating arms (300a, 300b) corresponding to the rotation of the lever member (810). For example, when the lever member (810) is folded (i.e., pressed toward the operating housing (600), the arm tendon (32') can move a pair of operating arms (300a, 300b) toward each other.

In the above embodiment, when the lever member (810) is unfolded (i.e., moved against the operating housing (600)), the arm tendon (32') can move the pair of operating arms (300a, 300b) away from each other.

Accordingly, when the lever member (810) is operated, the operating arm (300) and the needle holder member (500) coupled thereto and the needle member (400) can move together. Through the above process, the needle member (400) can penetrate and separate from the above-mentioned portion.

The lever member (810) is coupled to the lever link member (820). The lever member (810) can be linked relative to the lever link member (820).

The lever member (810) is coupled to the lever lifting member (830). Specifically, the lever member (810) is coupled to the lever lifting member (830) by the lever link member (820). Accordingly, the lever lifting member (830) coupled to the lever link member (820) can also move, so that the operations of the lever member (810), the lever link member (820), and the lever lifting member (830) can be linked.

The lever member (810) is coupled to the lever driving member (840). The lever member (810) may be gear-coupled to the lever driving member (840). In the illustrated embodiment, the widthwise inner side of the lever member (810) is gear-coupled to the lever driving member (840).

The lever member (810) is coupled to the lever link member (820), the lever lifting member (830), and the lever driving member (840), and may have any shape capable of applying a driving force to the arm tendon (32'). In the illustrated embodiment, the lever member (810) is configured to include a portion that extends obliquely in the front-rear direction and is exposed to the outside of the operating housing (600), and another portion that is continuous with the portion and is rotatably received in the operating housing (600).

A plurality of lever members (810) may be provided. The plurality of lever members (810) may be accommodated in a plurality of lever accommodation spaces (663) and rotatably coupled to a plurality of lever shaft members (662). In addition, the plurality of lever members (810) may be individually connected in operation with a plurality of arm tendons (32') by a lever driving member (840).

A plurality of lever members (810) may be respectively coupled with a plurality of lever link members (820). Furthermore, a plurality of lever members (810) may be coupled with a single lever lifting member (830).

In the illustrated embodiment, the lever member (810) is provided in a pair including a first lever member (810a) and a second lever member (810b).

The first lever member (810a) is located on one side of the width direction of the operating housing (600), on the left side in the illustrated embodiment. The first lever member (810a) is accommodated in the first lever accommodation space (663a) and is rotatably coupled to the first lever shaft member (662a).

The first lever member (810a) is partially exposed on the left side of the outside of the operating housing (600). The first lever member (810a) is linked to the first lever link member (820a).

The second lever member (810b) is located on the other side of the width direction of the operating housing (600), on the right side in the illustrated embodiment. The second lever member (810b) is accommodated in the second lever accommodation space (663b) and is rotatably coupled to the second lever shaft member (662b).

The second lever member (810b) is partially exposed on the right side of the outer side of the operating housing (600). The second lever member (810b) is linked with the second lever link member (820b).

The first lever member (810a) and the second lever member (810b) are arranged to face each other with the lever lifting member (830) therebetween. The first lever member (810a) and the second lever member (810b) are each coupled to the lever lifting member (830). Therefore, the operations of the first lever member (810a) and the second lever member (810b) can be linked to each other by the lever lifting member (830).

The first lever member (810a) and the second lever member (810b) differ in their placement positions and their positions of engagement with the coupling frame (660), but their structures and functions are identical. Accordingly, in the following description of common parts, the first lever member (810a) and the second lever member (810b) are collectively referred to as the lever member (810).

In the illustrated embodiment, the lever member (810) includes a lever bearing (811), a frame coupling portion (812), and a lever tooth portion (813).

The lever bearing (811) is configured such that the lever member (810) is coupled to the lever link member (820). The lever bearing (811) is rotatably coupled to the lever link member (820). The lever bearing (811) may be provided in any form that can rotatably support the lever link member (820). In the illustrated embodiment, the lever bearing (811) is provided in the form of a ball bearing.

The lever bearing (811) is positioned facing the lever tooth portion (813) with the frame joint portion (812) in between.

The frame coupling portion (812) is configured such that the lever member (810) is rotatably coupled to the lever shaft member (662). The frame coupling portion (812) is located inside the lever member (810). The frame coupling portion (812) is formed to penetrate the lever member (810) in the height direction, or in the vertical direction in the illustrated embodiment. The lever shaft member (662) is coupled to the frame coupling portion (812) through.

The frame coupling portion (812) may have any shape that can be rotatably coupled with the lever shaft member (662). In the illustrated embodiment, the frame coupling portion (812) is formed as a cylindrical space having a circular cross-section and a vertical height.

The frame joint (812) is positioned between the lever bearing (811) and the lever tooth (813). The position of the frame joint (812) can be changed to correspond to the position of the lever shaft member (662).

The lever tooth portion (813) is configured to couple the lever member (810) with the lever driving member (840). The lever tooth portion (813) is gear-coupled with the rack gear member (841) of the lever driving member (840). By coupling the lever tooth portion (813) and the rack gear member (841), the movement of the lever member (810) and the movement of the lever driving member (840) can be linked.

The lever tooth portion (813) is formed on the inner end in the width direction among the ends of the lever member (810). In the illustrated embodiment, the lever tooth portion (813) of the first lever member (810a) is formed on the right end, and the lever tooth portion (813) of the second lever member (810b) is formed on the left end.

The lever tooth portion (813) may have any shape that can be gear-engaged with the rack gear member (841). In the illustrated embodiment, the lever tooth portion (813) is configured to include a plurality of concave and convex portions that are alternately and successively arranged at the end of the lever member (810).

The lever link member (820) links the lever member (810) and the lever lifting member (830). The lever link member (820) is connected to the lever member (810) and the lever lifting member (830), respectively. The lever link member (820) can be rotatably connected to the lever member (810) and the lever lifting member (830), respectively.

One end of the lever link member (820) in the extension direction, the upper end in the illustrated embodiment, is rotatably coupled with the lever bearing (811) of the lever member (810). The other end of the lever link member (820) in the extension direction is rotatably coupled with the lever lifting member (830).

By the above combination, the movement of the lever member (810) and the movement of the lever lifting member (830) can be linked.

A plurality of lever link members (820) may be provided. The plurality of lever link members (820) may be respectively coupled to the plurality of lever members (810) and the single lever lifting member (830). In the illustrated embodiment, the lever link members (820) are provided in pairs, including a first lever link member (820a) and a second lever link member (820b).

The first lever link member (820a) is located on the left side and is connected to the first lever member (810a) and the lever lifting member (830), respectively. The second lever link member (820b) is located on the right side and is connected to the second lever member (810b) and the lever lifting member (830), respectively.

The lever lifting member (830) is connected to one end of the arm tendon (32'). The lever lifting member (830) is connected to the lever member (810) and their operations are linked. In addition, the lever member (810) is connected to the lever driving member (840) and their operations are linked.

At this time, the other end of the female tendon (32') is coupled to the lever driving member (840). As will be described later, the lever lifting member (830) and the lever driving member (840) can move in opposite directions. Accordingly, one end of the female tendon (32') can move in one direction, the other end of the female tendon (32') can move in the other direction, and the gear member (350) can rotate in either the clockwise or counterclockwise direction.

Additionally, the lever lifting member (830) provides a restoring force to the lever member (810). The lever lifting member (830) can be operated to move together with the lever member (810) while maintaining the lever member (810) in one position. To this end, the lever lifting member (830) can elastically support the lever member (810).

Specifically, when the lever member (810) is unfolded to be spaced apart from the operating housing (600), the lever lifting member (830) provides a restoring force to prevent the lever member (810) from being arbitrarily folded. When the lever member (810) is folded to be adjacent to the operating housing (600), the lever lifting member (830) provides a restoring force to restore the lever member (810) to the unfolded state.

The lever lifting member (830) is coupled to the lever member (810). Specifically, the lever lifting member (830) is linked to the lever member (810) by a lever link member (820). When the lever member (810) is unfolded, the lever lifting member (830) moves in a direction toward the lever member (810), i.e., rearward in the illustrated embodiment. When the lever member (810) is folded, the lever lifting member (830) moves in a direction opposite to the lever member (810), i.e., forward in the illustrated embodiment.

The lever lifting member (830) is coupled to the lever elastic member (860). The lever lifting member (830) can be elastically supported by the lever elastic member (860).

The lever lifting member (830) is coupled with the operating housing (600). Specifically, the lever lifting member (830) is movably accommodated in the lever lifting member accommodation space (666) of the coupling frame (660).

In the illustrated embodiment, the lever lifting member (830) includes a lifting bearing (831), an elastic member receiving portion (832), and a lifting tendon coupling portion (833).

The lifting bearing (831) is configured such that the lever lifting member (830) is coupled to the lever link member (820). The lifting bearing (831) is located inside the lever lifting member (830) and is rotatably coupled to the lever link member (820). The lifting bearing (831) may be provided in any form that can be rotatably coupled to the lever link member (820). In one embodiment, the lifting bearing (831) may be provided in the form of a ball bearing.

