Surgical instrument

Abstract

The present invention relates to a surgical instrument wherein the surgical instrument may be mounted on a robotic arm or manually operable for laparoscopic surgery or various other surgery. The surgical instrument includes: a tip tool that includes a first jaw (jaw) and a second jaw (jaw) formed so as to be rotatable, respectively, and that rotates in at least one direction; an operation unit that receives, from a user, a signal for controlling the operation of the tip tool; and a power generation part including a motor group and a rolling drive motor, in which the power generation part is arranged such that at least a part thereof is accommodated in a housing of the operation part, and the motor group includes at least one motor that generates power for driving the end tool based on a signal input to the operation part, and the rolling driving motor generates power for enabling the motor group to perform roll rotation.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2024-0037460 filed on March 18, 2024, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a surgical instrument, and in particular to a surgical instrument, wherein the surgical instrument can be mounted on a robot arm or manually operated for use in laparoscopic surgery or various other surgeries. Background Art

[0004] In medicine, surgery refers to the treatment of illnesses by cutting, incising, or manipulating the skin, mucous membranes, or other tissues using medical instruments. In particular, laparotomy, which involves incising the skin at the surgical site to treat, reshape, or remove organs within, can lead to problems such as bleeding, side effects, patient pain, and scarring. Consequently, in recent years, surgery performed by creating a predetermined hole in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgery microscopes, or surgery using robots, has attracted significant attention as an alternative.

[0005] Here, surgical robots are robots that can replace surgeons in performing surgical operations. The advantages of these robots are that they can perform operations more accurately and precisely than humans and can perform remote surgery.

[0006] Currently, surgical robots under development around the world include orthopedic surgical robots, laparoscopic surgical robots, stereotactic surgical robots, etc. Here, laparoscopic surgical robots are robots that use laparoscopes and microsurgical instruments to perform minimally invasive surgery.

[0007] Laparoscopic surgery, a cutting-edge surgical technique that involves drilling one or more small holes in the abdominal area and inserting a laparoscope (an endoscope) to view the interior of the abdominal cavity, is also a promising area of ​​future development. Current laparoscopes are equipped with computer chips that allow for clearer and more magnified images than those seen with the naked eye. These laparoscopes have been developed to the point where they can perform any type of surgery while using specially designed laparoscopic surgical instruments and viewing a monitor.

[0008] Furthermore, while the scope of laparoscopic surgery is almost the same as that of open surgery, it offers advantages over open surgery, including fewer complications, the ability to begin treatment earlier after surgery, and the ability to maintain the patient's physical strength and immune function. Consequently, laparoscopic surgery is becoming increasingly accepted as the standard procedure for treating colon cancer and other conditions in the United States and Europe.

[0009] Meanwhile, surgical robots generally include a master robot and a slave robot. When a surgeon operates a joystick (eg, a handle) provided in the master robot, surgery is performed by operating a robot arm coupled to the slave robot or a surgical instrument held by the robot arm.

[0010] The above-mentioned background technology is the technical information possessed by the inventor in order to derive the present invention, or the technical information obtained in the process of deriving the present invention. It should not be considered as necessarily known technology disclosed to the public before applying for the present invention. Summary of the Invention

[0011] The present invention relates to a surgical instrument which can be axially rotated (rolled) and is not restricted by the rotation angle.

[0012] However, these problems are exemplary, and thus the problems to be solved by the present invention are not limited thereto.

[0013] Additional aspects will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the embodiments of the application.

[0014] One aspect of the present invention may include: an end tool, which includes a first jaw and a second jaw that are formed to be rotatable respectively and rotate in at least one direction; an operating part, which receives a signal from a user for controlling the action of the end tool; and a power generating part, which includes a motor group and a rolling drive motor, wherein the power generating part is arranged so that at least a portion of it is accommodated in a housing of the operating part, and includes at least one motor, which generates power for driving the end tool based on the signal input to the operating part, and the rolling drive motor generates power for causing the motor group to roll.

[0015] Additionally, the motor assembly may rotate independently of movement of the housing.

[0016] In addition, the rolling drive motor can be arranged in the motor group.

[0017] In addition, the power generating part may further include: a first gear formed in a circular shape and having gear teeth formed on an inner circumferential surface thereof; and a second gear disposed at one side of the rolling drive motor and meshing with the first gear.

[0018] In addition, the first gear is fixed to the inner peripheral surface of the housing, and the second gear may be formed to move along the inner peripheral surface of the first gear while being rotated by the rolling drive motor.

[0019] In addition, the end tool is connected to the motor group so as to be able to roll and rotate together with the motor group.

[0020] In addition, the apparatus may further include a power transmission unit including at least one wire for transmitting the power generated by the power generation unit to the end tool.

[0021] In addition, the power transmission unit is connected to the motor group so as to be able to roll and rotate together with the motor group.

[0022] In addition, the apparatus may further include a connection portion that is disposed between the power transmission portion and the end tool and in which the lead wire is accommodated.

[0023] In addition, the connection portion is connected to the power transmission portion and can roll and rotate together with the roll and rotation of the power transmission portion.

[0024] In addition, the power generating part further includes: a pulley coupling plate coupled to the power transmitting part, wherein the pulley coupling plate can rotate together with the motor group through the drive of the rolling drive motor.

[0025] In addition, the power transmission part may be detachably coupled to the pulley coupling plate.

[0026] In addition, the power transmission part may roll and rotate together with the pulley coupling plate in a state coupled to the pulley coupling plate.

[0027] In addition, the motor group may further include: a yaw drive motor that generates power for causing the end tool to perform yaw rotation; and a pitch drive motor that generates power for causing the end tool to perform pitch rotation.

[0028] In addition, the roll drive motor, the yaw drive motor, and the pitch drive motor are driven independently of each other, thereby independently performing yaw rotation of the end tool, pitch rotation of the end tool, and roll rotation of the motor group.

[0029] In addition, the power generating unit further includes: a substrate, which is connected to the roll drive motor, the yaw drive motor and the pitch drive motor, wherein the substrate is rotated by the drive of the roll drive motor, and the roll drive motor, the yaw drive motor and the pitch drive motor can be rotated simultaneously by the rotation of the substrate.

[0030] In addition, the end tool further includes: a moving member that moves along the longitudinal direction of the end tool, wherein the motor group may further include: a starting drive motor that generates power for causing the moving member to move linearly.

[0031] In addition, the roll drive motor, the yaw drive motor, the pitch drive motor and the start drive motor are driven independently of each other, thereby being able to independently perform the yaw rotation of the end tool, the pitch rotation of the end tool, the roll rotation of the motor group and the linear movement of the moving member.

[0032] In addition, the power generating unit further includes: a substrate, which is connected to the rolling drive motor, the yaw drive motor, the pitch drive motor and the starting drive motor, wherein the substrate is rotated by the drive of the rolling drive motor, and the rolling drive motor, the yaw drive motor, the pitch drive motor and the starting drive motor can be rotated simultaneously by the rotation of the substrate.

[0033] In addition, the power generating portion may further include: a bearing plate connected to the base plate; and a first bearing arranged to cover an outer peripheral surface of the bearing plate.

[0034] In addition, the system may further include: a circuit unit disposed on one side of the motor group and controlling the driving of the motor group.

[0035] In addition, the circuit unit is connected to the motor group so as to be able to roll and rotate together with the motor group.

[0036] In addition, the system may further include a slip ring disposed on one side of the circuit unit and electrically connecting the motor group and the circuit unit.

[0037] In addition, the invention may further include a sub-circuit unit that pre-processes a signal for controlling the motor group and transmits the pre-processed signal to the circuit unit.

[0038] In addition, the sub-circuit unit is arranged at one side of the operating portion and may be formed so as not to rotate even when the motor group and the circuit unit perform rolling rotation.

[0039] In addition, the invention may further include: at least one encoder for measuring the rotation angle of the motor group.

[0040] At the same time, in order to achieve the above-mentioned purpose, another aspect of the present invention may include: an end tool, which includes a pair of jaws formed to be rotatable respectively and rotates in at least one direction; a power generating part, which includes a motor group and a rolling drive motor, the motor group includes at least one motor, the motor generates power for driving the end tool, and is mechanically connected to the end tool so as to roll and rotate together with the end tool, the rolling drive motor generates power for causing the end tool and the motor group to roll and rotate together; and a module body, which includes a shell for accommodating at least a portion of the power generating part.

[0041] In addition, the module body may be formed to be mountable on a surgical robot or an operating portion that can be directly operated by a user.

[0042] Additionally, the motor assembly may rotate independently of movement of the housing.

[0043] In addition, the rolling drive motor can be arranged in the motor group.

[0044] In addition, the power generating part may further include: a first gear formed in a circular shape and having gear teeth formed on an inner circumferential surface thereof; and a second gear disposed at one side of the rolling drive motor and meshing with the first gear.

[0045] In addition, the first gear is fixed to the inner peripheral surface of the housing, and the second gear may be formed to move along the inner peripheral surface of the first gear while being rotated by the rolling drive motor.

[0046] In addition, the motor group may further include: a yaw drive motor that generates power for causing the end tool to perform yaw rotation; and a pitch drive motor that generates power for causing the end tool to perform pitch rotation.

[0047] In addition, the roll drive motor, the yaw drive motor, and the pitch drive motor are driven independently of each other, thereby independently performing yaw rotation of the end tool, pitch rotation of the end tool, and roll rotation of the motor group.

[0048] In addition, the end tool further includes: a moving member that moves along the longitudinal direction of the end tool, wherein the motor group may further include: a starting drive motor that generates power for causing the moving member to move linearly.

[0049] In addition, the roll drive motor, the yaw drive motor, the pitch drive motor and the start drive motor are driven independently of each other, thereby being able to independently perform the yaw rotation of the end tool, the pitch rotation of the end tool, the roll rotation of the motor group and the linear movement of the moving member. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The aspects, features and advantages of certain embodiments of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings.

[0051] Figure 1 FIG1 is a perspective view showing a surgical instrument according to an embodiment of the present invention.

[0052] Figure 2 To observe from the side Figure 1 Side view of surgical instruments.

[0053] Figure 3 FIG. 1 is a perspective view showing an end tool according to an embodiment of the present invention.

[0054] Figure 4 For Figure 3 A perspective view in which the end tooling center and pitch center are removed from the end tooling.

[0055] Figure 5 FIG. 1 is a diagram for describing the internal structure of a power transmission unit according to an embodiment of the present invention.

[0056] Figure 6 For observation from the rear Figure 5 Diagram of the power transmission unit.

[0057] Figure 7 For description Figure 5 Diagram of the arrangement of pulleys and wires of the power transmission part.

[0058] Figure 8 FIG. 1 is a diagram illustrating an operating portion and a power generating portion according to an embodiment of the present invention.

[0059] Figure 9 To show Figure 8 A perspective view of the power generating unit.

[0060] Figure 10 For observation from the rear Figure 9 Diagram of the power generating unit.

[0061] Figure 11 For description Figure 9 Diagram of the gear structure of the power generating unit.

[0062] Figure 12 To observe from the front Figure 11 Picture.

[0063] Figure 13 For description Figure 9 FIG. 1 is a diagram showing the rotation of a power generating unit.

[0064] Figure 14 FIG. 1 is a perspective view showing an end tool according to another embodiment of the present invention.

[0065] Figure 15 For Figure 14 A perspective view in which the end tooling center and pitch center are removed from the end tooling.

[0066] Figure 16 To show Figure 14 A perspective view of the first jaw and staple cartridge of the end tool.

[0067] Figure 17 for Figure 16 An exploded perspective view of the nail magazine.

[0068] Figure 18 For description Figure 16 A perspective cross-sectional view of the internal structure of the nail magazine.

[0069] Figure 19 The present invention is a schematic perspective view showing an end tool according to another embodiment of the present invention.

[0070] Figure 20 To observe from another direction Figure 19 A perspective view of the end tooling.

[0071] Figure 21 To remove Figure 19 Schematic perspective view of the second jaw of the end tool.

[0072] Figure 22 To remove Figure 21 A schematic perspective view of the staple cartridge of the end tool.

[0073] Figure 23 for Figure 22 Projected perspective drawing.

[0074] Figure 24 FIG. 2 is a diagram for describing the internal structure of a power transmission portion according to another embodiment of the present invention.

[0075] Figure 25 For observation from the rear Figure 24 Diagram of the power transmission unit.

[0076] Figure 26 For description Figure 24 Diagram of the arrangement of pulleys and wires of the power transmission part.

[0077] Figure 27FIG. 1 is a diagram illustrating an operating portion and a power generating portion according to another embodiment of the present invention.

[0078] Figure 28 To show Figure 27 A perspective view of the power generating unit.

[0079] Figure 29 For observation from the rear Figure 28 Diagram of the power generating unit.

[0080] Figure 30 For description Figure 28 Diagram of the gear structure of the power generating unit.

[0081] Figure 31 To observe from the front Figure 30 Picture.

[0082] Figure 32 For description Figure 28 FIG. 1 is a diagram showing the rotation of a power generating unit.

[0083] Figure 33 FIG. 1 is a diagram for describing a rolling action of a surgical instrument according to an embodiment of the present invention.

[0084] Figure 34 and Figure 35 FIG. 1 is a diagram for describing a combined structure of a surgical instrument according to an embodiment of the present invention.

[0085] Figure 36 FIG. 1 is a diagram illustrating the internal structure of a surgical instrument according to another embodiment of the present invention.

