Granted Patent B2

US 12,478,245 · App. 17/594,280 · Granted Nov 25, 2025

Inventors: Byung Sik Cheon (Daejeon, KR); Dong Soo Kwon (Daejeon, KR)

Assignee: ROEN Surgical, Inc.

A61B1/00105A61B1/00135A61B1/0057A61B1/05

Abstract

Claims (30)

1 . A modular endoscopic device comprising:

a base portion having a top, outer mounting surface onto which a camera module and a surgical instrument module are mounted, wherein the camera module includes a camera housing extending upward from the mounting surface and a camera tube and wherein the surgical instrument module includes a surgical instrument housing extending upward from the mounting surface and a surgical instrument tube;

a driver provided in the base portion beneath the mounting surface; and

an endoscope module including an endoscope housing with a lower surface, an insertion tube including a bendable bending portion and connected to the endoscope housing to be inserted into a body of a subject, and a bending wire configured to transfer a force to bend the bending portion,

wherein the lower surface of the endoscope module is detachably attachable to the mounting surface of the base portion distal to the camera housing and the surgical instrument housing such that, when the lower surface engages with the mounting surface, the endoscope housing extends upward from the mounting surface, and wherein the camera tube runs above the mounting surface from the camera housing to the endoscope module and the surgical instrument tube runs above the mounting surface from the surgical instrument housing to the endoscope module, and

when the endoscope module is attached to the base portion, the driver is configured to transfer power to the bending wire, and

when the endoscope module is detached from the base portion, the driver is configured not to transfer power to the bending wire.

2 . The modular endoscopic device of claim 1 , wherein the endoscope module includes:

a first gripper accessible via a first hole in the lower surface, movable relative to the endoscope housing, and configured to grab one side of the bending wire to transfer a force to the bending wire; and

a second gripper accessible via a second hole in the lower surface, movable relative to the endoscope housing, and configured to grab another side of the bending wire to transfer a force to the bending wire,

wherein the driver includes:

a first driving coupler movable relative to the base portion, protruding from the mounting surface, and being detachably attachable to the first gripper; and

a second driving coupler movable relative to the base portion, protruding from the mounting surface, and being detachably attachable to the second gripper.

3 . The modular endoscopic device of claim 2 , wherein the driver further includes:

a first driving source configured to drive the first driving coupler to slide along in a longitudinal direction of the insertion tube; and

a second driving source configured to drive the second driving coupler to slide along in the longitudinal direction of the insertion tube.

4 . The modular endoscopic device of claim 3 , wherein

the first driving source and the second driving source are configured to move the first gripper and the second gripper in different respective directions along in the longitudinal direction of the insertion tube to translate the bending wire and bend the insertion tube in different directions.

5 . The modular endoscopic device of claim 1 , wherein the endoscope module further includes:

a coil sheath configured to surround a circumference of the bending wire to be inserted into the insertion tube and guide a path through which the bending wire operates; and

a sheath stopper configured to support the coil sheath to prevent the coil sheath from receding from the insertion tube.

6 . The modular endoscopic device of claim 5 , further comprising:

a vibrator configured to vibrate the coil sheath by vibrating the sheath stopper to reduce a frictional force between the coil sheath and the bending wire.

7 . The modular endoscopic device of claim 6 , wherein the vibrator is configured to vibrate the coil sheath by a magnitude of a vibration force generated through the vibrator in proportion to a bending angle of the insertion tube.

8 . The modular endoscopic device of claim 1 ,

wherein the camera housing includes an imaging device and

the camera tube is detachably attachable to the camera housing, and connected to the imaging device to perform imaging in the bending portion of the insertion tube.

9 . The modular endoscopic device of claim 2 , wherein the endoscope module includes a pulley between the first gripper and the second gripper through which the bending wire passes.

10 . The modular endoscopic device of claim 2 , wherein the camera module and the surgical instrument module are disposed separately from each other in a direction opposite to a direction in which the insertion tube protrudes from the endoscope module when the endoscope module is attached to the base portion.

11 . The modular endoscopic device of claim 10 , wherein the endoscope module includes a camera port configured to accommodate the camera tube, a surgical instrument port configured to accommodate the surgical instrument tube, and an insertion tube port configured to accommodate the insertion tube, each protruding from an inside of the endoscope module to an outside thereof.

Assignments (3)

Priority Claims (1)

Continuity (1)

References Cited (20)