A plurality of lifting bearings (831) may be provided. The plurality of lifting bearings (831) may be spaced apart from each other and respectively coupled to a plurality of lever link members (820). In the illustrated embodiment, the lifting bearings (831) are provided in pairs and are spaced apart from each other in the left-right direction. The lifting bearing (831) on the left is coupled to the first lever link member (820a), and the lifting bearing (831) on the right is coupled to the second lever link member (820b).

The elastic member receiving portion (832) is configured such that the lever lifting member (830) is coupled to the lever elastic member (860). The elastic member receiving portion (832) is located on a side opposite to the lever member (810), that is, on the front side in the illustrated embodiment. The elastic member receiving portion (832) is recessed into the side of the lever lifting member (830). The elastic member receiving portion (832) can at least partially receive the lever elastic member (860).

The elastic member receiving portion (832) may be arranged to overlap the elastic member receiving space (668) along the longitudinal direction of the joining frame (660). In the illustrated embodiment, the elastic member receiving portion (832) is arranged to overlap the elastic member receiving space (668) along the front-rear direction.

A plurality of elastic member receiving portions (832) may be formed. The plurality of elastic member receiving portions (832) may be spaced apart from each other and may be respectively combined with a plurality of lever elastic members (860). In the illustrated embodiment, a pair of elastic member receiving portions (832) are provided and spaced apart from each other in the left-right direction.

The lifting tendon coupling (833) is configured such that the lever lifting member (830) is coupled to the female tendon sheath (32). Specifically, the female tendon (32') is coupled to the lifting tendon coupling (833). The lifting tendon coupling (833) can move together with the coupled female tendon (32'). As described above, the lifting tendon coupling (833) can be coupled to the one end of the female tendon (32').

The lifting tendon coupling portion (833) may be positioned on the inside of a pair of elastic member receiving portions (832) along the longitudinal direction of the lever lifting member (830), or in the left-right direction in the illustrated embodiment.

A plurality of lifting tendon joints (833) can be formed. The plurality of lifting tendon joints (833) are spaced apart from each other and can be respectively joined to the female tendons (32') provided in the plurality of female tendon sheaths (32).

In the illustrated embodiment, the lifting tendon coupling (833) includes a first lifting tendon coupling (833a) and a second lifting tendon coupling (833b) that are spaced apart from each other in the left-right direction.

The first lifting tendon joint (833a) is joined to the female tendon (32') provided in the first female tendon sheath (32a). The second lifting tendon joint (833b) is joined to the female tendon (32') provided in the second female tendon sheath (32b).

That is, the lever lifting member (830) is respectively connected to the arm tendons (32') provided in a pair of arm tendon sheaths (32a, 32b). Therefore, a pair of operating arms (300a, 300b) can be moved simultaneously by the movement of a single lever lifting member (830).

The lever driving member (840) is coupled with the female tendon (32') of the female tendon sheath (32). The lever driving member (840) is coupled with the other end of the female tendon (32') and can move together. At this time, the lever driving member (840) can move in the opposite direction to the lever lifting member (830) to which the one end of the female tendon (32') is coupled.

Accordingly, as described above, the gear member (350) can be rotated in either the clockwise or counterclockwise direction.

In addition, the lever driving member (840) links the movement of the lever member (810) with the operation of the needle operating lever (910). The lever driving member (840) can limit the operation of the needle operating lever (910) only when the lever member (810) is positioned at a specific position. Therefore, the needle member (400) can be prevented from being accidentally detached from the needle holder portion (500) regardless of the skill level of the operator.

The lever driving member (840) is coupled with the operating housing (600). Specifically, the lever driving member (840) is movably accommodated in the lever driving member accommodation space (664) of the coupling frame (660).

The lever driving member (840) is coupled with the lever member (810). The lever driving member (840) is gear-coupled with the lever member (810) and can move in accordance with the movement of the lever member (810).

Specifically, when the lever member (810) is unfolded, the lever driving member (840) can be moved forward, i.e., toward the lever restraint member (950). In this state, the lever pin member (850) coupled with the lever driving member (840) can be coupled with the lever restraint member (950) so that rotation of the lever restraint member (950) and the needle operating lever (910) coupled thereto can be restricted.

At this time, the lever lifting member (830) that is linked to the lever member (810) moves toward the rear side opposite to the lever driving member (840). Accordingly, each end of the arm tendon (32') moves in the opposite direction, so that the gear member (350) can rotate.

Additionally, when the lever member (810) is folded, the lever driving member (840) can be moved toward the rear, i.e., against the lever restraint member (950). In this state, the lever pin member (850) coupled with the lever driving member (840) is separated from the lever restraint member (950), so that the lever restraint member (950) and the needle operating lever (910) coupled thereto can be rotated.

At this time, the lever lifting member (830) that is linked to the lever member (810) moves forward in opposition to the lever driving member (840). Accordingly, each end of the arm tendon (32') moves in the opposite direction, so that the gear member (350) can rotate.

A lever driving member (840) is positioned between a pair of lever members (810a, 810b). The lever driving member (840) can be gear-coupled with each of the pair of lever members (810a, 810b).

The lever driving member (840) is coupled to the lever pin member (850). The lever driving member (840) can move together with the lever pin member (850). One longitudinal side of the lever driving member (840), in the illustrated embodiment, the front end, is continuous with the lever driving member (840).

The lever driving member (840) is coupled with the female tendon sheath (32). Specifically, the lever driving member (840) is coupled with the other end of the female tendon (32') and moves together. In the illustrated embodiment, one side of the lever driving member (840) in the height direction, i.e., the left and right sides of the front side, are coupled with the female tendon (32'), respectively.

In the illustrated embodiment, the lever drive member (840) includes a rack gear member (841), a drive tendon coupling member (842), and a tendon support member (843).

The rack gear member (841) is configured such that the lever driving member (840) is coupled with the lever member (810). The rack gear member (841) is gear-coupled with the lever tooth portion (813). The rack gear member (841) may be provided in any shape that can be gear-coupled with the lever tooth portion (813). In the illustrated embodiment, the rack gear member (841) is provided in the form of a rack gear having a length in the front-rear direction and a plurality of teeth portions formed on the outer side in the left-right direction.

The drive tendon joint (842) is configured such that the lever drive member (840) is coupled to the arm tendon sheath (32). The drive tendon joint (842) is located on one side of the lever drive member (840) in the longitudinal direction, the front side in the illustrated embodiment.

The drive tendon coupling portion (842) can accommodate the female tendon (32') of the female tendon sheath (32). To this end, the drive tendon coupling portion (842) can be formed to penetrate in the direction of movement of the lever drive member (840), i.e., in the forward-backward direction in the illustrated embodiment. In the illustrated embodiment, the drive tendon coupling portion (842) has a circular cross-section and is formed to penetrate in the forward-backward direction, thereby accommodates the rear side of the female tendon (32').

A plurality of driving tendon couplings (842) may be provided. The plurality of driving tendon couplings (842) may be spaced apart from each other and may be respectively coupled to a plurality of female tendon sheaths (32). For example, the driving tendon couplings (842) may be provided in pairs, including a first tendon sheath coupling (842a) and a second tendon sheath coupling (842b), and may be spaced apart in the width direction of the lever driving member (840), i.e., in the left-right direction in the illustrated embodiment.

A female tendon (32') provided on a first female tendon sheath (32a) can be coupled to a first tendon sheath joint (842a). A female tendon (32') provided on a second female tendon sheath (32b) can be coupled to a second tendon sheath joint (842b).

In the above embodiment, the first and second tendon sheath joints (842a, 842b) may face each other with the rack gear member (841) therebetween. The first and second arm tendon sheaths (32a, 32b) may be coupled to the first and second tendon sheath joints (842a, 842b), respectively.

The tendon support member (843) is coupled to the other end of the female tendon (32') accommodated in the drive tendon coupling member (842) to support it. The tendon support member (843) is fixedly coupled to the female tendon (32'), so that the female tendon (32') can move forward and backward together with the lever drive member (840).

The tendon support member (843) is coupled to the drive tendon coupling portion (842). Specifically, the tendon support member (843) is inserted and coupled to one side of the drive tendon coupling portion (842) in the extension direction, that is, the rear side in the illustrated embodiment. At this time, the tendon support member (843) may be at least partially exposed to the outside of the drive tendon coupling portion (842).

The other end of the female tendon (32') can enter the drive tendon joint (842) through the other side in the extension direction of the drive tendon joint (842), the front side in the illustrated embodiment.

A hollow space communicating with the outside may be formed inside the tendon support member (843). In the above embodiment, the other end of the female tendon (32') may be fixedly connected to and extended to the inside of the tendon support member (843).

A plurality of tendon support members (843) may be provided. The plurality of tendon support members (843) are respectively connected to a plurality of driving tendon coupling portions (842) and may be connected to the other end of each of the female tendons (32') provided in the first and second female tendon sheaths (32a, 32b).

In the illustrated embodiment, the tendon support member (843) is provided as a pair, including a first tendon support member (843a) and a second tendon support member (843b). The first tendon support member (843a) is coupled to the first lifting tendon coupling portion (833a) and coupled to the other end of the female tendon (32') of the first female tendon sheath (32a). The second tendon support member (843b) is coupled to the second lifting tendon coupling portion (833b) and coupled to the other end of the female tendon (32') of the second female tendon sheath (32b).