[0086] Figures 37 to 41 1 is a diagram illustrating the pitch and rotation motions of a surgical instrument according to an embodiment of the present invention.

[0087] Figures 42 to 46 FIG. 1 is a diagram illustrating the yaw rotation motion of a surgical instrument according to an embodiment of the present invention.

[0088] Figures 47 to 51 1 is a diagram illustrating a state where a surgical instrument according to an embodiment of the present invention performs pitch rotation and yaw rotation. DETAILED DESCRIPTION

[0089] Embodiments of the present invention will now be described in detail, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements. In this regard, embodiments of the present invention may have different forms and should not be construed as being limited to those described herein. Therefore, embodiments of the present invention are described below solely with reference to the accompanying drawings to illustrate various aspects thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. Expressions such as "at least one of" when preceding a list of elements modify the entire list of elements, rather than a single element in the list.

[0090] Because the present invention is susceptible to various modifications and embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. The effects, features, and methods for achieving the effects and features of the present invention will become more apparent with reference to the drawings and the embodiments described in detail below. However, the present invention is not limited to the embodiments disclosed below and may be implemented in a variety of forms.

[0091] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the accompanying drawings, the same reference numerals will be given to the same or corresponding constituent elements, and repeated descriptions thereof will be omitted.

[0092] In the following embodiments, the terms “first”, “second”, etc. are used to distinguish one component from other components, but do not have a limiting meaning.

[0093] In the following embodiments, unless the context clearly describes otherwise, an expression in the singular includes an expression in the plural.

[0094] In the following embodiments, the terms “include” or “comprising” refer to the presence of features or constituent elements described in the present specification, and do not preclude the possibility of adding one or more other features or constituent elements.

[0095] In the accompanying drawings, the sizes of the components may be enlarged or reduced for ease of description. For example, the sizes and thicknesses of the components shown in the accompanying drawings are arbitrarily shown for ease of description, and the present invention is not necessarily limited to the contents shown.

[0096] In the following embodiments, the x-axis, y-axis, and z-axis are not limited to the three axes on the orthogonal coordinate system and can be interpreted as including its broad meaning. For example, the x-axis, y-axis, and z-axis can be orthogonal to each other, but can also refer to different directions that are not orthogonal to each other.

[0097] In the case where a certain embodiment can be implemented differently, a specific process order may be performed differently from the described order. For example, two processes described in succession may actually be performed simultaneously, or may be performed in the reverse order of the described order.

[0098] Hereinafter, based on the above principles, the surgical instrument according to the present invention will be described in detail with reference to the accompanying drawings.

[0099] Figure 1 This is a perspective view showing a surgical instrument according to an embodiment of the present invention. Figure 2 To observe from the side Figure 1 Side view of surgical instruments.

[0100] See also Figure 1 and Figure 2 According to an embodiment of the present invention, a surgical instrument 1000 may include an end tool 1100 , an operating portion 1200 , a power transmission portion 1300 , and a connecting portion 1400 .

[0101] The end tool 1100 is formed at one end of the connection portion 1400 and is inserted into the surgical site to perform the required operation. As an example of the end tool 1100 as described above, Figure 3 As shown in the figures, a pair of jaws 1103 can be used to perform a gripping action. This end tool 1100 is connected to the operating part 1200, the power transmission part 1300 and the connecting part 1400 described later, and receives the driving force of the operating part 1200 through the power transmission part 1300 and / or the connecting part 1400, thereby performing the actions required for the operation, such as gripping, cutting and suturing actions. However, the concept of the present invention is not limited to this, and various devices used for surgery can also be used as the end tool 1100. For example, in the following, for the convenience of description, the end tool 1100 used as a surgical clamp and the end tool 3100 used as a stapler will be described as examples, but it is not limited to this. Components such as surgical graspers, vessel sealers and single-arm cauterizers can also be used as end tools.

[0102] The user can operate the operating part 1200 to move the end tool 1100. For example, the operating part 1200 is a component that allows the user to input a signal to control the action of the end tool 1100. That is, the operating part 1200 can be considered as a component that receives a signal from the user to control the action of the end tool 1100. Here, the signal for controlling the action of the end tool 1100 may be a mechanical operation such as the action of pressing a button or a switch, or may be a mechanical operation such as the rotation or movement of a specific component, or may be an electrical signal generated by such a mechanical operation, but is not limited thereto. The operating part 1200 is provided with an interface that can be directly manipulated by the doctor, such as a gun shape, a clamp shape, a stick shape, and a rod shape, and when the doctor manipulates it, the end tool 1100 connected to the interface and inserted into the surgical patient's body performs a predetermined action to perform the operation. Here, although in Figure 1 The operating portion 1200 is shown in the figure as being formed in a gun shape, but the concept of the present invention is not limited thereto, and operating portions of various forms that can be connected to the end tool 1100 and can operate the end tool 1100 are possible.

[0103] As an example, the operating unit 1200 may be a separate component or module from the driving module of the surgical instrument. Here, the driving module of the surgical instrument may refer to a component or module of the surgical instrument, which includes the end tool 1100, the power transmission unit 1300 described later, the connecting unit 1400, and the power generating unit 1500.

[0104] As a specific example, the surgical instrument drive module may be a separate component that can be mounted on the operating unit 1200, which is directly operable by the user. For example, the surgical instrument drive module may be detachable from the operating unit 1200. In this case, the surgical instrument drive module may include a module body, and the module body may include a coupling structure for coupling with the operating unit 1200.

[0105] In this manner, when the driving module of the surgical instrument is detachable from the operating portion 1200 , the user can easily replace the driving module of the surgical instrument as needed.

[0106] As another example, the operating unit 1200 may be replaced by a surgical robot. To describe this from another perspective, the driving module of the surgical instrument may be a separate component that can be mounted on the surgical robot.

[0107] A surgical robot may refer to a robot that can perform surgery by being operated by a user (eg, a surgeon).

[0108] As a specific example, a surgical robot may include a master robot and a slave robot.

[0109] The master robot may include an operating member that can be gripped and operated by a user with both hands, and a display member that displays an image captured through the laparoscope.

[0110] The slave robot may include one or more robot arm units. Here, each robot arm unit may be configured as a module capable of moving independently of each other. Here, the driving module of the surgical instrument may be mounted on two or more robot arm units. For example, the driving module of the surgical instrument may be formed to be detachable from the surgical robot (specifically, the slave robot). In this case, the driving module of the surgical instrument may include a module body, and the module body may include a coupling structure for coupling with the surgical robot.

[0111] In this way, when the driving module of the surgical instrument is formed to be detachable from the surgical robot, the user can easily replace the driving module of the surgical instrument as needed.

[0112] In the following, for the sake of convenience of description, the technical idea of ​​the present invention will be described in detail using a surgical instrument including an operating part 1200 as an example, but those skilled in the art should understand that the surgical instrument can be implemented as a driving module of a surgical instrument, and the driving module of the surgical instrument is formed to be mountable on a surgical robot or an operating part that can be directly operated by a user.

[0113] The power transmission unit 1300 is formed at the other end of the connecting portion 1400 and can be used to transmit power generated by the power generation unit, which will be described later, to the end tool 1100. For example, the power transmission unit 1300 can be arranged between the end tool 1100 and the operating unit 1200. As described below, when a user such as a doctor operates the operating unit 1200, the power generation unit 1500 generates power for controlling the end tool 1100, and the generated power is transmitted to the end tool 1100 through the power transmission unit 1300. The power transmission unit 1300 may include a plurality of wires, pulleys, links, joints, gears, etc.

[0114] Connecting portion 1400 is formed into a hollow shaft shape, which can accommodate one or more wires and electrical wires. Operating portion 1200 is coupled to one end of connecting portion 1400, and power transmission portion 1300 is coupled to the other end of connecting portion 1400. Power transmission portion 1300 can be connected to operating portion 1200. In other words, connecting portion 1400 can be used to connect operating portion 1200 and end tool 1100.

[0115] At the same time, a connector (not shown) may be formed on the operating portion 1200. The connector (not shown) may be connected to an external power source (not shown), and the connector (not shown) is connected to the end tool 1100 via an electric wire, thereby enabling the transmission of electric energy supplied by the external power source (not shown) to the end tool 1100. In addition, as described above, the electric energy transmitted to the end tool 1100 may provide a driving force to perform the yaw rotation action, pitch rotation action, actuation action, suturing action, etc. of the end tool 1100 described later. Alternatively, the electric energy transmitted to the end tool 1100 may provide a driving force to perform the cutting and cauterization functions of the end tool 1100 such as a monopolar method, a bipolar method, or an ultrasonic blade. In addition, the electric energy may be supplied to drive the power transmission portion 1300. Of course, a built-in battery may also be used.

[0116] The operating unit 1200 may include a housing 1201 that forms the outer shape of the operating unit 1200. As described below, at least a portion of a power generation unit that generates power for controlling the end tool 1100 may be housed within the housing 1201. Furthermore, a slip ring may be housed to supply power to a circuit unit for controlling the operation of the power generation unit and the power generation unit, to connect communications, or to transmit various other signals.

[0117] The handle 1202 may be formed on the operating portion 1200. The handle 1202 is a portion for the user to grip. Therefore, the user can use the surgical instrument 1000 according to the present invention while gripping the handle 1202 of the operating portion 1200.

[0118] Meanwhile, although not shown in the drawings, buttons, switches, levers, etc. for controlling various actions of the end tool 1100 may also be formed on the operating portion 1200 .

[0119] Hereinafter, it will be described in more detail Figure 1 and Figure 2 The end tool, operating part, power transmission part, power generation part, etc. of surgical instruments.

[0120] Figure 3 A perspective view showing an end tool according to an embodiment of the present invention is shown. Figure 4 For Figure 3 A perspective view in which the end tooling center and pitch center are removed from the end tooling.

[0121] See also Figure 3 and Figure 4 The end tool of the surgical instrument may include a first jaw 1101 and a second jaw 1102 that are rotatable.

[0122] To describe this from another perspective, the end tool 1100 of the surgical instrument according to one embodiment of the present invention can be provided with a pair of jaws, namely a first jaw 1101 and a second jaw 1102, for performing a gripping action. Here, each of the first jaw 1101 and the second jaw 1102, or a component that includes the first jaw 1101 and the second jaw 1102, can be referred to as a jaw 1103.

[0123] Here, the end tool 1100 of the surgical instrument 1000 according to an embodiment of the present invention is formed to be rotatable in at least one direction. For example, the end tool 1100 can be formed to rotate around Figure 3 While performing pitch motion on the Y axis, Figure 3 The Z-axis performs yaw motion and actuation motion.

[0124] Here, pitch, yaw, and actuation actions used in the present invention are respectively defined as follows.

[0125] First, the pitch action refers to the extension direction ( Figure 3 The X-axis direction in the vertical direction) is the movement of rotation around Figure 3 In other words, the pitch motion refers to the movement of the end tool 1100 rotating in the up-down direction around the Y-axis with respect to the connecting portion 1400, wherein the end tool 1100 is moved from the connecting portion 1400 to the extending direction of the connecting portion 1400 ( Figure 3 The X-axis direction) is extended to form.

[0126] Next, the yaw motion refers to the extension direction ( Figure 3 The X-axis direction in the left and right directions (the direction of rotation), that is, around Figure 3 In other words, the yaw motion refers to the movement of the end tool 1100 rotating in the left and right directions around the Z axis with respect to the connecting portion 1400, wherein the end tool 1100 moves from the connecting portion 1400 to the extending direction of the connecting portion 1400 ( Figure 3 In other words, the yaw motion refers to the movement of the two jaws 1103 formed on the end tool 1100 rotating in the same direction around the Z axis.

[0127] Meanwhile, actuation refers to the movement of the end tool 1100 rotating about the same axis as the yaw movement, but with the two jaws 1103 rotating in opposite directions while the jaws contract or expand. In other words, actuation refers to the movement of the two jaws 1103 of the end tool 1100 rotating in opposite directions about the Z-axis.

[0128] The end tool 1100 may include a plurality of pulleys including a pulley 1111 associated with the rotational movement of the first jaw 1101. In addition, the end tool 1100 may include a plurality of pulleys including a pulley 1121 associated with the rotational movement of the second jaw 1102.

[0129] Here, although the pulleys facing each other are shown in the drawings as being formed parallel to each other, the concept of the present invention is not limited thereto, and each pulley can be formed at various positions suitable for the components of the end tool, and can also be formed to various sizes suitable for the components of the end tool.

[0130] In addition, an end tool 1100 of this embodiment may include an end tool center 1106 and a pitch center 1107 .

[0131] The rotating shafts 1141 and 1142 are inserted through the end tool hub 1106, and at least a portion of one or more pulleys coupled to the rotating shaft 1141 can be accommodated inside the end tool hub 1106. In addition, the end tool hub 1106 can accommodate at least a portion of one or more pulleys coupled to the rotating shaft 1142 inside it.

[0132] Meanwhile, pulley 1131, which serves as an end tool pitch pulley, may be formed at one end of end tool hub 1106. Pulley 1131 may be integrally formed with end tool hub 1106. Specifically, a disc-shaped pulley may be formed at one end of end tool hub 1106, and a groove may be formed on its outer circumference for winding a wire. Alternatively, pulley 1131 may be formed as a separate component from end tool hub 1106 to be integrated with end tool hub 1106.

[0133] The rotation shaft 1143 and the rotation shaft 1144 are inserted through the pitch center 1107, and the pitch center 1107 can be axially coupled to the end tool center 1106 (and the pulley 1131) via the rotation shaft 1143. Therefore, the end tool center 1106 and the pulley 1131 can be formed to be rotatable about the rotation shaft 1143 relative to the pitch center 1107.

[0134] In addition, the pitch center 1107 may accommodate at least a portion of one or more pulleys coupled to the rotation axis 1143. In addition, the pitch center 1107 may accommodate at least a portion of one or more pulleys coupled to the rotation axis 1144.

[0135] In addition, the end tool 1100 of this embodiment may include a rotation axis 1141, a rotation axis 1142, a rotation axis 1143, and a rotation axis 1144. As described above, the rotation axes 1141 and 1142 are inserted through the end tool center 1106, and the rotation axes 1143 and 1144 are inserted through the pitch center 1107. In addition, as an optional embodiment, the end tool 1100 may further include a rotation axis 1145.

[0136] The rotation axis 1141, the rotation axis 1142, the rotation axis 1143, the rotation axis 1144, and the rotation axis 1145 can be arranged sequentially from the distal end 1104 to the proximal end 1105 of the end tool 1100. Therefore, starting from the distal end 1104, the rotation axis 1141 can be referred to as the first pin, the rotation axis 1142 as the second pin, the rotation axis 1145 as the second and a half pin, the rotation axis 1143 as the third pin, and the rotation axis 1144 as the fourth pin.

[0137] Here, the rotation axis 1141 serves as the end tool jaw pulley rotation axis, the rotation axis 1142 serves as the end tool jaw sub-pulley rotation axis, the rotation axis 1143 serves as the end tool pitch rotation axis, and the rotation axis 1144 can serve as the end tool pitch sub-rotation axis of the end tool 1100. Furthermore, the rotation axis 1145 can serve as a redundant pitch rotation axis of the end tool 1100.

[0138] One or more pulleys may be inserted into each of these rotating shafts 1141 , 1142 , 1143 , and 1144 .

[0139] Pulley 1111 is used as the first jaw pulley of the end tool, and pulley 1121 is used as the second jaw pulley of the end tool. Pulley 1111 can be called the first jaw pulley, and pulley 1121 can be called the second jaw pulley, and these two components can be collectively referred to as the end tool jaw pulley, or simply as the jaw pulley.

[0140] The pulley 1111 and the pulley 1121 as the end tool jaw pulleys are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 1141 as the rotation axis of the end tool jaw pulleys.

[0141] Although pulleys 1111 and 1121 are shown in the drawings as rotating about a single rotation axis 1141, each end tool jaw pulley may also be configured to rotate about a separate axis. Here, first jaw 1101 is fixedly coupled to pulley 1111 so as to rotate together with pulley 1111, and second jaw 1102 is fixedly coupled to pulley 1121 so as to rotate together with pulley 1121. The rotation of pulleys 1111 and 1121 allows for yaw rotation and actuation of end tool 1100. Specifically, yaw rotation occurs when pulleys 1111 and 1121 rotate in the same direction about rotation axis 1141, while actuation occurs when pulleys 1111 and 1121 rotate in opposite directions about rotation axis 1141.

[0142] Here, the first jaw 1101 and the pulley 1111 may be formed as separate components to be combined with each other, or the first jaw 1101 and the pulley 1111 may be formed as a one-body. Similarly, the second jaw 1102 and the pulley 1121 may be formed as separate components to be combined with each other, or the second jaw 1102 and the pulley 1121 may be formed as a one-body.

[0143] Additionally, one or more secondary pulleys may be disposed adjacent to pulley 1111 and pulley 1121 .

[0144] These pulleys are formed so that one or more wires are wound thereon, and the pulleys are rotated by the wires, and the wires can move along the pulleys, whereby power can be transmitted to the end tool 1100.

[0145] Meanwhile, the above-mentioned end tool 1100 is an embodiment of an end tool that can be installed on the surgical instrument 1000 according to the present invention. The technical concept of the present invention is not limited thereto, and some components can be changed, omitted or added as needed.

[0146] Figure 5 is a diagram for describing the internal structure of a power transmission unit according to an embodiment of the present invention. Figure 6 For observation from the rear Figure 5 Figure 1 shows the power transmission unit. Figure 7 For description Figure 5 Diagram of the arrangement of pulleys and wires of the power transmission part.

[0147] See also Figures 5 to 7 The power transmission unit 1300 according to an embodiment of the present invention may include a pulley frame 1310, at least one pulley, and at least one wire.

[0148] The pulley frame 1310 may form the overall skeleton of the power transmission part 1300 .

[0149] At least one pulley may be arranged on the pulley frame 1310. Here, the arrangement of the pulley should be interpreted broadly. For example, the arrangement of the pulley may mean that the pulley is directly connected to the pulley frame 1310, or it may mean that the rotating shaft is mounted on the pulley frame 1310 and the pulley is connected to the rotating shaft. Alternatively, the arrangement of the pulley may mean that a separate component is provided on the pulley frame 1310, and the rotating shaft is connected to the separate component, and the pulley is connected to the rotating shaft. Alternatively, the arrangement of the pulley may mean that a hole is formed in the pulley frame 1310, the rotating shaft is arranged to pass through the hole, and the pulley is mounted on the rotating shaft.

[0150] The power transmission part 1300 may include at least one pulley.

[0151] The pulley is a member around which the wire is wound, and a groove capable of winding the wire may be formed on the pulley.

[0152] As an embodiment, the power transmission unit 1300 may include a yaw pulley 1320 and a pitch pulley 1330. In addition, the power transmission unit 1300 may include at least one yaw wire 1361 and a yaw wire 1362, and at least one pitch wire 1363 and a pitch wire 1364.

[0153] The yaw pulley 1320 is a pulley related to the yaw rotation of the end tool 1100 , and the yaw wire 1361 and the yaw wire 1362 are wires related to the yaw rotation of the end tool 1100 .

[0154] The yaw pulley 1320 may be disposed at a region of the pulley frame 1310 .

[0155] The yaw wire 1361 and the yaw wire 1362 may be arranged at the end tool 1100 so as to extend from a pulley associated with yaw rotation of the end tool 1100 toward the yaw pulley 1320 .

[0156] As an embodiment, the yaw wire 1361 and the yaw wire 1362 may be formed as a pair. As described below, the yaw wire 1361 and the yaw wire 1362 may be connected to the upper side and the lower side of the yaw pulley 1320, respectively.

[0157] As a specific embodiment, the yaw wire 1361 and the yaw wire 1362 may include a first yaw wire 1361 and a second yaw wire 1362. The first yaw wire 1361 may be based on Figure 7 The second yaw wire 1362 extends toward the upper side of the yaw pulley 1320, thereby being connected to the yaw pulley 1320. Figure 7It extends toward the lower side of the yaw pulley 1320 to be connected to the yaw pulley 1320 .

[0158] After the yaw wire 1361 and the yaw wire 1362 are connected to the yaw pulley 1320, when the yaw pulley 1320 rotates, the yaw wire 1361 and the yaw wire 1362 can be wound around or released from the yaw pulley 1320. That is, when the yaw pulley 1320 rotates in one direction, one yaw wire is wound around the yaw pulley 1320 and the other yaw wire is released from the yaw pulley 1320. For example, when the yaw pulley 1320 rotates based on Figure 7 When the yaw pulley 1320 rotates in the clockwise direction, the first yaw wire 1361 is released from the yaw pulley 1320, and the second yaw wire 1362 is wound around the yaw pulley 1320. Figure 7 When rotating in the counterclockwise direction, the first yaw wire 1361 is wound around the yaw pulley 1320 , and the second yaw wire 1362 is released from the yaw pulley 1320 .

[0159] To describe this from another perspective, it can also be described as follows: when the yaw pulley 1320 rotates, the pair of yaw wires 1361 and yaw wires 1362 start from the yaw pulley 1320 and move in opposite directions to each other.

[0160] Thus, when yaw pulley 1320 rotates, causing the pair of yaw wires 1361 and 1362 to move in different directions, the pulleys connected to yaw wires 1361 and 1362 on the end tool 1100 side rotate in corresponding directions. Therefore, the pulleys connected to yaw wires 1361 and 1362 on the end tool 1100 side can simultaneously rotate in one direction while achieving yaw rotation of the end tool 1100.

[0161] The pitch pulley 1330 is a pulley related to the pitch rotation of the end tool 1100 , and the pitch wire 1363 and the pitch wire 1364 are wires related to the pitch rotation of the end tool 1100 .

[0162] The pitch pulley 1330 may be disposed at a region of the pulley frame 1310 .

[0163] As one embodiment, the pitch pulley 1330 may be arranged on the opposite side of the yaw pulley 1320. As a preferred embodiment, the pitch pulley 1330 and the yaw pulley 1320 may be symmetrically arranged on both sides with respect to the center of the pulley frame 1310. Therefore, as described below, the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364 extending through the secondary pulley 1350 may be nearly perpendicular to the yaw pulley 1320 and the pitch pulley 1330.

[0164] The pitch wire 1363 and the pitch wire 1364 may be arranged on the end tool 1100 so as to extend from a pulley associated with the pitch rotation of the end tool 1100 toward the pitch pulley 1330 .

[0165] As an embodiment, the pitch wire 1363 and the pitch wire 1364 may be formed as a pair. As described below, the pitch wire 1363 and the pitch wire 1364 may be connected to the upper side and the lower side of the pitch pulley 1330, respectively.

[0166] As a specific embodiment, the pitch wire 1363 and the pitch wire 1364 may include a first pitch wire 1363 and a second pitch wire 1364. The first pitch wire 1363 may be based on Figure 7 The second pitch wire 1364 extends toward the lower side of the pitch pulley 1330, thereby connecting to the pitch pulley 1330. Figure 7 It extends toward the upper side of the pitch pulley 1330 to be connected to the pitch pulley 1330 .

[0167] After the pitch wire 1363 and the pitch wire 1364 are connected to the pitch pulley 1330, when the pitch pulley 1330 rotates, the pitch wire 1363 and the pitch wire 1364 can be wound around or released from the pitch pulley 1330. That is, when the pitch pulley 1330 rotates in one direction, one pitch wire is wound around the pitch pulley 1330 and the other pitch wire is released from the pitch pulley 1330. For example, when the pitch pulley 1330 rotates based on Figure 7 When rotating in the clockwise direction, the first pitch wire 1363 is released from the pitch pulley 1330, and the second pitch wire 1364 is wound around the pitch pulley 1330. Figure 7 When rotating in the counterclockwise direction, the first pitch wire 1363 is wound around the pitch pulley 1330 , and the second pitch wire 1364 is released from the pitch pulley 1330 .

[0168] To describe this from another perspective, it can also be described as follows: when the pitch pulley 1330 rotates, a pair of pitch wires 1363 and a pair of pitch wires 1364 start from the pitch pulley 1330 and move in opposite directions to each other.

[0169] Thus, when pitch pulley 1330 rotates, causing the pair of pitch wires 1363 and 1364 to move in different directions, the pulleys connected to pitch wires 1363 and 1364 on the end tool 1100 side rotate in corresponding directions. Therefore, the pulleys connected to pitch wires 1363 and 1364 on the end tool 1100 side can simultaneously rotate in one direction while achieving pitch rotation of the end tool 1100.

[0170] As an embodiment, the power transmission unit 1300 may further include at least one secondary pulley 1350. For example, the secondary pulley 1350 is connected to the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364, and may include a first secondary pulley 1351 that changes the paths of the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364.

[0171] The first secondary pulley 1351 is disposed on the power transmission unit 1300 so as to change the paths of the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364 extending from the end tool 1100 to the power transmission unit 1300 through the connection portion 1400 .

[0172] The secondary pulley fixing portion 1311 may be formed on the pulley frame 1310. The secondary pulley fixing portion 1311 is a portion to which the first secondary pulley 1351 is mounted. For example, the secondary pulley fixing portion 1311 may be integrally formed with the pulley frame 1310. Alternatively, the secondary pulley fixing portion 1311 may be formed as a separate member and may be coupled or assembled to the pulley frame 1310.

[0173] As one embodiment, the secondary pulley fixing portion 1311 may include at least one through-hole, through which the rotation axis of the first secondary pulley 1351 may be arranged. To describe this from another perspective, the first secondary pulley 1351 may be arranged to overlap in parallel with the through-hole formed in the secondary pulley fixing portion 1311, and the rotation axis may be arranged to pass through both the first secondary pulley 1351 and the secondary pulley fixing portion 1311.

[0174] The secondary pulley fixing portion 1311 may be formed to protrude from the pulley frame 1310 toward the connecting portion 1400. For example, it may be described as protruding from one surface of the pulley frame 1310 toward the connecting portion 1400. As a preferred embodiment, the secondary pulley fixing portion 1311 may be arranged at the center of the pulley frame 1310.

[0175] In this case, the yaw pulley 1320 and the pitch pulley 1330 can be arranged on both sides of the secondary pulley fixing portion 1311. As a preferred embodiment, the yaw pulley 1320 and the pitch pulley 1330 can be arranged in symmetrical positions with respect to the secondary pulley fixing portion 1311. This can be described from another perspective as follows: the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364 entering the first secondary pulley 1351 can be distributed to both sides when passing through the secondary pulley fixing portion 1311. As a result, the yaw wires 1361 and 1362 extend toward the yaw pulley 1320, and the pitch wires 1363 and 1364 extend toward the pitch pulley 1330.