The lever pin member (850) moves together with the lever member (810) to be engaged or disengaged from the lever restraint member (950). When the lever pin member (850) is engaged with the lever restraint member (950), the rotation of the lever restraint member (950) and the needle operating lever (910) engaged therewith is restricted. When the lever pin member (850) is disengaged from the lever restraint member (950), the lever restraint member (950) and the needle operating lever (910) engaged therewith can be rotated.

Accordingly, it can be said that the lever pin member (850) substantially plays a role in linking the operation of the operating arm (300) and the operation of the needle holder member (500).

The lever pin member (850) is coupled to the lever driving member (840). The lever pin member (850) is coupled to one longitudinal side of the lever driving member (840), in the illustrated embodiment, a forward end. The lever pin member (850) extends in a direction toward the lever restraint member (950), in the illustrated embodiment, a forward end.

When the lever pin member (850) is moved toward the lever restraint member (950) together with the lever driving member (840), the lever pin member (850) can be inserted into the pin opening (954). In this state, rotation of the lever restraint member (950) and the needle operating lever (910) coupled thereto can be prevented.

When the lever pin member (850) is moved in the opposite direction to the lever restraint member (950) together with the lever drive member (840), the lever pin member (850) can be withdrawn from the pin opening (954). In this state, the lever restraint member (950) and the needle operating lever (910) coupled thereto can be rotated.

The lever pin member (850) may have any shape that can be inserted or pulled out into the pin opening (954) to be coupled or separated from the lever restraint member (950). In the illustrated embodiment, the lever pin member (850) is a rod-shaped member with a rectangular cross-section and a length in the front-back direction.

The lever elastic member (860) provides a restoring force to the lever lifting member (830). The lever elastic member (860) is pressed and deformed according to the movement of the lever lifting member (830) and stores the restoring force. At this time, the movement of the lever lifting member (830) can be performed when the lever member (810) is operated to fold. That is, the lever elastic member (860) is elastically deformed when the lever lifting member (830) moves in a direction opposite to the lever member (810), i.e., downward in the illustrated embodiment.

When the external force applied to the lever member (810) is eliminated, the lever elastic member (860) is restored to its original shape and the lever lifting member (830) can be raised in the direction toward the lever member (810). Accordingly, the lever member (810) can also be operated to unfold.

After the lever lifting member (830) is sufficiently raised, the lever elastic member (860) can elastically support the lever lifting member (830). Accordingly, the lever member (810) coupled with the lever lifting member (830) is prevented from moving so as to be arbitrarily folded.

Accordingly, the lever elastic member (860) can maintain the position of the lever member (810) and the lever driving member (840) coupled thereto. Accordingly, it will be understood that the lever elastic member (860) can also maintain the position of the arm tendon sheath (32) and the operating arm portion (300) coupled thereto.

The lever elastic member (860) is coupled to the lever lifting member (830). One longitudinal side of the lever elastic member (860), the rear side in the illustrated embodiment, can be at least partially accommodated in the elastic member receiving portion (832).

The lever elastic member (860) is coupled to the operating housing (600). Specifically, the lever elastic member (860) can be at least partially accommodated in the elastic member accommodation space (668) on its longitudinal side, the front side in the illustrated embodiment.

The lever elastic member (860) may be provided in any shape capable of elastically supporting the lever lifting member (830). In the illustrated embodiment, the lever elastic member (860) is provided in the form of a coil spring with a hollow space formed therein.

A plurality of lever elastic members (860) may be provided. The plurality of lever elastic members (860) may be spaced apart from each other and may be respectively coupled to the operating housing (600) and the lever lifting member (830) at a plurality of locations. In the illustrated embodiment, the lever elastic members (860) are provided in pairs and spaced apart from each other in the left-right direction.

Referring again to FIGS. 31, 33 to 36, 38, 39, 43, and 49 to 52, the operating unit (20) according to an embodiment of the present invention includes a needle operating unit (900).

The needle operating unit (900) receives an external force to operate the needle holder unit (500). The needle operating unit (900) is coupled to the needle holder unit (500) by the needle tendon sheath (31). The needle operating unit (900) is coupled to the needle tendon sheath (31).

By operating the needle operating portion (900), the needle member (400) can be coupled and restrained with either the first needle holder portion (500a) or the second needle holder portion (500b). In addition, by operating the needle operating portion (900), the needle member (400) can be simultaneously released from the first needle holder portion (500a) and the second needle holder portion (500b).

The needle operating unit (900) is coupled with the operating housing (600). Specifically, some components of the needle operating unit (900) are rotatably coupled with the first operating housing (610). The above-mentioned some components of the needle operating unit (900) are exposed to the outside of the first operating housing (610).

Another configuration of the needle operating portion (900) is supported by being coupled with the third operating housing (630). The above another configuration of the needle operating portion (900) can be covered by the first operating housing (610).

The needle operating unit (900) is coupled to the arm operating unit (800). Specifically, the needle operating unit (900) is detachably coupled to the arm operating unit (800). As described above, the needle operating unit (900) can be restrained or released by the arm operating unit (800). That is, the operation of the needle operating unit (900) can be linked to the operation of the arm operating unit (800).

In the illustrated embodiment, the needle operating portion (900) includes a needle operating lever (910), a needle load lever (920), a needle driving portion (930), a needle load portion (940), a lever restraining member (950), and a needle elastic member (960).

The needle operating lever (910) is a device that is gripped by a worker or any device. The needle operating lever (910) is configured to be rotatable, and can operate the first needle tendon sheath (31a) and the second needle tendon sheath (31b). Specifically, the needle operating lever (910) can move the needle tendon (31') provided in the first needle tendon sheath (31a) and the needle tendon (31') provided in the second needle tendon sheath (31b).

The needle operating lever (910) is positioned on one side of the first operating housing (610) in the height direction, in the illustrated embodiment, on the upper side. The needle operating lever (910) is exposed on the outside of the operating housing (600).

The needle operating lever (910) is coupled to the operating housing (600). Specifically, the needle operating lever (910) is rotatably coupled to a first operating through hole (611) formed inside the first operating housing (610).

The needle operating lever (910) is coupled with the needle driving unit (930). Specifically, the needle operating lever (910) is coupled with the needle driving gear (931) of the needle driving unit (930). When the needle operating lever (910) is rotated, the needle driving gear (931) and the needle driving unit (930) coupled thereto and the lever restraint member (950) can also be rotated.

The needle operating lever (910) is positioned adjacent to the needle load lever (920). In the illustrated embodiment, the needle operating lever (910) is positioned facing one longitudinal side of the operating housing (600), i.e., the front end, with the needle load lever (920) interposed therebetween.

The needle load lever (920) is another configuration that is held by an operator or any device. The needle load lever (920) is configured to be movable, so that the needle load portion (940) can be moved. The needle load lever (920) can be operated to unload, i.e., simultaneously separate, the needle member (400) coupled to the first and second needle holder portions (500a, 500b).

The needle load lever (920) is located on the upper side, i.e., on the side in the height direction of the first operating housing (610). The needle load lever (920) is exposed on the outside of the operating housing (600).

The needle load lever (920) is coupled with the operating housing (600). Specifically, the needle load lever (920) is movably coupled to a second operating through hole (612) formed inside the first operating housing (610). In one embodiment, the needle load lever (920) can be moved in a direction toward the needle operating lever (910) and in a direction opposite thereto, i.e., in a forward-backward direction in the illustrated embodiment.

The needle load lever (920) is coupled with the needle load portion (940). Specifically, the needle load lever (920) is coupled with the load lever coupling portion (942) of the needle load portion (940). The needle load lever (920) can be moved together with the needle load portion (940).

When the needle load lever (920) moves toward the needle operating lever (910), i.e., toward the rear in the illustrated embodiment, the needle load portion (940) coupled thereto also moves toward the rear. In this state, the needle member (400) can be simultaneously released from the first and second needle holder portions (500a, 500b) and unloaded. A detailed description of the above process will be provided later.

The needle drive unit (930) operates a pair of needle tendon sheaths (31a, 31b) that are respectively coupled to a pair of needle holder units (500a, 500b). The operations of the pair of needle tendon sheaths (31a, 31b) can be linked to each other. That is, when one needle tendon (31') restrains the needle member (400), the other needle tendon (31') can release the needle member (400). The above states can be formed simultaneously.

In addition, the needle drive unit (930) can simultaneously operate each needle sheath (31'') of a pair of needle tendon sheaths (31a, 31b). By the above process, the needle member (400) can be simultaneously released from the first and second needle holder units (500a, 500b).

The needle drive unit (930) is coupled with the tendon sheath unit (30). Specifically, the needle drive unit (930) is coupled with the needle tendon sheath (31). In an embodiment in which a plurality of needle tendon sheaths (31) are provided, the needle drive unit (930) may be coupled with the first needle tendon sheath (31a) and the second needle tendon sheath (31b), respectively.

At this time, one configuration of the needle drive unit (930) can be combined with the needle tendon (31'), and another configuration of the needle drive unit (930) can be combined with the needle sheath (31'').

The needle drive unit (930) is coupled to the operating housing (600). The needle drive unit (930) is accommodated in the needle drive unit accommodation space (631) formed in the third operating housing (630). At this time, the total volume of the needle drive unit (930) may be formed to be less than the volume of the needle drive unit accommodation space (631).