[0176] Therefore, the yaw wire 1361 and the yaw wire 1362 may be nearly perpendicular to the yaw pulley 1320, and the pitch wire 1363 and the pitch wire 1364 may be nearly perpendicular to the pitch pulley 1330. Preferably, the yaw wire 1361 and the yaw wire 1362 may be perpendicular to the yaw pulley 1320, and the pitch wire 1363 and the pitch wire 1364 may be perpendicular to the pitch pulley 1330. Describing this from another perspective, it can also be described as follows: the yaw wire 1361 and the yaw wire 1362 may be close to the yaw pulley 1320 to form a tangent to the yaw pulley 1320, and the pitch wire 1363 and the pitch wire 1364 may be close to the pitch pulley 1330 to form a tangent to the pitch pulley 1330.

[0177] The first secondary pulley 1351 is disposed at the secondary pulley fixing portion 1311 and can change the paths of the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364 extending to the power transmission portion 1300 .

[0178] Specifically, if Figure 7 As shown, the first secondary pulley 1351 may be disposed between the yaw pulley 1320 and the pitch pulley 1330 .

[0179] A plurality of first sub-pulleys 1351 may be provided. The number of the first sub-pulleys 1351 may be set to correspond to the number of wires entering at least the power transmission unit 1300.

[0180] As an example, yaw wire 1361 and yaw wire 1362 may be provided as a pair, respectively entering the upper and lower sides of yaw pulley 1320. Furthermore, pitch wire 1363 and pitch wire 1364 may be provided as a pair, respectively entering the upper and lower sides of pitch pulley 1330. That is, when four wires are provided to enter power transmission unit 1300, four first secondary pulleys 1351 may be provided.

[0181] As an optional embodiment, the plurality of first secondary pulleys 1351 may be arranged parallel to one another. This can be described as intended to ensure that the wires 1361, 1362, 1363, and 1364 that pass around the first secondary pulleys 1351 extend parallel or nearly parallel to one another to the yaw pulley 1320 and / or the pitch pulley 1330.

[0182] Specifically, the wires 1361, 1362, 1363, and 1364 extending from the end tool 1100 to the power transmission unit 1300 extend in parallel with one another. Therefore, the plurality of first secondary pulleys 1351 are arranged in parallel with one another, so that each of the wires 1361, 1362, 1363, and 1364 passing around the first secondary pulleys 1351 extends in parallel with one another, or at least substantially in parallel to one another, to the yaw pulley 1320 and / or the pitch pulley 1330.

[0183] As an optional embodiment, the first secondary pulley 1351 may be arranged so that the winding directions of the wires 1361, 1362, 1363, and 1364 are nearly perpendicular to the yaw pulley 1320 and the pitch pulley 1330, and preferably, may be arranged perpendicular to each other. Figure 7 In more detail, the direction in which the wires 1361, 1362, 1363, and 1364 are wound around the first secondary pulley 1351 can be perpendicular to the direction in which the wires 1361, 1362, 1363, and 1364 are wound around the yaw pulley 1320 and the pitch pulley 1330. From another perspective, this can be described as the first secondary pulley 1351 changing the direction of movement of the wires 1361, 1362, 1363, and 1364 entering the first secondary pulley 1351 by 90 degrees. From yet another perspective, this can be described as the grooves formed in the first secondary pulley 1351 and the grooves formed in the yaw pulley 1320 and the pitch pulley 1330 being perpendicular to each other.

[0184] By such constituent elements, the wires 1361 , 1362 , 1363 , and 1364 entering the power transmission portion 1300 change their paths through the first secondary pulley 1351 and can approach the yaw pulley 1320 and the pitch pulley 1330 vertically or nearly vertically.

[0185] Figure 8 is a diagram showing an operating unit and a power generating unit according to an embodiment of the present invention, Figure 9 To show Figure 8 A perspective view of the power generation unit, Figure 10 For observation from the rear Figure 9 Diagram of the power generating unit. Figure 11 For description Figure 9 Diagram of the gear structure of the power generating unit, Figure 12 To observe from the front Figure 11 The picture, Figure 13 For description Figure 9 FIG. 1 is a diagram showing the rotation of a power generating unit.

[0186] See also Figures 8 to 13 According to an embodiment of the present invention, the surgical instrument 1000 may include a power generating unit 1500 that generates power for controlling the end tool 1100 .

[0187] The power generating unit 1500 may be arranged such that at least a portion thereof is housed in the housing 1201 of the operating unit 1200. Here, the housing 1201 may refer to the outer shape of the operating unit 1200, but for a driving module of a surgical instrument, it may refer to the outer shape of the module body.

[0188] When the user operates the operating unit 1200 , the power generating unit 1500 may generate power for controlling the end tool 1100 based on the operation.

[0189] The power generation unit 1500 may include a motor group 1510 including at least one motor.

[0190] The motor group 1510 can roll and rotate with the direction in which the connecting portion 1400 extends as an axis.

[0191] Here, the rolling action used in the present invention is defined as follows.

[0192] The rolling motion refers to the motion of the end tool 1100, the connecting part 1400, the motor group 1510, etc. constituting the surgical instrument 1000 rotating about the direction in which the connecting part 1400 extends. In other words, the rolling motion refers to the motion of the end tool 1100, the connecting part 1400, the motor group 1510, etc. rotating about the direction in which the connecting part 1400 extends ( Figure 3 The X-axis direction) is the axis, Figure 3 Y-axis direction or Figure 3 The Z-axis direction does not bend while rotating.

[0193] See also Figure 8, at least a portion of the power generating unit 1500 can be accommodated inside the housing 1201 of the operating unit 1200. In this case, the motor group 1510 is accommodated inside the housing 1201 of the operating unit 1200. Here, the roll rotation of the motor group 1510 may refer to a rotation along the inner circumferential surface of the housing 1201 inside the housing 1201. Explaining this from another aspect, when the user holds the handle 1202 of the operating unit 1200 and performs an operation to roll the motor group 1510, the housing 1201 and the handle 1202 of the operating unit 1200 are fixed in place, and the motor group 1510 can rotate with the direction in which the connecting portion 1400 extends inside the housing 1201 as the axis. To describe this from another perspective, it can also be described as that when the user holds the connecting part 1400, or when the connecting part 1400 is fixed in a specific position (for example, the connecting part is fixed to a separately set robot or mounting part, etc.), the shell 1201 and the handle 1202 rotate when the operation for the rolling action of the motor group 1510 is performed.

[0194] The motor group 1510 may include at least one motor. For example, the motor group 1510 may include at least one motor that generates power for driving the end tool 1100 based on a signal input to the operating unit 1200 .

[0195] As an optional embodiment, the motor group 1510 may further include a rolling drive motor 1514 .

[0196] Therefore, hereinafter, the term “motor group 1510 ” should be understood to include one or more motors among motor 1511 , motor 1512 , and motor 1514 described later.

[0197] The motor group 1510 may include a yaw drive motor 1511. The yaw drive motor 1511 may generate power for yaw rotation of the end tool 1100. For example, when a user operates the operating unit 1200 to yaw the end tool 1100, the yaw drive motor 1511 may generate a driving force for yaw rotation of the end tool 1100.

[0198] The driving force generated by the yaw drive motor 1511 is transmitted to the power transmission unit 1300 , thereby rotating the yaw pulley 1320 . When the yaw wires 1361 and 1362 are moved by the rotation of the yaw pulley 1320 , the end tool 1100 can perform yaw rotation.

[0199] The yaw drive motor 1511 may include a yaw motor rotating shaft 15111 extending in one direction. The yaw motor rotating shaft 15111 is the portion that rotates when the yaw drive motor 1511 is driven. For example, the yaw motor rotating shaft 15111 may extend from the main body of the yaw drive motor 1511 toward the power transmission unit 1300. As described below, a yaw motor plate 1521 may be disposed at one end of the yaw motor rotating shaft 15111, and when the yaw motor rotating shaft 15111 rotates, the yaw motor plate 1521 may rotate along with it. The yaw motor plate 1521 may be connected to the yaw pulley 1320, and when the yaw motor plate 1521 rotates, its driving force may be transmitted to the yaw pulley 1320.

[0200] The motor group 1510 may include a pitch drive motor 1512. The pitch drive motor 1512 may generate power for pitching the end tool 1100. For example, when a user operates the operating unit 1200 to pitch the end tool 1100, the pitch drive motor 1512 may generate a driving force for pitching the end tool 1100.

[0201] The driving force generated by the pitch driving motor 1512 is transmitted to the power transmission unit 1300 , thereby rotating the pitch pulley 1330 . When the pitch wires 1363 and 1364 are moved by the rotation of the pitch pulley 1330 , the end tool 1100 can perform pitch rotation.

[0202] The pitch drive motor 1512 may include a pitch motor rotation shaft 15121 extending in a direction. The pitch motor rotation shaft 15121 is the portion that rotates when the pitch drive motor 1512 is driven. For example, the pitch motor rotation shaft 15121 may extend from the main body of the pitch drive motor 1512 toward the power transmission unit 1300. As described below, a pitch motor plate 1522 may be disposed at one end of the pitch motor rotation shaft 15121. When the pitch motor rotation shaft 15121 rotates, the pitch motor plate 1522 rotates with it. The pitch motor plate 1522 may be connected to the pitch pulley 1330, and when the pitch motor plate 1522 rotates, its driving force may be transmitted to the pitch pulley 1330.

[0203] The power generating unit 1500 may include a rolling drive motor 1514 that generates power for rolling the motor group 1510. For example, when a user operates the operating unit 1200 to rotate the motor group 1510, the rolling drive motor 1514 may generate a driving force for rolling the motor group 1510.

[0204] As an embodiment, the rolling drive motor 1514 may be disposed in the motor group 1510 . For example, the rolling drive motor 1514 may be disposed inside the motor group 1510 together with the yaw drive motor 1511 and the pitch drive motor 1512 .

[0205] The scroll drive motor 1514 is driven by a user's operation, thereby generating a driving force for rotating the motor group 1510. In this case, the scroll drive motor 1514 can move together with the motor group 1510. For example, when the motor group 1510 is scrolled and rotated by the scroll drive motor 1514, the scroll drive motor 1514, as a component provided in the motor group 1510, can rotate together with the motor group 1510.

[0206] As another embodiment, the scroll driving motor 1514 may not be provided in the motor group 1510 . For example, the scroll driving motor 1514 may be arranged outside the motor group 1510 .

[0207] The roll drive motor 1514 is driven by a user's operation, thereby generating a driving force for rotating the motor group 1510. In this case, the roll drive motor 1514 can move independently of the motor group 1510. For example, unlike what will be described later, the motor group 1510 can be rolled by the roll drive motor 1514, but the roll drive motor 1514 does not need to rotate together with the motor group 1510. Specifically, the yaw drive motor 1511 and the pitch drive motor 1512 can rotate together, but the roll drive motor 1514 does not need to rotate together.

[0208] For ease of description, the following description will be based on an example in which the scroll drive motor 1514 is disposed in the motor group 1510. However, those skilled in the art will appreciate that, in the following description, the scroll drive motor 1514 may not be disposed in the motor group 1510. Furthermore, those skilled in the art will appreciate that, when the scroll drive motor 1514 is not disposed in the motor group 1510, the following description may be appropriately modified and applied.

[0209] The motor group 1510 may include a base plate 1560. The base plate 1560 may be arranged in front of the yaw drive motor 1511, the pitch drive motor 1512, and the roll drive motor 1514. The base plate 1560 may be connected to the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512. Describing this from another perspective, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 may be connected to the base plate 1560. Describing this from yet another perspective, the base plate 1560 may be connected to the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 so that the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 move or rotate as a whole.

[0210] Therefore, when the base plate 1560 is rotated by the driving force of the roll drive motor 1514, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 connected to the base plate 1560 can rotate simultaneously. That is, when the roll drive motor 1514 starts driving, it rotates the base plate 1560, and when the base plate 1560 rotates, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 connected to the base plate 1560 rotate together with the base plate 1560. Here, the base plate 1560 rotates about the direction in which the connecting portion 1400 extends, and thus the motor assembly 1510 including the base plate 1560, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 rolls and rotates about the direction in which the connecting portion 1400 extends.

[0211] As an embodiment, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 may be arranged parallel to each other. In addition, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 may be arranged in a circular pattern.

[0212] As described above, motor group 1510 can roll and rotate within housing 1201 of operating unit 1200. In this case, motor group 1510 includes a plurality of motors, and thus, roll drive motor 1514, yaw drive motor 1511, and pitch drive motor 1512 are arranged to form a circular pattern with each other, thereby minimizing the diameter of the space occupied by motor group 1510 during rotation. Specifically, by arranging roll drive motor 1514, yaw drive motor 1511, and pitch drive motor 1512 in a circular pattern, the inner diameter of housing 1201 required for motor group 1510 rotation can be designed to be smaller, which can contribute to the miniaturization and lightweighting of surgical instrument 1000.

[0213] At the same time, here, the roll drive motor 1514, the yaw drive motor 1511 and the pitch drive motor 1512 are arranged to form a circular pattern, which does not mean that they are arranged at equal intervals between each other, and the outer peripheral surfaces of the roll drive motor 1514, the yaw drive motor 1511 and the pitch drive motor 1512 only need to be arranged within a circle.

[0214] As one embodiment, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 can be configured to have different performances. For example, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 can have different driving forces required to perform each role. To this end, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 can have different powers or sizes as needed.

[0215] At least one through-hole may be formed in the substrate 1560. For example, through-holes corresponding to the number of motors included in at least the motor group 1510 may be formed in the substrate 1560. The through-hole is a portion through which a rotating shaft of each motor passes.