The needle drive unit (930) is coupled with the needle operating lever (910). Some components of the needle drive unit (930) can be rotated together with the needle operating lever (910).

The needle drive unit (930) is coupled to the lever restraint member (950). The above-described part of the needle drive unit (930) can be rotated together with the lever restraint member (950). Accordingly, the operations of the needle operating lever (910), the needle drive unit (930), and the lever restraint member (950) can be linked.

In the embodiment shown in FIGS. 49 and 50, the needle drive unit (930) includes a needle drive gear (931), a needle rack gear (932), a needle drive gear support unit (933), a tendon sheath receiving unit (934), a tendon coupling unit (935), and a tendon pipe support member (936).

The needle drive gear (931) is configured such that the needle drive unit (930) is coupled with the needle operating lever (910) and the lever restraint member (950). The needle drive gear (931) can be rotated together with the needle operating lever (910) and the lever restraint member (950).

The needle drive gear (931) is coupled with the needle rack gear (932). The needle drive gear (931) is gear-coupled with the needle rack gear (932). The rotation of the needle drive gear (931) can be converted into linear motion of the needle rack gear (932).

The needle drive gear (931) may be provided in any form that is coupled with the needle operating lever (910) and the lever restraint member (950) to rotate together, and may be gear-coupled with the needle rack gear (932). In the illustrated embodiment, the needle drive gear (931) is provided in the form of a pinion gear having continuous teeth formed on its outer periphery.

In the illustrated embodiment, the needle drive gear (931) includes an operating lever coupling portion (931a) and a restraint member coupling portion (931b).

The operating lever coupling portion (931a) is configured such that the needle driving gear (931) is coupled with the needle operating lever (910). The operating lever coupling portion (931a) can be defined as one side in the height direction of the needle driving gear (931), the upper end in the illustrated embodiment.

The operating lever coupling portion (931a) may have any shape that can be coupled with the needle operating lever (910) and rotated together without any loss. In the illustrated embodiment, the operating lever coupling portion (931a) is a three-dimensional shape having a hexagonal cross-section and a vertical height.

The restraint member coupling portion (931b) is configured such that the needle drive gear (931) is coupled to the lever restraint member (950). The restraint member coupling portion (931b) may be defined as the other side in the height direction of the needle drive gear (931), i.e., the lower end in the illustrated embodiment. The restraint member coupling portion (931b) is inserted and coupled to the drive gear coupling portion (952) of the lever restraint member (950).

The restraint member coupling portion (931b) may have any shape that can be coupled with the lever restraint member (950) and rotate together without any looseness. In the illustrated embodiment, the restraint member coupling portion (931b) has a hexagonal cross-section and a three-dimensional shape having a vertical height. The shape of the restraint member coupling portion (931b) may be changed to correspond to the shape of the driving gear coupling portion (952).

The needle rack gear (932) moves linearly according to the rotation of the needle drive gear (931). The needle rack gear (932) can be coupled with the needle tendon sheath (31) and moved together. Accordingly, the needle tendon (31') can be moved to bind or release the needle member (400).

The needle rack gear (932) is gear-coupled with the needle drive gear (931). For this purpose, the needle rack gear (932) may have a continuous tooth portion formed on one side facing the needle drive gear (931).

A plurality of needle rack gears (932) may be provided. The plurality of needle rack gears (932) may be respectively coupled with a plurality of needle tendon sheaths (31) and may be gear-coupled with a single needle drive gear (931).

In the illustrated embodiment, the needle rack gear (932) is provided in pairs, including a first needle rack gear (932a) and a second needle rack gear (932b). The first needle rack gear (932a) is coupled with the needle drive gear (931) on one side in the width direction, that is, on the left side in the illustrated embodiment. The first needle rack gear (932a) is coupled with the needle tendon (31') of the first needle tendon sheath (31a), and can restrain or release the needle member (400) inserted into the first needle holder portion (500a).

The second needle rack gear (932b) is coupled with the needle drive gear (931) on the other side in the width direction, that is, on the right side in the illustrated embodiment. The second needle rack gear (932b) is coupled with the needle tendon (31') of the second needle tendon sheath (31b), and can restrain or release the needle member (400) inserted into the second needle holder portion (500b).

At this time, due to the structure of the rack gear, the first needle rack gear (932a) and the second needle rack gear (932b) can move in opposite directions to each other. That is, when the first needle rack gear (932a) moves in a direction opposite to the needle rod portion (940), that is, toward the rear in the illustrated embodiment, the second needle rack gear (932b) can move in a direction toward the needle rod portion (940), that is, toward the rear in the illustrated embodiment.

Accordingly, either one of the first and second needle holder portions (500a, 500b) and either one of the needle tendons (31') of the first and second needle tendon sheaths (31a, 31b) can restrain the needle member (400), and the other can release the needle member (400). In the same context, the first and second needle holder portions (500a, 500b) cannot restrain the needle member (400) or release the needle member (400) simultaneously by only operating the needle drive gear (931).

Accordingly, by simply operating a single needle operation lever (910) and a single needle drive gear (931), a process can be carried out in which a needle member (400) bound to one needle holder part (500) is released and bound to another needle holder part (500).

The needle drive gear support (933) rotatably supports the needle drive gear (931). A through hole is formed inside the needle drive gear support (933) so that the needle drive gear (931) can pass through it.

The tendon sheath receiving portion (934) receives the needle tendon (31') of the needle tendon sheath (31). The needle tendon (31') inserted into the tendon sheath receiving portion (934) can be supported by the tendon connecting portion (935) and the tendon pipe supporting member (936).

The tendon sheath receiving portion (934) is formed inside the needle drive portion (930). The tendon sheath receiving portion (934) is formed to penetrate the needle drive portion (930) in the longitudinal direction, in the front-back direction in the illustrated embodiment.

On one longitudinal side of the tendon sheath receiving portion (934), in the illustrated embodiment, a rear side, a tendon connecting portion (935) and a tendon pipe support member (936) for fixing and supporting the needle tendon (31') of the needle tendon sheath (31) may be provided. On the other longitudinal side of the tendon sheath receiving portion (934), in the illustrated embodiment, a front side, an opening may be formed through which the needle tendon (31') may be introduced and withdrawn.

The tendon sheath receiving portion (934) can have any shape that can accommodate the needle tendon (31') and be coupled with the tendon connecting portion (935) and the tendon pipe support member (936). In the illustrated embodiment, the tendon sheath receiving portion (934) is formed as a cylindrical space having a circular cross-section and a length in the front-back direction.

A plurality of tendon sheath receiving portions (934) may be formed. The plurality of tendon sheath receiving portions (934) may each receive a needle tendon (31') of a plurality of needle tendon sheaths (31) at different locations. In the illustrated embodiment, the tendon sheath receiving portion (934) comprises a first tendon sheath receiving portion (934a) and a second tendon sheath receiving portion (934b).

The first tendon sheath receiving portion (934a) is formed on one side of the needle drive portion (930) in the width direction, on the left side in the illustrated embodiment. The first tendon sheath receiving portion (934a) receives the needle tendon (31') of the first needle tendon sheath (31a).

The second tendon sheath receiving portion (934b) is formed on the other side in the width direction of the needle drive portion (930), on the right side in the illustrated embodiment. The second tendon sheath receiving portion (934b) receives the needle tendon (31') of the second needle tendon sheath (31b).

The needle load unit (940) is coupled with the needle holder unit (500) to release the needle member (400) restrained by the needle tendon (31'). In other words, the needle load unit (940) can simultaneously move the needle tendons (31') provided in the first and second needle tendon sheaths (31a, 31b), respectively, thereby simultaneously separating the needle member (400) from the first and second needle holder units (500a, 500b).

Therefore, the needle member (400) can be simultaneously separated from the first and second needle holder parts (500a, 500b) simply by manipulating the needle load part (940) and the needle load lever (920) combined therewith.

The needle load portion (940) is coupled with the tendon sheath portion (30). Specifically, the needle load portion (940) is coupled with the needle sheath (31'') of the needle tendon sheath (31). The needle load portion (940) can be moved together with the needle tendon (31').

At this time, the needle tendon (31') of the needle tendon sheath (31) does not move. That is, the needle sheath (31'') can move relatively to the needle tendon (31') together with the needle rod portion (940).

The needle load unit (940) can be respectively combined with the needle sheaths (31'') provided on the plurality of needle tendon sheaths (31a, 31b). Therefore, when the needle load unit (940) is manipulated, it will be understood that the needle sheaths (31'') of a pair of needle tendon sheaths (31a, 31b) move simultaneously in the same direction.

The needle load unit (940) is coupled to the operating housing (600). The needle load unit (940) is accommodated in the needle load unit accommodation space (632) formed in the third operating housing (630). At this time, the total volume of the needle load unit (940) may be formed to be less than the volume of the needle load unit accommodation space (632).

The needle load portion (940) is coupled to the needle load lever (920). The needle load portion (940) can be moved together with the needle load lever (920).

The needle load portion (940) is coupled to the needle elastic member (960). The needle load portion (940) can be elastically supported by the needle elastic member (960).

Referring further to FIGS. 58 to 61, in the illustrated embodiment, the needle rod portion (940) includes a needle rod body (941), a rod lever coupling portion (942), a sheath coupling portion (943), a sheath pipe (944), a tendon pipe (945), and a sheath pipe support member (946).

The needle rod body (941) constitutes the body of the needle rod portion (940). Other configurations of the needle rod portion (940) may be formed or combined with the needle rod body (941). In the illustrated embodiment, a load lever coupling portion (942) is coupled to the needle rod body (941), and a sheath coupling portion (943) is formed.

The needle rod body (941) may have a shape corresponding to the shape of the needle rod receiving space (632). In the illustrated embodiment, the needle rod body (941) has a three-dimensional shape with a rectangular cross-section and a vertical height.

At this time, the length of the needle rod body (941), i.e., the length in the front-back direction in the illustrated embodiment, may be formed shorter than the length in the front-back direction of the needle rod portion receiving space (632). Accordingly, the needle rod body (941) can be moved in the longitudinal direction, i.e., the front-back direction.

The load lever coupling portion (942) is configured to couple the needle load portion (940) with the needle load lever (920). The load lever coupling portion (942) is formed to protrude from one side in the height direction of the needle load body (941), in the illustrated embodiment, from the upper surface.

The load lever coupling portion (942) may have any shape that can be coupled with and moved together with the needle load lever (920). In the illustrated embodiment, the load lever coupling portion (942) is a three-dimensional shape having a hexagonal cross-section and a vertical height.

The sheath joint (943) accommodates the needle sheath (31'') of the needle tendon sheath (31). The sheath joint (943) accommodates a sheath pipe support member (946), so that the needle sheath (31'') coupled with the sheath pipe (944) can be supported. The sheath joint (943) is formed to penetrate the needle rod body (941) in the longitudinal direction, in the front-back direction in the illustrated embodiment.

A plurality of sheath coupling portions (943) may be formed. The plurality of sheath coupling portions (943) may be spaced apart from each other and may accommodate a needle sheath (31'') provided on a plurality of needle tendon sheaths (31) and a sheath pipe (944) and a sheath pipe support member (946) coupled thereto, respectively. In the illustrated embodiment, the sheath coupling portions (943) are provided in pairs, including a first sheath coupling portion (943a) and a second sheath coupling portion (943b).

The first sheath joint (943a) is formed on one side of the needle rod body (941) in the width direction, on the left side in the illustrated embodiment. The needle sheath (31'') of the first needle tendon sheath (31a), the first sheath pipe (944a), and the sheath pipe support member (946) coupled thereto are coupled to the first sheath joint (943a).

The second sheath joint (943b) is formed on the other side in the width direction of the needle rod body (941), on the right side in the illustrated embodiment. The second sheath joint (943b) is penetrated by the needle sheath (31'') of the second needle tendon sheath (31b), the second sheath pipe (944b), and the sheath pipe support member (946) coupled thereto.

At this time, the needle sheath (31'') coupled to the sheath joint (943), that is, the needle sheath (31'') coupled to the sheath pipe (944) and the sheath pipe support member (964), can be fixedly coupled to the needle load portion (940). That is, when the needle load portion (940) moves, the needle sheath (31'') coupled thereto can also move together. Accordingly, the movement of the needle sheath (31'') of the first and second needle tendon sheaths (31a, 31b) can be linked to the movement of the needle load portion (940).

The sheath pipe (944) is coupled to and supports the needle sheath (31''). The sheath pipe (944) is formed to at least partially surround the outer periphery of the needle sheath (31''). The needle sheath (31'') can be penetratingly coupled to the sheath pipe (944). In one embodiment, the sheath pipe (944) is fixedly coupled to the needle sheath (31'') and can move together with it.

The sheath pipe (944) can be formed of a material having higher strength than the needle sheath (31''). When an external force is applied to the needle sheath (31'') as the needle rod portion (940) moves, the sheath pipe (944) can support the needle sheath (31'') from the radially outer side. Accordingly, buckling of the needle sheath (31'') can be prevented.

The sis pipe (944) is coupled to the sis pipe support member (946). The sis pipe (944) can be penetratedly coupled to the sis pipe support member (946). The sis pipe (944) can be accommodated in the sis coupling portion (943) while penetrating the sis pipe support member (946). At this time, the sis pipe (944) can be fixedly coupled to the sis pipe support member (946) and moved together.

The sis pipe (944) may have any shape that can be coupled with and moved together with the needle sis (31'') and the sis pipe support member (946), respectively. In the illustrated embodiment, the sis pipe (944) is provided as a pipe-shaped member having an annular cross-section and extending in the front-back direction.

A plurality of sheath pipes (944) may be provided. The plurality of sheath pipes (944) may be respectively connected to the needle sheaths (31'') provided in the plurality of needle tendon sheaths (31a, 31b), and may be respectively connected to the plurality of sheath pipes (944). In the illustrated embodiment, the sheath pipes (944) are provided in pairs, including a first sheath pipe (944a) and a second sheath pipe (944b).

A tendon pipe (945) is coupled to and supports a needle tendon (31'). The tendon pipe (945) is formed to at least partially surround the outer periphery of the needle tendon (31'). The needle tendon (31') can be penetratingly coupled to the tendon pipe (45). In one embodiment, the tendon pipe (945) is fixedly coupled to the needle tendon (31') and can move together with it.

The tendon pipe (945) can be formed of a material having higher strength than the needle tendon (31'). When an external force is applied to the needle tendon (31') by the needle drive unit (930), the tendon pipe (945) can support the needle tendon (31') radially outwardly. Accordingly, buckling of the needle tendon (31') can also be prevented.

A tendon pipe (945) is coupled with a needle drive unit (930). Specifically, the tendon pipe (945) is accommodated in a tendon sheath receiving unit (934) and coupled with a tendon connecting unit (935) and a tendon pipe supporting member (936). At this time, the tendon pipe (945) is fixedly coupled with the tendon connecting unit (935) and the tendon pipe supporting member (936) so that they can move together.

The tendon pipe (945) may have any shape that can be connected to and moved together with the needle tendon (31'), the tendon joint (935) and the tendon pipe support member (936), respectively. In the illustrated embodiment, the tendon pipe (945) is provided as a tubular member having an annular cross-section and extending in the front-rear direction.

A plurality of tendon pipes (945) may be provided. The plurality of tendon pipes (945) may be respectively connected to the needle sheaths (31'') provided in the plurality of needle tendon sheaths (31a, 31b), and may be respectively connected to the plurality of tendon connecting portions (935) and tendon pipe support members (936). In the illustrated embodiment, the tendon pipes (945) are provided in pairs, including a first tendon pipe (945a) and a second tendon pipe (945b).

The sis pipe support member (946) is coupled to the sis pipe (944). The sis pipe support member (946) is fixedly coupled to the sis pipe (944) and can move together. The sis pipe support member (946) is accommodated in the sis coupling portion (943). The sis pipe support member (946) can be fixedly coupled to the needle rod body (941).

By the above combination, the needle sheath (31'') can be fixedly connected to the needle rod portion (940) and moved together.

The sis pipe support member (946) is coupled with the sis pipe (944) and may have any shape that can be accommodated in the sis coupling portion (943) and moved together with the needle rod body (941). In the illustrated embodiment, the sis pipe support member (946) is provided as a tubular member.

The sis pipe support member (946) supports the sis pipe (944) penetrated therein from the radially outer side. The radially outer side of the sis pipe support member (946) can be supported by the inner surface of the needle rod body (941) surrounding the sis joint (943).

A plurality of sis pipe support members (946) may be provided. The plurality of sis pipe support members (946) are respectively coupled to the plurality of sis pipes (944) and may be accommodated in the plurality of sis coupling portions (943). In the illustrated embodiment, a pair of sis pipe support members (946) are provided, respectively coupled to the first and second sis coupling portions (943a, 943b) and accommodated in the first and second sis coupling portions (943a, 943b).

The lever restraint member (950) is a component that is coupled with the arm operating member (800) among the components of the needle operating member (900). The lever restraint member (950) is coupled with or separated from the lever pin member (850) depending on the operation of the arm operating member (800). When the lever restraint member (950) is coupled with the lever pin member (850), the operation of the needle driving member (930) is restricted.

Accordingly, the needle drive unit (930) can be operated only when the lever restraint member (950) is separated from the lever pin member (850). In other words, the needle drive unit (930) can be operated only when the lever member (810) is folded and the pair of operating arms (300a, 300b) and the pair of needle holders (500a, 500b) are moved toward each other.

That is, the lever restraint member (950) restricts the process of restraining or releasing the needle member (400) to be performed only when the needle member (400) is inserted into both the first and second needle holder parts (500a, 500b).

Therefore, the lever restraint member (950) can be said to be a safety device to prevent arbitrary separation of the needle member (400).

The lever restraint member (950) is coupled to the operating housing (600). Specifically, the lever restraint member (950) is rotatably received in the lever restraint member receiving space (667).

The lever restraint member (950) is detachably coupled to the arm operating unit (800). Specifically, the lever restraint member (950) can be detachably coupled to the lever pin member (850). The lever restraint member (950) can be rotated only when the lever pin member (850) is detached.

The lever restraint member (950) is coupled with the needle drive member (930). Specifically, the lever restraint member (950) is coupled with the restraint member coupling portion (931b) of the needle drive gear (931) and rotates together. Accordingly, it will be understood that the lever restraint member (950) is also coupled with the needle operating lever (910) and rotates together.