[0216] For example, the yaw motor rotation axis 15111 extends from the main body of the yaw drive motor 1511 and may also be formed so as to extend therefrom (via a through hole) to pass through the substrate 1560. Furthermore, the pitch motor rotation axis 15121 extends from the main body of the pitch drive motor 1512 and may also be formed so as to extend therefrom (via a through hole) to pass through the substrate 1560.

[0217] Meanwhile, the scroll drive motor 1514 may include a scroll motor rotation shaft 15141 that is formed to extend in one direction. The scroll motor rotation shaft 15141 is the portion that rotates when the scroll drive motor 1514 starts to drive. For example, the scroll motor rotation shaft 15141 may be formed to extend forward from the main body of the scroll drive motor 1514. In other words, the scroll motor rotation shaft 15141 may extend forward from the main body of the scroll drive motor 1514, or may be formed to extend therefrom and pass through the substrate 1560.

[0218] Hereinafter, the principle of rotation of the motor group 1510 will be described in detail.

[0219] See also Figure 11 and Figure 12 , the power generating part 1500 may include a first gear 1551 formed in a circular shape and a second gear 1552 engaged with the first gear 1551 .

[0220] The first gear 1551 is formed in the shape of a hollow circle, and gear teeth may be formed on the inner circumference of the circle. That is, the first gear 1551 may be a ring gear having gear teeth formed on the inner circumference.

[0221] Second gear 1552 is a gear having gear teeth formed on its outer circumference and can mesh with first gear 1551. Second gear 1552 can be arranged on scroll motor rotation shaft 15141. Specifically, scroll motor rotation shaft 15141 is formed to extend forward from the main body of scroll drive motor 1514 to pass through base plate 1560, and second gear 1552 can be arranged on the extended portion of scroll motor rotation shaft 15141. In this case, second gear 1552 is coupled to scroll motor rotation shaft 15141, and when scroll motor rotation shaft 15141 rotates, second gear 1552 can rotate together.

[0222] The first gear 1551 may be disposed in front of the base plate 1560. Furthermore, the first gear 1551 may be fixed to the inner circumference of the housing 1201. Therefore, when the rolling drive motor 1514 starts driving, the motor group 1510 may roll and rotate within the housing 1201.

[0223] Specifically, when roll drive motor 1514 begins driving, roll motor shaft 15141 rotates, and second gear 1552, which is attached to roll motor shaft 15141, rotates along with it. When second gear 1552 rotates, first gear 1551, which is fixed to the inner circumference of housing 1201, meshes with second gear 1552, causing second gear 1552 to move along the teeth of first gear 1551. In other words, when roll drive motor 1514 begins driving, first gear 1551 and second gear 1552 rotate relative to each other. Since first gear 1551 is fixed to housing 1201, second gear 1552 moves relative to each other along first gear 1551. Furthermore, second gear 1552 is connected to roll motor shaft 15141, and roll drive motor 1514 is connected to base plate 1560. Base plate 1560 is connected to yaw drive motor 1511 and pitch drive motor 1512. Therefore, the motor group 1510 can rotate relative to the housing 1201 through the action of the first gear 1551 and the second gear 1552. Describing this from another perspective, the motor group 1510 can rotate independently of the movement of the housing 1201.

[0224] To describe this in more detail, the base plate 1560 can rotate relative to the housing 1201. Specifically, the second gear 1552 is connected to the base plate 1560 via the rolling motor rotation shaft 15141. Therefore, when the second gear 1552 moves, the second gear 1552 moves along the first gear 1551, and the base plate 1560 rotates relative to the housing 1201. Here, the rolling motor rotation shaft 15141 is eccentric with respect to the rotation axis of the base plate 1560. Therefore, when the second gear 1552 moves along the first gear 1551, the base plate 1560 can rotate relative to the housing 1201 without its position changing along the second gear 1552.

[0225] At the same time, as described below, bearing plate 1540 can also be connected to second gear 1552 via rolling motor rotation shaft 15141. Therefore, when second gear 1552 rotates, second gear 1552 moves along first gear 1551, allowing bearing plate 1540 to rotate relative to housing 1201. In this case, as described below, bearing 1541 for reducing rotational friction of bearing plate 1540 can be coaxially arranged with bearing plate 1540 and in contact with the inner circumferential surface of housing 1201. Therefore, bearing plate 1540 can rotate easily.

[0226] Meanwhile, although the teeth of the first gear 1551 and the second gear 1552 are shown in the drawings as being in the shape of spur gears, the present invention is not limited thereto and, of course, various gear forms such as helical gears and herringbone gears may be used.

[0227] Meanwhile, when the scroll driving motor 1514 is disposed outside the motor group 1510 , the first gear 1551 and the second gear 1552 may also be formed at different positions.

[0228] As an embodiment, the power generating unit 1500 may further include a bearing plate 1540 and a first bearing 1541. When the motor group 1510 rolls and rotates, the bearing plate 1540 and the first bearing 1541 may reduce rotational friction between the motor group 1510 and the housing 1201.

[0229] The bearing plate 1540 may be disposed in front of the first gear 1551 .

[0230] At least one through-hole may be formed in the bearing plate 1540. The through-hole is a portion through which a rotating shaft of each motor passes.

[0231] For example, the yaw motor rotation axis 15111 may be formed to extend from the main body of the yaw drive motor 1511 so as to pass through the base plate 1560 and the bearing plate 1540. Furthermore, the pitch motor rotation axis 15121 may be formed to extend from the main body of the pitch drive motor 1512 so as to pass through the base plate 1560 and the bearing plate 1540. In this case, the roll motor rotation axis 15141 may be formed to extend from the main body of the roll drive motor 1514 so as to pass through the base plate 1560, but may not extend to the bearing plate 1540.

[0232] As such, the yaw motor rotation shaft 15111 and the pitch motor rotation shaft 15121 are formed to extend to pass through the bearing plate 1540 , so when the motor group 1510 rotates, the base plate 1560 and the bearing plate 1540 may rotate together.

[0233] The first bearing 1541 may be disposed on the outer circumferential surface of the bearing plate 1540. For example, the first bearing 1541 may be disposed so as to cover the outer circumferential surface of the bearing plate 1540. Therefore, when the motor assembly 1510 rolls and rotates, the bearing plate 1540 rotates together with the motor assembly 1510. At this time, the bearing plate 1540 and the first bearing 1541 may reduce the rotational friction between the motor assembly 1510 and the housing 1201.

[0234] As an embodiment, the power generating unit 1500 may further include a circuit board 1570 and a second bearing 1571. When the motor group 1510 rolls and rotates, the circuit board 1570 and the second bearing 1571 may reduce the rotational friction between the motor group 1510 and the housing 1201.

[0235] The circuit board 1570 may be disposed behind the motor group 1510 .

[0236] As described below, the circuit board 1570 is a portion to which a circuit unit is connected.

[0237] The circuit board 1570 is connected to the motor group 1510 so that they can rotate together when the motor group 1510 rotates.

[0238] The second bearing 1571 may be disposed on the outer circumference of the circuit board 1570. Therefore, when the motor group 1510 rolls and rotates, the circuit board 1570 rotates together with the motor group 1510. At this time, the circuit board 1570 and the second bearing 1571 may reduce the rotational friction between the motor group 1510 and the housing 1201.

[0239] The power generating unit 1500 may further include a pulley coupling plate 1530 .

[0240] The pulley coupling plate 1530 is a portion to which the power transmission unit 1300 is connected.

[0241] As one embodiment, the power transmission unit 1300 may be detachably coupled to the power generating unit 1500. For example, the power transmission unit 1300 may be detachably coupled to the pulley coupling plate 1530. Therefore, after using the components (power transmission unit 1300, connecting unit 1400, and end tool 1100) from the power transmission unit 1300 toward the distal end, the user can discard these components and use the surgical instrument 1000 again by coupling a new product to the operating unit 1200 that houses the power generating unit 1500.

[0242] As one embodiment, at least one coupling member 1316 may be formed on the pulley frame 1310 of the power transmission unit 1300. The hook 13161 may be formed on the coupling member 1316. In addition, the pulley coupling plate 1530 may include an internal space and a wall surface, wherein the internal space is used to accommodate at least a portion of the pulley frame 1310, and the wall surface is formed along the periphery of the pulley coupling plate 1530 to define the internal space. In this case, a hook groove 1532 may be formed on the wall surface, and the hook 13161 is suspended and fixed in the hook groove 1532. Therefore, when the pulley frame 1310 is inserted into the internal space of the pulley coupling plate 1530, the hook 13161 can be inserted into the hook groove 1532 and be coupled and fixed.

[0243] As one embodiment, the pulley coupling plate 1530 may include a protruding coupling block 1531, and the pulley frame 1310 may include an insertion groove formed so that the coupling block 1531 is inserted into the insertion groove. Therefore, when the pulley coupling plate 1530 is coupled to the pulley frame 1310, the coupling block 1531 is inserted into the insertion groove, so that the pulley coupling plate 1530 and the pulley frame 1310 can be coupled to each other at a specified position. In addition, the coupling block 1531 is inserted into the insertion groove, so that the rolling rotation force of the pulley coupling plate 1530 can be transmitted to the pulley frame 1310 through the coupling block 1531 and the insertion groove. As an optional embodiment, the coupling block 1531 can be formed in the shape of a long bar, in which case the insertion groove can be formed in a shape corresponding to this.

[0244] As an embodiment, although not shown in the drawings, the surgical instrument 1000 according to the present invention may further include a waterproof structure.

[0245] As a specific embodiment, at least one O-ring may be provided inside the housing 1201. For example, the O-ring may be provided between the outer circumference of the pulley coupling plate 1530 and the housing 1201. The O-ring is arranged between the outer circumference of the pulley coupling plate 1530 and the housing 1201 to be in close contact therewith, thereby preventing water and the like from penetrating between the power generating unit 1500 and the housing 1201.

[0246] As another example, an O-ring may be provided at least between the yaw motor plate 1521 and the pulley coupling plate 1530, and between the pulley motor plate 1522 and the pulley coupling plate 1530. The O-ring is arranged between the yaw motor plate 1521, the pitch motor plate 1522, and the pulley coupling plate 1530 to be in close contact therewith, thereby preventing water or the like from penetrating between the yaw motor plate 1521, the pitch motor plate 1522, and the pulley coupling plate 1530.

[0247] As one embodiment, the pulley coupling plate 1530 and the bearing plate 1540 may be coupled together by at least one bolt. In this case, at least one sealing washer may be disposed below the bolt in the bolt hole into which the bolt is inserted. The sealing washer may prevent water, etc., from penetrating through the bolt hole.

[0248] At least one through hole may be formed in the pulley coupling plate 1530. For example, two through holes may be formed in the pulley coupling plate 1530.

[0249] The yaw motor plate 1521 and the pitch motor plate 1522 may be disposed in through holes formed in the pulley coupling plate 1530 .

[0250] The yaw motor plate 1521 can be rotated by the driving force generated by the yaw drive motor 1511. The yaw motor plate 1521 can be arranged at one end of the yaw motor rotation shaft 15111. For example, when the yaw motor rotation shaft 15111 rotates, the yaw motor plate 1521 can rotate along with it. To describe this from another perspective, the yaw motor plate 1521 is a component that transmits the driving force generated by the yaw drive motor 1511 to the power transmission unit 1300.

[0251] At least one first protrusion 15211 may be formed on the yaw motor plate 1521. The first protrusion 15211 is a portion that protrudes outward from the yaw motor plate 1521. As described below, the first protrusion 15211 may be inserted into a first insertion port 13131 formed in the yaw pulley plate 1313.

[0252] The pitch motor plate 1522 can be rotated by the driving force generated by the pitch drive motor 1512. The pitch motor plate 1522 can be arranged at one end of the pitch motor rotation shaft 15121. For example, when the pitch motor rotation shaft 15121 rotates, the pitch motor plate 1522 can rotate along with it. To describe this from another perspective, the pitch motor plate 1522 is a component that transmits the driving force generated by the pitch drive motor 1512 to the power transmission unit 1300.

[0253] At least one second protrusion 15221 may be formed on the pitch motor plate 1522. The second protrusion 15221 is a portion that protrudes outward from the pitch motor plate 1522. As described below, the second protrusion 15221 may be inserted into a second insertion port 13141 formed in the pitch pulley plate 1314.

[0254] The yaw pulley plate 1313 and the pitch pulley plate 1314 may be disposed on the pulley frame 1310 .

[0255] The yaw pulley plate 1313 can be rotatable. Specifically, the yaw pulley plate 1313 can be coupled to the yaw motor plate 1521 so that the yaw pulley plate 1313 rotates together with the yaw motor plate 1521. The yaw pulley plate 1313 is connected to the yaw pulley 1320, and when the yaw pulley plate 1313 rotates, the yaw pulley 1320 rotates together with the yaw motor plate 1521. To describe this from another perspective, when externally transmitted power causes the yaw pulley plate 1313 to rotate, the yaw pulley 1320 rotates together with the yaw pulley 1320. To describe this from yet another perspective, the yaw pulley plate 1313 is the part that transmits the driving force generated by the yaw drive motor 1511 to the yaw pulley 1320.

[0256] The yaw pulley plate 1313 may include at least one first insertion opening 13131. The first insertion opening 13131 is a portion into which the first protrusion 15211 of the yaw motor plate 1521 is inserted. Thus, the yaw motor plate 1521 and the yaw pulley plate 1313 can be stably coupled together by coupling the at least one first protrusion 15211 with the first insertion opening 13131, and the driving force of the yaw drive motor 1511 can be effectively transmitted to the yaw pulley 1320.