The lever restraint member (950) is positioned adjacent to the needle drive unit (930). In the illustrated embodiment, the lever restraint member (950) is positioned on one side, i.e., the lower side, of the needle drive unit (930) in the height direction. The lever restraint member (950) is positioned to face the needle operating lever (910) with the needle drive unit (930) interposed therebetween.

In the embodiment illustrated in FIGS. 51 and 52, the lever restraint member (950) includes a restraint body (951), a driving gear coupling portion (952), a pin support portion (953), a pin opening (954), and a pin receiving space (955).

The restraint body (951) constitutes the body of the lever restraint member (950). Other configurations of the lever restraint member (950) may be formed in the restraint body (951). In the illustrated embodiment, the restraint body (951) is formed with a driving gear coupling portion (952), a pin support portion (953), a pin opening portion (954), and a pin receiving space (955).

The restraint body (951) may have any shape that can be coupled with and rotated together with the needle drive gear (931). In the illustrated embodiment, the restraint body (951) is a three-dimensional shape having an arc-shaped cross-section and a vertical height. In this case, the cross-section of the restraint body (951) may be formed to be line-symmetrical with respect to an imaginary straight line passing through its center.

The driving gear coupling portion (952) is configured such that the lever restraint member (950) is coupled with the restraint member coupling portion (931b) of the needle driving gear (931). The driving gear coupling portion (952) is recessed on one side of the restraint body (951) in the height direction, that is, on the upper side in the illustrated embodiment.

The driving gear coupling portion (952) may have a shape corresponding to the shape of the restraining member coupling portion (931b). In the illustrated embodiment, the driving gear coupling portion (952) is formed as a three-dimensional space having a hexagonal cross-section and a vertical height. The restraining member coupling portion (931b) is inserted and coupled into the driving gear coupling portion (952).

The pin support (953) supports the lever pin member (850) that is separate from the lever restraint member (950). The pin support (953) can be defined as one side of the longitudinal direction of the restraint body (951), the rear side outer periphery in the illustrated embodiment.

The pin support (953) is positioned adjacent to the pin opening (954). At this time, the pin support (953) may be positioned between a pair of pin openings (954a, 954b) to physically partition them. The pin support (953) may be positioned on the virtual straight line.

In the illustrated embodiment, the pin support (953) includes a support recess (953a).

The support recessed portion (953a) partially accommodates the lever pin member (850) seated on the pin support portion (953). The support recessed portion (953a) may be formed in the form of a recessed groove on the outer periphery of the pin support portion (953). As the support recessed portion (953a) is formed, the lever pin member (850) seated on the pin support portion (953) may not be moved arbitrarily.

The support recess (953a) may have a shape corresponding to the shape of the lever pin member (850). In the illustrated embodiment, the support recess (953a) is formed as a three-dimensional groove having a rectangular cross-section and a height in the front-back direction.

The pin opening (954) provides a passage through which the lever pin member (850) is received in the pin receiving space (955). The pin opening (954) is formed radially penetrating the outer periphery of the restraining body (951). The pin opening (954) communicates with the pin receiving space (955) and the outside.

The pin opening (954) may have a shape corresponding to the shape of the lever pin member (850). In the illustrated embodiment, the pin opening (954) has a rectangular cross-section and is formed as a three-dimensional space extending in a radial direction.

A plurality of pin openings (954) may be formed. The plurality of pin openings (954) may be physically separated from each other. A lever pin member (850) may optionally be inserted into the plurality of pin openings (954).

In the illustrated embodiment, the pin openings (954) are provided in pairs, including a first pin opening (954a) and a second pin opening (954b). A pin support (953) is arranged between the first pin opening (954a) and the second pin opening (954b). That is, the first pin opening (954a) and the second pin opening (954b) are blocked from communicating along the outer circumferential direction of the restraining body (951).

Therefore, in order for the lever pin member (850) inserted into one pin opening (954a, 954b) to be inserted into another pin opening (954a, 954b), the lever pin member (850) must first be moved radially outward and withdrawn from one of the pin openings (954a, 954b). This is achieved by the operation of the lever member (810), and a detailed description thereof will be provided later.

The pin receiving space (955) is a space formed inside the restraint body (951). The pin receiving space (955) receives a lever pin member (850) inserted into the pin opening (954). The pin receiving space (955) is radially connected to the outside by the pin opening (954).

At this time, the pin receiving space (955) can be respectively communicated with a plurality of pin openings (954). That is, in the illustrated embodiment, the pin receiving space (955) can be respectively communicated with the first pin opening (954a) and the second pin opening (954b).

The needle elastic member (960) elastically supports the needle rod portion (940). The needle elastic member (960) applies an elastic force to the needle rod portion (940) in a direction opposite to the needle drive portion (930), i.e., toward the front side in the illustrated embodiment.

That is, the needle elastic member (960) elastically supports the needle rod portion (940) so that movement of the needle rod portion (940) is limited when no separate external force is applied.

Accordingly, when no external force is applied to the needle load lever (920), the needle load portion (940) does not move so that the needle member (400) is held in the pair of needle holder portions (500a, 500b). Accordingly, the needle member (400) may not be randomly detached from the pair of needle holder portions (500a, 500b) at the same time.

The needle elastic member (960) is coupled to the third operating housing (630). The needle elastic member (960) is accommodated in a receiving groove (not given a drawing symbol) located between the needle drive unit receiving space (631) and the needle rod unit receiving space (632) of the third operating housing (630).

The needle elastic member (960) is coupled to the needle rod portion (940). The needle elastic member (960) is coupled to one longitudinal side of the needle rod body (941), the rear side in the illustrated embodiment.

That is, the needle elastic member (960) is connected on one side with the third operating housing (630) and on the other side with the needle rod body (941).

The needle elastic member (960) may be provided in any shape capable of applying a restoring force to the needle rod body (941). In the illustrated embodiment, the needle elastic member (960) may be provided in the shape of a coil spring.

A plurality of needle elastic members (960) may be provided. The plurality of needle elastic members (960) can elastically support the needle rod portion (940) at different locations. In the illustrated embodiment, a pair of needle elastic members (960) are provided and are spaced apart from each other in the left-right direction. The pair of needle elastic members (960) are each received in a pair of receiving grooves (not indicated in the drawing) and are respectively coupled to the rear side of the needle rod body (941).

Referring to FIGS. 53 to 55, a process in which the operations of the arm manipulation unit (800) and the needle manipulation unit (900) according to an embodiment of the present invention are linked is illustrated as an example.

In the embodiment illustrated in FIG. 53, the lever member (810) is maintained in an unfolded state. This state may be defined as a first arm operating position (ACP1). In the first arm operating position (ACP1), the first operating arm (300a) and the first needle holder portion (500a) coupled thereto, and the second operating arm (300b) and the second needle holder portion (500b) coupled thereto are maintained in a state spaced apart from each other (see FIG. 1).

In the first arm operating position (ACP1), the lever pin member (850) is maintained inserted into one of the pin openings (954a, 954b) among the plurality of pin openings (954). In this state, one side of the lever pin member (850) in the width direction is supported by the pin support member (953).

Accordingly, even if a rotational force is applied to the needle operating lever (910), the lever restraining member (950) does not rotate because the lever pin member (850) and the pin support member (953) are in contact. Accordingly, the needle driving unit (930) and the needle operating lever (910) coupled with the lever restraining member (950) also do not rotate.

Accordingly, the needle tendon (31') coupled with the needle rack gear (932) also does not move. As a result, the needle member (400) can be maintained in a state of being restrained to either the first needle holder portion (500a) or the second needle holder portion (500b).

In the embodiment illustrated in FIG. 54, the lever member (810) is maintained in a folded state. This state may be defined as a second arm operating position (ACP2). In the second arm operating position (ACP2), the first operating arm (300a) and the first needle holder portion (500a) coupled thereto, and the second operating arm (300b) and the second needle holder portion (500b) coupled thereto are maintained in a state of being moved toward each other (see FIG. 2).

At the second arm operating position (ACP2), the lever driving member (840) coupled with the lever member (810) moves in a direction opposite to the lever restraint member (950). Accordingly, the lever pin member (850) coupled with the lever driving member (840) also moves and is pulled out of the pin opening (954).

Accordingly, the lever restraint member (950) and the lever pin member (850) are separated, thereby releasing the lever restraint member (950). When a rotational force is applied to the needle operating lever (910), the needle drive gear (931) rotates. Accordingly, the needle rack gear (932) and the needle tendon (31') coupled to the needle rack gear (932) move.

As a result, the needle member (400) can be separated from one of the first needle holder portion (500a) and the second needle holder portion (500b) and simultaneously combined with the other.

In the embodiment illustrated in FIG. 55, after the rotation of the needle operating lever (910) and the lever restraining member (950) coupled thereto is completed, the lever member (810) returns to the unfolded state. As the lever member (810) returns to the first arm operating position (ACP1), the first operating arm (300a) and the first needle holder portion (500a) coupled thereto, and the second operating arm (300b) and the second needle holder portion (500b) coupled thereto are maintained in a state spaced apart from each other (see FIG. 1).

As described above, in the first arm operating position (ACP1), the lever pin member (850) is maintained inserted into one of the pin openings (954a, 954b) among the plurality of pin openings (954). In this state, one side of the lever pin member (850) in the width direction is supported by the pin support member (953).

Accordingly, even if a rotational force is applied to the needle operating lever (910), the lever restraining member (950) does not rotate because the lever pin member (850) and the pin support member (953) are in contact. Accordingly, the needle driving member (930) and the needle operating lever (910) coupled with the lever restraining member (950) also do not rotate.

Accordingly, the needle tendon (31') coupled with the needle rack gear (932) also does not move. As a result, the needle member (400) can be maintained in a state of being restrained to either the first needle holder portion (500a) or the second needle holder portion (500b).

As described above, the lever lifting member (830) that is linked to the lever member (810) is elastically supported by the lever elastic member (860) toward the lever restraint member (950). Therefore, when no external force is applied to the lever member (810), the lever lifting member (830) moves toward the lever restraint member (950) by the elastic force applied by the lever elastic member (860).

Accordingly, the lever member (810) that is linked to the lever lifting member (830) can be moved in the unfolding direction and returned to the first arm operating position (ACP1). The above process can be performed without a separate external force.

Accordingly, when no external force is applied by a worker or any device, the operating unit (20) can be maintained at the first arm operating position (ACP1). Accordingly, since the needle operating unit (900) is also maintained in a restrained state by the lever pin member (850), the needle member (400) can be prevented from being accidentally detached.

Referring to FIGS. 56 and 57, a process in which a needle member (400) is released from one of the first and second needle holder members (500a, 500b) and coupled with the other by a needle operating member (900) according to an embodiment of the present invention is illustrated as an example. This process can be performed at a second arm operating position (ACP2) in which the lever member (810) is folded.

In the embodiment illustrated in FIG. 56, the needle operating lever (910) is positioned to extend in the left-right direction. In this state, the first needle rack gear (932a) and the second needle rack gear (932b) are positioned at the same position along the front-back direction. In this state, both the first needle holder portion (500a) and the second needle holder portion (500b) weakly restrain the needle member (400).

Accordingly, at the second arm operation position (ACP2), the needle member (400) bound to either the first needle holder portion (500a) or the second needle holder portion (500b) can be released and moved to the other one.

In the embodiment illustrated in (a) of Fig. 57, the needle operating lever (910) is rotated clockwise. Accordingly, the needle driving gear (931) coupled with the needle operating lever (910) also rotates clockwise. The first needle rack gear (932a) coupled with the needle driving gear (931) moves rearward, and the second needle rack gear (932b) moves forward.

Accordingly, the needle tendon (31') of the first needle tendon sheath (31a) coupled with the first needle rack gear (932a) can be pulled to restrain the needle member (400). Accordingly, the first needle holder portion (500a) coupled with the needle tendon (31') of the first needle tendon sheath (31a) and the needle member (400) can be coupled. The first needle holder portion (500a) can strongly restrain the needle member (400).

In addition, the needle tendon (31') of the second needle tendon sheath (31b) coupled with the second needle rack gear (932b) can be pushed to release the needle member (400). Accordingly, the second needle holder portion (500b) coupled with the needle tendon (31') of the second needle tendon sheath (31b) and the needle member (400) can be separated. The second needle holder portion (500b) does not restrain the needle member (400).

The position of the illustrated needle operating lever (910) can be defined as a first needle operating position (NCP1). That is, the first needle operating position (NCP1) is a position where the needle operating lever (910) is operated so that the needle member (400) is coupled with the first needle holder portion (500a).

In the embodiment illustrated in (b) of Fig. 57, the needle operating lever (910) is rotated counterclockwise. Accordingly, the needle driving gear (931) coupled with the needle operating lever (910) also rotates counterclockwise. The first needle rack gear (932a) coupled with the needle driving gear (931) moves forward, and the second needle rack gear (932b) moves backward.

Accordingly, the needle tendon (31') of the first needle tendon sheath (31a) coupled with the first needle rack gear (932a) is pushed to release the needle member (400). Accordingly, the first needle holder portion (500a) coupled with the needle tendon (31') of the first needle tendon sheath (31a) and the needle member (400) can be separated. The first needle holder portion (500a) does not restrain the needle member (400).

In addition, the needle tendon (31') of the second needle tendon sheath (31b) coupled with the second needle rack gear (932b) can be pulled to restrain the needle member (400). Accordingly, the second needle holder portion (500b) coupled with the needle tendon (31') of the second needle tendon sheath (31b) can be coupled to the needle member (400). The second needle holder portion (500b) can strongly restrain the needle member (400).

The position of the illustrated needle operating lever (910) can be defined as a second needle operating position (NCP2). That is, the second needle operating position (NCP2) is a position where the needle operating lever (910) is operated so that the needle member (400) is coupled with the second needle holder portion (500b).

The above process can be repeated so that the needle member (400) can be alternately coupled and separated from the first needle holder portion (500a) and the second needle holder portion (500b). That is, the needle operating lever (910) can be repeatedly adjusted to the first needle operating position (NCP1) and the second needle operating position (NCP2), so that the coupling and separation process of the needle member (400) can be performed. Accordingly, the needle member (400) can repeatedly penetrate and separate from the above-mentioned portion, and the above-mentioned portion can be sutured.

Referring to FIGS. 58 to 61, a process in which a needle member (400) is simultaneously restrained (i.e., loaded) or simultaneously released (i.e., unloaded) from the first and second needle holder parts (500a, 500b) by a needle operating part (900) according to an embodiment of the present invention is illustrated as an example. This process can be performed by manipulating a needle loading part (940) and a needle loading lever (920) coupled thereto.

Additionally, the above process can be performed independently of the arm operating unit (800). That is, the needle load lever (920) can be moved regardless of whether the lever member (810) is folded or unfolded.

In the embodiments illustrated in FIGS. 58 to 59, the needle rod body (941) of the needle rod portion (940) is positioned in a direction opposite to the needle drive portion (930), i.e., toward the front. As described above, when no external force is applied, the needle rod portion (940) is positioned opposite to the needle drive portion (930) by the elastic force provided by the needle elastic member (960).

The above state may be defined as a needle loading position (NLP). In the above state, the needle member (400) is maintained in a state of being restrained by the first and second needle holder parts (500a, 500b). That is, the needle loading position (NLP) is a state in which the needle tendons (31') of the first and second needle tendon sheaths (31a, 31b) restrain the needle member (400).

In the above state, the needle member (400) does not arbitrarily detach from the first and second needle holder parts (500a, 500b). At this time, both the first needle holder part (500a) and the second needle holder part (500b) weakly restrain the needle member (400).

At this time, the needle sheaths (31'') of the first and second needle tendon sheaths (31a, 31b) are maintained in a fixedly connected state with the needle rod body (941) by a plurality of sheath pipes (944) and sheath pipe support members (946).

In the embodiments illustrated in FIGS. 60 and 61, the needle rod body (941) of the needle rod portion (940) is positioned so as to be biased toward the direction toward the needle drive portion (930), i.e., toward the rear side. The above process can be performed by applying an external force greater than the elastic force of the needle elastic member (960) to the needle rod lever (920) coupled with the needle rod portion (940).

As the needle load unit (940) moves toward the needle drive unit (930), the needle sheaths (31'') of the first and second needle tendon sheaths (31a, 31b) fixedly connected to the needle load unit (940) move together toward the needle drive unit (930).

Accordingly, the needle sheaths (31'') and the first and second needle holder parts (500a, 500b) coupled thereto (see (b) of FIG. 28 and (b) of FIG. 30) are moved forward relative to the needle member (400) and the needle tendons (31') restraining it.

That is, the positions of the needle tendons (31') that are movably connected to the needle sheath (31'') do not change. That is, the needle sheaths (31'') are moved relatively to the needle tendons (31').

The above state may be defined as a needle unloading position (NUP). In this state, the needle tendons (31') of the first and second needle tendon sheaths (31a, 31b) do not move, and only the needle sheath (31'') and the first and second needle holder portions (500a, 500b) coupled thereto move. Accordingly, the needle member (400) can be simultaneously released from the needle tendons (31').

That is, the needle unloading position (NUP) is a state in which the needle tendons (31') of the first and second needle tendon sheaths (31a, 31b) release the needle member (400).

Accordingly, the needle member (400) can be simultaneously released and separated from the first and second needle holder parts (500a, 500b).

Although the embodiments of the present invention have been described, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention will be able to easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same spirit, but this will also be considered to fall within the spirit of the present invention.