[0257] The pitch pulley plate 1314 can be rotatable. Specifically, the pitch pulley plate 1314 can be coupled to the pitch motor plate 1522 so that the two components rotate together when the pitch motor plate 1522 rotates. The pitch pulley plate 1314 is connected to the pitch pulley 1330, so that the pitch pulley 1330 rotates together when the pitch pulley plate 1314 rotates. To describe this from another perspective, when the pitch pulley plate 1314 rotates due to external power, the pitch pulley 1330 rotates together. From yet another perspective, the pitch pulley plate 1314 transmits the driving force generated by the pitch drive motor 1512 to the pitch pulley 1330.

[0258] The pitch pulley plate 1314 may include at least one second insertion opening 13141. The second insertion opening 13141 is a portion into which the second protrusion 15221 of the pitch motor plate 1522 is inserted. Thus, the pitch motor plate 1522 and the pitch pulley plate 1314 can be stably coupled together by coupling the at least one second protrusion 15221 and the second insertion opening 13141, and the driving force of the pitch driving motor 1512 can be effectively transmitted to the pitch pulley 1330.

[0259] As one embodiment, the yaw drive motor 1511, the pitch drive motor 1512, and the roll drive motor 1514 can be driven independently of one another. Therefore, the yaw drive motor 1511, the pitch drive motor 1512, and the roll drive motor 1514 can independently perform yaw rotation of the end tool 1100, pitch rotation of the end tool 1100, and roll rotation of the motor assembly 1510.

[0260] See also Figure 13 To describe in detail, the roll drive motor 1514 starts driving, thereby rotating the pulley coupling plate 1530 in direction A. At this time, since the yaw drive motor 1511 can be driven independently, it can be driven independently regardless of the drive status of the roll drive motor 1514, thereby rotating the yaw motor plate 1521 in direction B. In addition, since the pitch drive motor 1512 can be driven independently, it can be driven independently regardless of the drive status of the roll drive motor 1514 and the yaw drive motor 1511, thereby rotating the pitch motor plate 1522 in direction C. To describe this from another perspective, the end tool 1100 can perform any one of pitch rotation, yaw rotation, and roll rotation, or can perform multiple rotations simultaneously.

[0261] Figures 37 to 41 It is a diagram showing the pitch and rotation motions of the surgical instrument according to the present invention.

[0262] Specifically, Figure 37 This is a diagram showing a state where the jaw is pitched and rotated by -90°. Figure 38 A diagram showing a process in which the jaw performs an actuation action in a state in which the jaw is pitch rotated by -90°. Figure 39 This is a diagram showing a state where the jaw is pitched and rotated by +90°. Figure 40 : is a diagram showing a process in which the jaw performs an actuation action in a state where the jaw is pitch rotated by +90°. Figure 41 A diagram showing a state in which a jaw performs a rolling motion while being pitched and rotated.

[0263] See also Figures 37 to 41The surgical instrument 5000 according to the present invention may include an end tool 5100, wherein the end tool 5100 includes a first jaw 5101 and a second jaw 5102. Figures 1 to 4 Alternatively, the end tool 5100 of the surgical instrument 5000 may be the end tool 1100 described in Figures 14 to 18 Alternatively, the end tool 5100 of the surgical instrument 5000 may be a component of the end tool 1100 or the end tool 3100 that is modified or has at least a portion omitted.

[0264] The end tool 5100 of the surgical instrument 5000 can be pitched and rotated in the positive direction about the pitch rotation axis (Y axis). At this time, when the end tool 5100 is pitched and rotated in the positive direction about the pitch rotation axis (Y axis), the first jaw 5101 and the second jaw 5102 of the end tool 5100 can perform an actuation action.

[0265] Furthermore, the end tool 5100 of the surgical instrument 5000 can be pitched and rotated in the - direction about the pitch rotation axis (Y axis). When the end tool 5100 is pitched and rotated in the - direction about the pitch rotation axis (Y axis), the first jaw 5101 and the second jaw 5102 of the end tool 5100 can perform an actuation operation.

[0266] Here, the rotation angle of the end tool 5100 may be variously set according to the ratio of the pulleys.

[0267] At the same time, the end tool 5100 of the surgical instrument 5000 can roll about the roll axis (X axis) while not rotating about the pitch axis (Y axis), while pitching in the positive direction, or while pitching in the negative direction. In this case, the end tool 5100 can roll with the first jaw 5101 and the second jaw 5102 open, or with the first jaw 5101 and the second jaw 5102 actuated.

[0268] Here, the end tool 5100 is mechanically connected to the motor assembly of the power generating unit so as to rotate together with the motor assembly. In the end tool 5100, when the motor assembly of the power generating unit rolls and rotates, the power transmission unit connected to the power generating unit, the connection unit connected to the power transmission unit, and the end tool 5100 formed on one side of the connection unit can rotate simultaneously.

[0269] Figure 14 This is a perspective view showing an end tool according to another embodiment of the present invention. Figure 15 For Figure 14A perspective view in which the end tooling center and pitch center are removed from the end tooling.

[0270] See also Figure 14 and Figure 15 According to another embodiment of the present invention, the end tool of a surgical instrument may include a first jaw 3101 and a second jaw 3102 that are rotatable.

[0271] To describe this from another perspective, the end tool 3100 of the surgical instrument according to one embodiment of the present invention can be provided with a pair of jaws, namely a first jaw 3101 and a second jaw 3102, for performing a gripping action. Here, each of the first jaw 3101 and the second jaw 3102, or a component that includes the first jaw 3101 and the second jaw 3102, can be referred to as a jaw 3103.

[0272] Here, the end tool 3100 of the surgical instrument 3000 according to an embodiment of the present invention is formed to be rotatable in at least one direction. For example, the end tool 3100 can be formed to rotate around the Y axis (see FIG. Figure 3 ) performs pitch motion while moving around the Z axis (see Figure 3 ) performs yaw motion and actuation motion.

[0273] The end tool 3100 may include a plurality of pulleys, including a pulley 3111 associated with the rotational movement of the first jaw 3101. In addition, the end tool 3100 may include a plurality of pulleys, including a pulley 3121 associated with the rotational movement of the second jaw 3102.

[0274] Here, although the pulleys facing each other are shown in the drawings as being formed parallel to each other, the concept of the present invention is not limited thereto, and each pulley can be formed at various positions suitable for the components of the end tool, and can also be formed to various sizes suitable for the components of the end tool.

[0275] In addition, the end tool 3100 of this embodiment may include an end tool center 3106 and a pitch center 3107 .

[0276] The rotating shafts 3141 and 3142 are inserted through the end tool hub 3106, and at least a portion of one or more pulleys coupled to the rotating shaft 3141 can be accommodated inside the end tool hub 3106. In addition, the end tool hub 3106 can accommodate at least a portion of one or more pulleys coupled to the rotating shaft 3142 inside it.

[0277] Meanwhile, a pulley 3131 serving as an end tool pitch pulley can be formed at one end of the end tool hub 3106. Pulley 3131 can be integrally formed with the end tool hub 3106. Specifically, a disc-shaped pulley can be formed at one end of the end tool hub 3106, and its outer circumference can also have a groove for winding a wire. Alternatively, pulley 3131 can be formed as a separate component from the end tool hub 3106 to be integrated with the end tool hub 3106.

[0278] The rotation shaft 3143 and the rotation shaft 3144 are inserted through the pitch center 3107, and the pitch center 3107 can be axially coupled to the end tool center 3106 (and the pulley 3131) via the rotation shaft 3143. Therefore, the end tool center 3106 and the pulley 3131 can be formed to be rotatable about the rotation shaft 3143 relative to the pitch center 3107.

[0279] In addition, the pitch center 3107 can accommodate at least a portion of one or more pulleys coupled to the rotation axis 3143. In addition, the pitch center 3107 can accommodate at least a portion of one or more pulleys coupled to the rotation axis 3144.

[0280] In addition, the end tool 3100 of this embodiment may include rotation axes 3141, 3142, 3143, and 3144. As described above, the rotation axes 3141 and 3142 are inserted through the end tool center 3106, and the rotation axes 3143 and 3144 are inserted through the pitch center 3107.

[0281] The rotation axis 3141, the rotation axis 3142, the rotation axis 3143, and the rotation axis 3144 can be arranged sequentially from the distal end 3104 to the proximal end 3105 of the end tool 3100. Therefore, starting from the distal end 3104, the rotation axis 3141 can be referred to as the first pin, the rotation axis 3142 as the second pin, the rotation axis 3143 as the third pin, and the rotation axis 3144 as the fourth pin.

[0282] Here, the rotation axis 3141 is used as the end tool jaw pulley rotation axis, the rotation axis 3142 is used as the end tool jaw sub-pulley rotation axis, the rotation axis 3143 is used as the end tool pitch rotation axis, and the rotation axis 3144 can be used as the end tool pitch sub-rotation axis of the end tool 3100.

[0283] One or more pulleys may be inserted into each of these rotating shafts 3141 , 3142 , 3143 , and 3144 .

[0284] Pulley 3111 serves as the first jaw pulley of the end tool, and pulley 3121 serves as the second jaw pulley of the end tool. Pulley 3111 may also be referred to as the first jaw pulley, and pulley 3121 may also be referred to as the second jaw pulley, and these two components may also be collectively referred to as the end tool jaw pulley, or simply as the jaw pulley.

[0285] Pulley 3111 and pulley 3121, which serve as the end tool jaw pulleys, are formed to face each other and are independently rotatable about a rotation axis 3141, which serves as the end tool jaw pulley rotation axis. Pulley 3111 and pulley 3121 can be spaced a certain distance apart, and a staple assembly accommodating portion can be formed therebetween. Furthermore, at least a portion of the staple pulley assembly and staple link assembly, described later for use in stapling operations, can be disposed within this staple assembly accommodating portion.

[0286] Although pulleys 3111 and 3121 are shown in the drawings as rotating about a single rotation axis 3141, each end tool jaw pulley may also be configured to rotate about a separate axis. Here, first jaw 3101 is fixedly coupled to pulley 3111 so as to rotate together with pulley 3111, and second jaw 3102 is fixedly coupled to pulley 3121 so as to rotate together with pulley 3121. The rotation of pulleys 3111 and 3121 allows the end tool 3100 to perform yaw rotation and actuation. Specifically, yaw rotation is performed when pulleys 3111 and 3121 rotate in the same direction about rotation axis 3141, while actuation is performed when pulleys 3111 and 3121 rotate in opposite directions about rotation axis 3141.

[0287] Here, the first jaw 3101 and the pulley 3111 may be formed as separate components to be combined with each other, or the first jaw 3101 and the pulley 3111 may be formed as a one-body. Similarly, the second jaw 3102 and the pulley 3121 may be formed as separate components to be combined with each other, or the second jaw 3102 and the pulley 3121 may be formed as a one-body.

[0288] Additionally, one or more secondary pulleys may be disposed adjacent to pulley 3111 and pulley 3121 .

[0289] These pulleys are formed so that one or more wires are wound thereon, and the pulleys are rotated by the wires, and the wires can move along the pulleys, whereby power can be transmitted to the end tool 3100.

[0290] Figure 16 To show Figure 14 A perspective view of the first jaw and the nail cartridge of the end tool, Figure 17 for Figure 16 An exploded perspective view of the nail magazine, Figure 18 For description Figure 16 A perspective cross-sectional view of the internal structure of the nail magazine.

[0291] See also Figures 16 to 18 The staple cartridge 3150 is formed to be attachable to and detachable from the first jaw 3101, and includes a plurality of staples 3153 and a blade (not shown) therein for stapling and cutting tissue. Here, the staple cartridge 3150 may include a cover 3151, a housing 3152, staples 3153, a lead-out member (not shown), a working member 3154, a moving member 3155, and the like.

[0292] The housing 3152 forms the outer shape of the staple cartridge 3150 and is generally formed in the form of an empty box with one side (top surface) thereof removed, so that the interior thereof can be formed to accommodate the moving member 3155, the working member 3154, and the staples 3153. Here, the cross-section of the housing 3152 is generally formed in a "U" shape.

[0293] The cover 3151 is formed to cover the top of the housing 3152. The cover 3151 may be formed with staple holes that allow a plurality of staples 3153 to be discharged to the outside. Before stapling, the staples 3153 are originally housed inside the housing 3152. However, during stapling, the staples are pushed upward by the working member 3154 and then pass through the staple holes of the cover 3151 to be drawn out of the staple cartridge 3150, thereby performing stapling.

[0294] At the same time, a slit may be formed on the cover 3151 along the longitudinal direction of the cover 3151. A blade (not shown) of the working member 3154 may protrude through the slit to the outside of the staple cartridge 3150. When the blade (not shown) of the working member 3154 passes along the slit 3512, the stapled tissue may be cut.

[0295] A plurality of suture staples 3153 may be arranged inside the housing 3152. As a working member 3154, described later, linearly moves in one direction, the plurality of suture staples 3153 are sequentially pushed upward from the interior to the exterior of the housing 3152 while performing suturing, i.e., stapling. The suture staples 3153 may be made of titanium, stainless steel, or the like.

[0296] At the same time, a lead-out member (not shown) may be further arranged between the housing 3152 and the staples 3153. In other words, the staples 3153 may be arranged on top of the lead-out member (not shown). In this case, the working member 3154 pushes the lead-out member (not shown) upward while moving linearly in one direction, and the lead-out member (not shown) can push the staples 3153 upward.