1: Endoscopic suture device 10: Dark part

20: Control section 30: Tendon sheath section

31: Needle tendon sheath 31a: First needle tendon sheath

31b: Second needle tendon sheath 31': Needle tendon

31'': Needle sheath 32: Arm tendon sheath

32a: First arm tendon sheath 32b: Second arm tendon sheath

32': Arm tendon 32'': Arm sheath

33: Rotating tendon sheath 100: Joint housing

110: Joint body 111: Rotating sieve through hole

120: Endoscope combination body 121: Endoscope receiving space

122: Joint slit 123: Rotating tendon receiving space

124: Rotating tendon joint 130: Joint projection

140: Inclined ridge 200: Support housing

210: Support body 211: Housing joining groove

220: Arm support plate 230: Arm joining plate

240: Female receiving part 250: Gear coupling shaft

250a: First gear coupling shaft 250b: Second gear coupling shaft

260: Gear receiving groove 260a: First gear receiving groove

260b: Second gear receiving groove 270: Gear connecting hole

300: Operating arm 300a: First operating arm

300b: Second operating arm 310: Operating arm body

320: Housing joint 321: Housing gear part

330: Insertion protrusion 340: Pulley member

350: Gear member 350a: First gear member

350b: Second gear member 351: External tooth portion

352: Internal tooth 353: Female tendon support

354: Female tendon penetration hole 360: Axle member

400: Needle member 410: Needle body

420: Thread through hole 430: Tendon sheath joining groove

431: First tendon sheath joint groove 432: Second tendon sheath joint groove

440: Needle step section 500: Needle holder section

500a: First needle holder part 500b: Second needle holder part

510: Needle holder body 520: Needle holder through hole

530: Needle sheath penetration hole 531: First needle sheath penetration hole

532: Second needle sheath penetration hole 540: Tendon ball

600: Operating housing 610: First operating housing

611: First operating penetration hole 612: Second operating penetration hole

620: Second operating housing 630: Third operating housing

631: Needle drive unit accommodating space 632: Needle rod unit accommodating space

633: Operating housing through hole 640: Tendon sheath joint

650: Support frame 651: Support through hole

660: Combination frame 661: Combination frame body

662: Lever shaft member 662a: First lever shaft member

662b: Second lever shaft member 663: Lever receiving space

663a: First lever receiving space 663b: Second lever receiving space

664: Lever drive member accommodation space 665: Lever guide projection

665a: First lever guide projection 665b: Second lever guide projection

666: Lever lifting member accommodation space 667: Lever restraint member accommodation space

668: Elastic member receiving space 669: Sis bonding opening

700: Rotating control unit 710: Control knob

711: Transmission member receiving groove 712: Transmission shaft receiving groove

720: Rotation transmission member 721: Rotation transmission boss part

722: Rotation transmission shaft 723: Rotation transmission toothing

724: Rotating tendon joint 725: Rotating tendon receiving space

730: Rotating joint member 731: Rotating joint hollow

740: Rotation retaining member 741: Rotation retaining tooth portion

800: Arm control part 810: Lever member

810a: First lever member 810b: Second lever member

811: Lever bearing 812: Frame joint

813: Lever tooth portion 820: Lever link member

820a: First lever link member 820b: Second lever link member

830: Lever lifting member 831: Lifting bearing

832: Elastic member receiving portion 833: Elevating tendon joint portion

833a: First lifting tendon joint 833b: Second lifting tendon joint

840: Lever drive member 841: Rack gear member

842: Drive tendon joint 842a: First drive tendon joint

842b: Second drive tendon joint 843: Tendon support member

843a: First tendon support member 843b: Second tendon support member

850: Lever pin member 860: Lever elastic member

900: Needle operating unit 910: Needle operating lever

920: Needle load lever 930: Needle drive unit

931: Needle drive gear 931a: Operating lever coupling

931b: Constraint member joint 932: Needle rack gear

932a: First needle rack gear 932b: Second needle rack gear

933: Needle drive gear support 934: Tendon sheath receiving portion

935: Tendon joint 936: Tendon pipe support member

940: Needle rod section 941: Needle rod body

942: Load lever joint 943: Sith joint

943a: First cis bond 943b: Second cis bond

944: Sith pipe 944a: First Sith pipe

944b: Second sheath pipe 945: Tendon pipe

945a: First tendon pipe 945b: Second tendon pipe

946: Sis pipe support member 950: Lever restraint member

951: Restraint body 952: Drive gear coupling

953: Pin support 953a: Support recess

954: Pin opening 954a: First pin opening

954b: Second pin opening 955: Pin receiving space

960: Needle elastic member ACP1: First arm operating position

ACP2: Second arm operating position NCP1: First needle operating position

NPC2: Second needle operation position NLP: Needle load position

NUP: Needle unload position a1: First angle

a2: second angle

Claims (20)

A support housing coupled to the endoscope; A needle holder portion rotatably coupled to the above support housing; and It includes a needle member that is detachably connected to the needle holder portion and is configured to penetrate the target area and suture the target area. The above needle holder part, a needle holder body extending in the height direction of the above support housing; and A needle sheath penetration hole formed inside the needle holder body and extending along the extension direction of the needle holder body, one end of which in the extension direction is formed open to accommodate a tendon sheath, The above needle member, At least partially inserted into the interior of the needle holder body, and surrounded and supported by a portion of the tendon sheath positioned inside the needle holder body, Endoscopic suture device. In the first paragraph, The above tendon sheath portion, A portion of the needle sheath that penetrates the above needle sheath penetration hole and extends along the extension direction of the needle holder body; A portion of a needle tendon positioned inside the needle holder body and extending along the extension direction of the needle holder body; and Located inside the needle holder body, and including one end of the one part of the needle sheath and one end of the one part of the needle tendon and another part of the needle tendon, respectively continuous, The above needle member, One side of the height direction is supported by the other part mentioned above, Endoscopic suture device. In the second paragraph, The other part of the above needle tendon extends roundly to surround the outside of the needle member, Endoscopic suture device. In the second paragraph, The above needle holder part, A tendon ball positioned inside the needle holder body, spaced apart from the needle sheath, and coupled to the other end of the part of the needle tendon, Endoscopic suture device. In paragraph 4, The tendon ball is positioned so as to face the needle sheath penetration hole with the needle member interposed therebetween. Endoscopic suture device. In paragraph 4, The above tendon ball is sphere-shaped. Endoscopic suture device. In paragraph 4, The above tendon ball, Supported by being combined with the inner surface of the above needle holder body, Endoscopic suture device. In paragraph 4, The above tendon ball and the above needle sheath are arranged facing each other with a part of the needle holder body interposed therebetween. Endoscopic suture device. In the first paragraph, The above needle sheath penetration hole is, A first needle sheath through hole formed on one side of the needle holder body and communicating the inside and outside of the needle holder body; and A second needle sheath penetration hole formed on the other side of the needle holder body and communicating the inside and outside of the needle holder body, The first needle sheath penetration hole and the second needle sheath penetration hole are arranged to face each other with the needle member interposed therebetween. Endoscopic suture device. In paragraph 9, The above tendon sheath, A portion of the needle sheath that penetrates the first needle sheath penetration hole and extends along the extension direction of the needle holder body; Another portion of the needle sheath that penetrates the second needle sheath penetration hole and extends along the extension direction of the needle holder body; and A needle tendon is included which is continuous with the end of said one part of said needle sheath and the end of said other part of said needle sheath, respectively. The above needle member is supported on one side in the height direction by the needle tendon. Endoscopic suture device. In the first paragraph, A needle holder through hole formed through one side of the needle holder body to connect the inside and outside of the needle holder body and into which the needle member is inserted. Endoscopic suture device. In Article 11, The above tendon sheath, Consisting of the needle member inserted into the needle holder through-hole and a portion extending roundly to surround the needle holder through-hole on one side in the height direction of the needle holder body, Endoscopic suture device. In the first paragraph, The above needle member, A needle body extending in one direction, each end of which in the direction of extension has a peak shape; and A tendon sheath coupling groove formed on one side of the needle body to accommodate the tendon sheath portion, Endoscopic suture device. In Article 13, The above tendon sheath portion, A portion of the needle sheath that penetrates the above needle sheath penetration hole and extends along the extension direction of the needle holder body; A portion of a needle tendon positioned inside the needle holder body and extending along the extension direction of the needle holder body; and located inside the needle holder body, and each end of the one part of the needle sheath and one end of the one part of the needle tendon are continuous, and the other part of the needle tendon is retractably inserted into the tendon sheath engaging groove. Endoscopic suture device. In Article 13, The above needle holder part, A first needle holder portion detachably connected to one end of the needle member and connected to one of the tendon sheath portions; and A second needle holder portion, which is detachably connected to the other end of the needle member and connected to another tendon sheath portion, Endoscopic suture device. In Article 15, The above tendon sheath bonding groove is, a first tendon sheath coupling groove positioned adjacent to said one end of said needle member and receiving said one tendon sheath portion coupled with said first needle holder portion; and A second tendon sheath coupling groove positioned adjacent to the other end of the needle member and configured to receive the other tendon sheath portion coupled to the second needle holder portion, Endoscopic suture device. In Article 13, The above tendon sheath bonding grooves are formed in pairs and arranged spaced apart along the above one direction, The above needle holder part, A first needle holder portion coupled with the tendon sheath portion accommodated in one of the tendon sheath coupling grooves; and A second needle holder portion coupled to the tendon sheath portion, which is accommodated in another tendon sheath coupling groove, Endoscopic suture device. In Article 13, The above needle member, A threaded through hole formed through the central portion of the extension direction of the needle body and through which a suture is connected, Endoscopic suture device. In Article 13, The above needle member, A needle step portion is formed protrudingly on the opposite side of the needle body and extends in the one direction, Endoscopic suture device. In Article 19, The above needle step portion is extended by a shorter length than the needle body, and each end of the needle step portion in the extension direction is positioned inward along the one direction compared to each end of the needle body in the extension direction. Endoscopic suture device.