[0297] As described above, the situation in which the working member 3154 directly pushes the suture staple 3153 upward, and the situation in which the working member 3154 pushes the lead-out member (not shown) upward so that the lead-out member (not shown) pushes the suture staple 3153 upward (i.e., the working member 3154 indirectly pushes the suture staple 3153 upward) can both be described as the working member 3154 pushing the suture staple 3153 upward.

[0298] The moving member 3155 may be disposed below the interior of the housing 3152 .

[0299] Here, the moving member 3155 is not fixedly coupled to the other components of the staple cartridge 3150 and may be formed to be relatively movable relative to the other components of the staple cartridge 3150. That is, the moving member 3155 may perform reciprocating linear motion relative to the housing 3152 and the cover 3151 coupled thereto.

[0300] The working member 3154 may be disposed inside the housing 3152. The working member 3154 may be formed to be contactable with the moving member 3155, thereby linearly moving in one direction according to the reciprocating linear motion of the moving member 3155. In other words, the working member 3154 interacts with the moving member 3155 to perform stapling and cutting while moving along the extending direction of the connecting portion 3400.

[0301] Meanwhile, the end tool according to this embodiment may further include a first staple pulley and a second staple pulley.

[0302] The first staple pulley is associated with the linear / rotational motion of each pulley and chain link used for stapling and cutting. Additionally, the second staple pulley is associated with the linear / rotational motion of each pulley and chain link used for stapling and cutting. The first and second staple pulleys are formed to face each other, along with pulleys 3111 and 3121, which serve as the end tool jaw pulleys, and are configured to rotate independently of each other about a rotation axis 3141, which serves as the end tool jaw pulley rotation axis. Although the first and second staple pulleys are shown as being arranged between pulleys 3111 and 3121 in the accompanying drawings, the present invention is not limited thereto; the first and second staple pulleys may be arranged at various locations adjacent to pulleys 3111 or 3121.

[0303] Here, a feature of the present invention is that the first suture staple pulley, the second suture staple pulley, the pulley 3111, and the pulley 3121 are formed to rotate substantially around the same axis. As described above, the first suture staple pulley, the second suture staple pulley, the pulley 3111, and the pulley 3121 are formed to rotate around the same axis, thereby being able to perform the stapling and cutting actions while performing the pitch motion / yaw motion / actuation action. However, here, although the first suture staple pulley, the second suture staple pulley, the pulley 3111, and the pulley 3121 are formed to rotate around a single rotation axis 3141 in the accompanying drawings, each pulley can of course also be formed to rotate around a separate axis concentric with each other.

[0304] To describe this from another perspective, it can also be described as a structure in which the pulley 3111 serving as the first jaw pulley, the first suture staple pulley, the second suture staple pulley and the pulley 3121 serving as the second jaw pulley are stacked in sequence along the rotating shaft 3141 .

[0305] Alternatively, it can be described as a structure in which the first staple pulley and the second staple pulley are arranged between the mutually facing pulleys 3111 and 3121. Here, pulley 3111 serving as the first jaw pulley, the first staple pulley, the second staple pulley, and pulley 3121 serving as the second jaw pulley can be formed to rotate independently of each other.

[0306] Meanwhile, the above-mentioned end tool 3100 is an embodiment of an end tool that can be installed on the surgical instrument 1000 according to the present invention. The technical concept of the present invention is not limited thereto, and some components can be changed, omitted or added as needed.

[0307] Hereinafter, an end tool according to still another embodiment of the present invention will be described.

[0308] Hereinafter, for the convenience of description, the same constituent elements as those of the above-described end tools 1100 and 3100 , or constituent elements that can be easily changed and adopted by those skilled in the art, will be omitted or briefly described.

[0309] Figure 19 The present invention is a schematic perspective view showing an end tool according to another embodiment of the present invention. Figure 20 To observe from another direction Figure 19 A perspective view of the end tooling. Figure 21 To remove Figure 19 Schematic perspective view of the second jaw of the end tool. Figure 22 To remove Figure 21 A schematic perspective view of the staple cartridge of the end tool. Figure 23 for Figure 22 Projected perspective drawing.

[0310] See also Figures 19 to 23 The end tool 3100' according to this embodiment may have a different rotation axis direction than the end tool 1100 and the end tool 3100 described above. For example, in the end tool 1100 and the end tool 3100 described above, the actuation rotation axis of the jaw 1103 and the jaw 3103 may be the same as or parallel to the yaw rotation axis of the end tool 1100 and the end tool 3100, but in the end tool 3100' according to this embodiment, the actuation rotation axis of the jaw 3103' may be the same as or parallel to the pitch rotation axis of the end tool 3100'.

[0311] The end tool 3100' may include a jaw 3103', a plurality of fixed pulleys 3120', and a plurality of advancing guidewires 3110'. The plurality of fixed pulleys 3120' may include two or more pulleys, for example, a first fixed pulley 3121' and a second fixed pulley 3122'. The plurality of advancing guidewires 3110' may include two or more guidewires, for example, a first advancing guidewire 3111' and a second advancing guidewire 3112'.

[0312] The jaw 3103' can perform various functions, namely, a gripping action. Specifically, a pair of jaws can be provided, namely, a first jaw 3101' and a second jaw 3102'. Here, each of the first jaw 3101' and the second jaw 3102', or a component including the first jaw 3101' and the second jaw 3102', can be referred to as a jaw 3103'.

[0313] The first jaw 3101 ′ and the second jaw 3102 ′ are arranged to face each other and can move toward or away from each other. For example, they can be formed to perform rotational movement around an axis 3140 ′.

[0314] The staple cartridge 3150' can be arranged to be accommodated in the first jaw 3101', and a plurality of suture staples are arranged inside the staple cartridge 3150' (see Figure 17 3153, etc.). When the first jaw 3101' and the second jaw 3102' are in a state of being close, for example, when the body tissue is interposed between them and the first jaw 3101' and the second jaw 3102' are in a state of being closed, when the working member 3154' receives the force from the plurality of advancing guide wires 3110', it moves toward the distal end portion 3101d' of the first jaw 3101' and inserts the suture staple (see Figure 173153, etc.) to push upward, thereby performing stapling. At this time, with one or more clamps 3154a' and 3154b' of the working member 3154' protruding toward the outside of the first jaw 3101' and the second jaw 3102', they move forward while applying pressure to the outside of the first jaw 3101' and the second jaw 3102', thereby smoothly performing the stapling process. As an optional embodiment, the staple cartridge 3150' may have a housing 3152' corresponding to the bottom surface, and the housing 3152' may be arranged in the first jaw 3101'.

[0315] At the same time, the working member 3154' can be used together with a wedge WDG. For example, the wedge WDG can be prepared separately from the working member 3154' and can then be arranged in the first jaw 3101' so as to be adjacent to the working member 3154'. In addition, as another example, the working member 3154' and the wedge WDG can also be formed integrally. The wedge WDG can be arranged on at least one side of the main body 3154c' and can be formed to have a predetermined inclined surface. That is, the wedge WDG can be formed to be inclined to a certain degree in the extension direction of the end tool 3100'. In other words, the height of the proximal end 3101p' side of the first jaw 3101' can be higher than the height of the distal end 3101d' side.

[0316] Such a wedge-shaped member WDG is formed to be able to sequentially engage with a lead-out member (not shown) or a plurality of suture staples ( Figure 17 3153) contact, thereby being able to perform the suture nail (see Figure 17 3153, etc.) to push upward.

[0317] The plurality of fixed pulleys 3120' may be arranged in the first jaw 3101' closer to the front of the staple cartridge 3150', that is, closer to the distal end 3101d' of the first jaw 3101' than the staple cartridge 3150'. For example, the plurality of fixed pulleys 3120' may be arranged in the front space 3101c' of the first jaw 3101', which will be described in more detail below.

[0318] In addition, the end tool 3100' of the surgical instrument of this embodiment may include one or more components, such as joint components, connecting the jaws 3103' and the connecting portion 3400. In addition, as an optional embodiment, the end tool 3100' may include an end tool center 3108' and a pitch center 3107'.

[0319] The end tool center 3108 ′ may be arranged as a straight portion connecting the end tool 3100 ′ and the connecting portion 3400 .

[0320] As an example, the rotation axis 3144' may correspond to the end tool center 3108' and may be a pitch rotation axis. As a specific example, the end tool 3100' may rotate up and down about the rotation axis 3144' in the figure. Furthermore, one or more pulleys may be positioned adjacent to the rotation axis 3144'.

[0321] The end tool center 3108' may be in a bar shape protruding long from the center of a main area corresponding to the surface of the connection portion 3400, such as a disk shape, and the rotation axis 3144' and another rotation axis 3145' may further correspond to such a bar area.

[0322] The pitch center 3107' is connected to the end tool center 3108' and the jaws 3103'. The pitch center 3107' can be axially coupled to the end tool center 3108' about a rotation axis 3144'. The pitch center 3107' can rotate about the rotation axis 3144' while being connected to the end tool center 3108'. That is, in the end tool 3100', the pitch center 3107' can rotate about the rotation axis 3144' relative to the end tool center 3108', thereby performing a pitch motion.

[0323] Furthermore, the jaws 3103' of the end tool 3100' can be coupled to the pitch center 3107' about a rotation axis 3141'. The jaws 3103' can rotate about the rotation axis 3141' while being coupled to the pitch center 3107'. In other words, the jaws 3103' of the end tool 3100' can rotate about the rotation axis 3141' relative to the pitch center 3107', thereby performing a yaw motion.

[0324] As a result, when the end tool 3100' performs a yaw motion, the jaw 3103' rotates around a rotation axis 3141' relative to the pitch center 3107' and when the end tool 3100' performs a pitch motion, the pitch center 3107' rotates around a rotation axis 3144' relative to the end tool center 3108', thereby causing the jaw 3103' combined with the pitch center 3107' to perform a rotational motion with the pitch center 3107'.

[0325] The pitch center 3107' may include a first center 3107a' and a second center 3107b'.

[0326] The first center 3107a' of the pitch center 3107' is connected to the jaw 3103', and as an example, it can be formed longer to be connected to an area of ​​the first jaw 3101', and as a specific example, it includes two rods facing each other, so that an area of ​​the first jaw 3101' can be arranged between them and combined.

[0327] The second center 3107b' of the pitch center 3107' is connected to the end tool center 3108' and, as an example, includes two rods facing each other so that a region of the end tool center 3108' can be arranged and combined therebetween.

[0328] As described above, another rotation axis 3145' may be disposed at the end tool center 3108', spaced apart from the rotation axis 3144' and closer to the connection portion 3400 than the rotation axis 3144'. The rotation axis 3144' and the rotation axis 3145' may include axes along directions parallel to each other.

[0329] Another rotation axis 3142' adjacent to and parallel to the rotation axis 3141' can be arranged at the pitch center 3107', and in a direction different from the rotation axis 3141' and the rotation axis 3142', such as a cross or perpendicular direction, the rotation axis 3143' and the rotation axis 3144' can be arranged sequentially along the direction toward the connecting portion 3400 (or away from the working member).

[0330] The rotation axis 3144 ′ may be a pitch motion axis of the end tool 3100 ′, and the rotation axis 3141 ′ may be a yaw motion axis.

[0331] Rotation axis 3143' and rotation axis 3145' may be pitch secondary rotation axes, and rotation axis 3142' may be yaw secondary rotation axis. One or more drive wires, such as a wire that transmits a driving force for pitch motion or a wire that transmits a driving force for yaw motion, may be in contact with or wrapped around rotation axis 3141', rotation axis 3142', rotation axis 3143', rotation axis 3144', and rotation axis 3145'.

[0332] The rotation axes 3142', 3143', and 3145', which are adjacent to the rotation axis 3144' serving as the pitch motion axis and the rotation axis 3141' serving as the yaw motion axis, control the paths along which the drive wires are wound around the rotation axes 3144' and 3141', thereby ensuring the layout efficiency of the drive wires and the stability of the force and paths transmitted by the drive wires.

[0333] In addition, at least a region of the advancing guide wire 3110 ′ may be in contact with or wound around such a rotation axis 3141 ′, a rotation axis 3142 ′, a rotation axis 3143 ′, a rotation axis 3144 ′, and a rotation axis 3145 ′.

[0334] Hereinafter, the arrangement of the rotation shafts 3141 ′, 3142 ′, 3143 ′, 3144 ′, and 3145 ′ will be described in more detail.

[0335] One or more switching rotation axes AX1 and switching rotation axes AX2 may be disposed at the end tool 3100 ′, and one or more pulleys corresponding to such switching rotation axes AX1 and switching rotation axes AX2 may be disposed.

[0336] For example, the switching rotation axis AX1 and the switching rotation axis AX2 are arranged in the jaw 3103', as a specific example, close to the direction of the proximal end 3101p' of the first jaw 3101', and can be arranged to be closer to the distal end 3101d' of the first jaw 3101' compared to at least the aforementioned rotation axis 3141', rotation axis 3142', rotation axis 3143', rotation axis 3144' and rotation axis 3145'.

[0337] The switching rotation axis AX1 and the switching rotation axis AX2 can be axes parallel to each other, or they can be arranged so that their front and rear positions are different from each other, so that the switching rotation axis AX1 and the switching rotation axis AX2 are arranged in sequence based on the distal end portion 3101d' of the first jaw 3101', and some areas thereof can be arranged to overlap each other.

[0338] At least one area of ​​the advancing guidewire 3110' is wrapped around or in contact with the switching rotation axis AX1 and the switching rotation axis AX2. Before the advancing guidewire 3110' enters the rotation axes 3141', 3142', 3143', 3144', and 3145', the switching rotation axes AX1 and AX2 can organize or guide the path of the advancing guidewire 3110'. The arrangement of the switching rotation axes AX1 and AX2 will be described in more detail below.

[0339] like Figure 23As shown, first and second advancing guide wires 3111' and 3112' correspond to and are wound around first and second fixed pulleys 3121' and 3122' in first jaw 3101' to change direction. They then pass through switching rotation axes AX1 and AX2 and at least one region of rotation axes 3141', 3142', 3143', 3144', and 3145' to the rear of end tool 3100', ultimately extending through connection portion 3400 to the operating portion for precise control. This facilitates precise control of the movement of working member 3154', as will be described in more detail below.

[0340] The jaws 3103' of the end tool 3100' will be described in more detail.

[0341] The second jaw 3102 ′ is formed in an elongated rod shape as a whole. For example, the second jaw 3102 ′ may be formed in a rod shape corresponding to at least a region of the first jaw 3101 ′.

[0342] The proximal portion of the second jaw 3102' may include an area coupled to the first jaw 3101'. As an example, the second jaw 3102' is formed to be rotatable relative to the first jaw 3101' around an axis 3140' of the proximal portion.

[0343] The second jaw 3102' can have various forms, and as a specific example, a plurality of anvil grooves are formed in at least one area of ​​the surface of the second jaw 3102' facing the surface of the first jaw 3101', and such anvil grooves may include corresponding to the suture nails (see Figure 17 3153, etc.) shape.

[0344] The anvil groove of the second jaw 3102' can be used as an anvil groove when the working member 3154' is used to place the suture nails (see Figure 17 3153, etc.) push upward, so that the suture staple (see Figure 17 3153 etc.) curved support members.

[0345] The second jaw 3102' may include a guide groove 3102a'. The guide groove 3102a' may have a configuration extending long along a longitudinal direction of the second jaw 3102'.

[0346] The guide groove 3102a' can be formed to guide the working member 3154' and can be a groove that passes through an area of ​​the working member 3154'. As a result, an area of ​​the working member 3154', such as at least an area of ​​the main body 3154c' of the working member 3154' or the first clamp 3154a' connected thereto, is discharged to the outside of the second jaw 3102' through the guide groove 3102a'. When the working member 3154' moves forward, the first clamp 3154a' is exposed to the outside of the second jaw 3102' through the guide groove 3102a' of the second jaw 3102' and can contact or apply pressure to the top surface of the second jaw 3102'. Through the movement of the working member 3154', the first clamp 3154a' applies pressure to the top surface of the second jaw 3102', and the second clamp 3154b' described later applies pressure to the bottom surface of the first jaw 3101', thereby reducing the distance between the second jaw 3102' and the first jaw 3101', thereby enabling the second jaw 3102' to naturally remain in a closed state relative to the first jaw 3101'.

[0347] The first jaw 3101' is generally formed in the shape of an elongated rod, and a rotation axis can be rotatably arranged at the proximal end portion, and this rotation axis can correspond to the rotation axis 3140' formed in the aforementioned second jaw 3102'. In addition, the staple cartridge 3150' can be accommodated on the side closer to the distal end portion 3101d' than the rotation axis.

[0348] For example, the first jaw 3101' is formed as a whole in the form of an empty box with one side (top surface) removed, so that a staple cartridge accommodating portion 3101a' capable of accommodating a staple cartridge 3150' can be formed inside the first jaw 3101'. That is, the cross-section of the first jaw 3101' is generally formed in a "U" shape.

[0349] The guide groove 3101h' can be formed on the bottom surface of the first jaw 3101', that is, on the bottom surface of the top open area facing the removal side. Specifically, the guide groove 3101h' can be formed to guide the linear movement of the working member 3154'.

[0350] The guide groove 3101h' can be formed to guide the working member 3154' and can be a groove extending through an area of ​​the working member 3154'. Thus, an area of ​​the working member 3154', such as at least an area of ​​the main body 3154c' of the working member 3154' or the second clamp 3154b' connected thereto, is ejected outside the first jaw 3101' through the guide groove 3101h'. When the working member 3154' advances, the second clamp 3154b' is exposed to the outside of the first jaw 3101' through the guide groove 3101h' of the first jaw 3101' and can contact or apply pressure to the bottom surface of the first jaw 3101'. Through the movement of the working member 3154', the second clamp 3154b' applies pressure to the bottom surface of the first jaw 3101', and the first clamp 3154a' applies pressure to the top surface of the second jaw 3102', thereby reducing the distance between the second jaw 3102' and the first jaw 3101', thereby enabling the second jaw 3102' to naturally remain closed relative to the first jaw 3101'.

[0351] As an optional embodiment, the first jaw 3101' may include a window 3101b'. After the working member 3154' is operated or the end tool 3100' is used, the second clamp 3154b' of the working member 3154' corresponds to the window 3101b' and the first jaw 3101' and the working member 3154' can be released from the coupling state.

[0352] The first jaw 3101 ′ may include a front space portion 3101 c ′ that is further forward than the cartridge accommodating portion 3101 a ′.

[0353] For example, the front space portion 3101c' may be arranged closer to the distal end 3101d' of the first jaw 3101' than the cartridge accommodating portion 3101a'. A plurality of fixed pulleys 3120' may be arranged in the front space portion 3101c', for example, a first fixed pulley 3121' and a second fixed pulley 3122'.

[0354] Meanwhile, the above-mentioned end tool 3100 ′ is an embodiment of an end tool that can be installed on the surgical instrument 1000 according to the present invention. The technical concept of the present invention is not limited thereto, and some components can be changed, omitted or added as needed.

[0355] Figure 24 1 is a diagram for describing the internal structure of a power transmission unit according to another embodiment of the present invention. Figure 25 For observation from the rear Figure 24 Figure 1 shows the power transmission unit. Figure 26 For description Figure 24 Diagram of the arrangement of pulleys and wires of the power transmission part.

[0356] See also Figures 24 to 26 , the power transmission part 3300 according to an embodiment of the present invention may include a pulley frame 3310, at least one pulley and at least one wire.

[0357] The pulley frame 3310 may form the overall skeleton of the power transmission part 3300 .

[0358] At least one pulley may be arranged on the pulley frame 3310. Here, the term "arranging a pulley" should be interpreted broadly. For example, "arranging a pulley" may mean that the pulley is directly connected to the pulley frame 3310, or it may mean that a rotating shaft is mounted on the pulley frame 3310 and the pulley is connected to the rotating shaft. Alternatively, "arranging a pulley" may mean that a separate component is provided on the pulley frame 3310, the rotating shaft is connected to the separate component, and the pulley is connected to the rotating shaft. Alternatively, "arranging a pulley" may mean that a hole is formed in the pulley frame 3310, the rotating shaft is arranged to pass through the hole, and the pulley is mounted on the rotating shaft.

[0359] The power transmission part 3300 may include at least one pulley.

[0360] The pulley is a member around which the wire is wound, and a groove capable of winding the wire may be formed on the pulley.

[0361] As an embodiment, the power transmission unit 3300 may include a yaw pulley 3320, a pitch pulley 3330, and a start pulley 3340. In addition, the power transmission unit 3300 may include at least one yaw wire 3361 and a yaw wire 3362, at least one pitch wire 3363 and a pitch wire 3364, and start wires 3365 and 3366.

[0362] The yaw pulley 3320 is a pulley related to the yaw rotation of the end tool 3100 , and the yaw wire 3361 and the yaw wire 3362 are wires related to the yaw rotation of the end tool 3100 .

[0363] The yaw pulley 3320 may be disposed at a region of the pulley frame 3310 .

[0364] The yaw wire 3361 and the yaw wire 3362 may be arranged at the end tool 3100 so as to extend from a pulley associated with the yaw rotation of the end tool 3100 toward the yaw pulley 3320 .

[0365] As an embodiment, the yaw wire 3361 and the yaw wire 3362 may be formed as a pair. As described below, the yaw wire 3361 and the yaw wire 3362 may be connected to the upper side and the lower side of the yaw pulley 3320, respectively.

[0366] As a specific embodiment, the yaw wire 3361 and the yaw wire 3362 may include a first yaw wire 3361 and a second yaw wire 3362. The first yaw wire 3361 may be based on Figure 26 The second yaw wire 3362 extends toward the upper side of the yaw pulley 3320, thereby being connected to the yaw pulley 3320. Figure 26 It extends toward the lower side of the yaw pulley 3320 to be connected to the yaw pulley 3320 .

[0367] After the yaw wire 3361 and the yaw wire 3362 are connected to the yaw pulley 3320, when the yaw pulley 3320 rotates, the yaw wire 3361 and the yaw wire 3362 can be wound around or released from the yaw pulley 3320. That is, when the yaw pulley 3320 rotates in one direction, one yaw wire is wound around the yaw pulley 3320 and the other yaw wire is released from the yaw pulley 3320. For example, when the yaw pulley 3320 rotates based on Figure 26 When the yaw pulley 3320 rotates in the clockwise direction, the first yaw wire 3361 is released from the yaw pulley 3320, and the second yaw wire 3362 is wound around the yaw pulley 3320. Figure 26 When rotating in the counterclockwise direction, the first yaw wire 3361 is wound around the yaw pulley 3320 , and the second yaw wire 3362 is released from the yaw pulley 3320 .

[0368] To describe this from another perspective, it can also be described as follows: when the yaw pulley 3320 rotates, the pair of yaw wires 3361 and yaw wires 3362 start from the yaw pulley 3320 and move in opposite directions to each other.

[0369] Thus, when the yaw pulley 3320 rotates, causing the pair of yaw wires 3361 and 3362 to move in different directions, the pulleys connected to the yaw wires 3361 and 3362 on the end tool 3100 side rotate in the corresponding directions. Therefore, the pulleys connected to the yaw wires 3361 and 3362 on the end tool 3100 side can simultaneously rotate in one direction while achieving yaw rotation of the end tool 3100.

[0370] The pitch pulley 3330 is a pulley related to the pitch rotation of the end tool 3100 , and the pitch wire 3363 and the pitch wire 3364 are wires related to the pitch rotation of the end tool 3100 .

[0371] The pitch pulley 3330 may be disposed at a region of the pulley frame 3310 .

[0372] As one embodiment, the pitch pulley 3330 may be arranged on the opposite side of the yaw pulley 3320. As a preferred embodiment, the pitch pulley 3330 and the yaw pulley 3320 may be symmetrically arranged on both sides with respect to the center of the pulley frame 3310. Therefore, as described below, the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364 extending through the secondary pulley 3350 may be nearly perpendicular to the yaw pulley 3320 and the pitch pulley 3330.

[0373] The pitch wire 3363 and the pitch wire 3364 may be arranged on the end tool 3100 so as to extend from a pulley associated with the pitch rotation of the end tool 3100 toward the pitch pulley 3330 .

[0374] As an embodiment, the pitch wire 3363 and the pitch wire 3364 may be formed as a pair. As described below, the pitch wire 3363 and the pitch wire 3364 may be connected to the upper side and the lower side of the pitch pulley 3330, respectively.

[0375] As a specific embodiment, the pitch wire 3363 and the pitch wire 3364 may include a first pitch wire 3363 and a second pitch wire 3364. The first pitch wire 3363 may be based on Figure 26 The second pitch wire 3364 extends toward the lower side of the pitch pulley 3330, thereby connecting to the pitch pulley 3330. Figure 26 It extends toward the upper side of the pitch pulley 3330 to be connected to the pitch pulley 3330 .

[0376] After the pitch wire 3363 and the pitch wire 3364 are connected to the pitch pulley 3330, when the pitch pulley 3330 rotates, the pitch wire 3363 and the pitch wire 3364 can be wound around or released from the pitch pulley 3330. That is, when the pitch pulley 3330 rotates in one direction, one pitch wire is wound around the pitch pulley 3330 and the other pitch wire is released from the pitch pulley 3330. For example, when the pitch pulley 3330 rotates based on Figure 26 When the pitch pulley 3330 is rotated in the clockwise direction, the first pitch wire 3363 is released from the pitch pulley 3330, and the second pitch wire 3364 is wound around the pitch pulley 3330. Figure 26 When rotating counterclockwise, the first pitch wire 3363 is wound around the pitch pulley 3330 , and the second pitch wire 3364 is released from the pitch pulley 3330 .

[0377] To describe this from another perspective, it can also be described as follows: when the pitch pulley 3330 rotates, a pair of pitch wires 3363 and pitch wires 3364 start from the pitch pulley 3330 and move in opposite directions to each other.

[0378] Thus, when the pitch pulley 3330 rotates, causing the pair of pitch wires 3363 and 3364 to move in different directions, the pulleys connected to the pitch wires 3363 and 3364 on the end tool 3100 side rotate in corresponding directions. Therefore, the pulleys connected to the pitch wires 3363 and 3364 on the end tool 3100 side can simultaneously rotate in one direction while achieving pitch rotation of the end tool 3100.

[0379] The activation pulley 3340 is a pulley associated with the movement of the working member 3154 provided in the end tool 3100 , and the activation wires 3365 and 3366 are wires associated with the movement of the working member 3154 provided in the end tool 3100 .

[0380] The starting pulley 3340 may be disposed at a region of the pulley frame 3310 .

[0381] As a specific embodiment, the starting pulley 3340 may be arranged at a position that is not parallel to the yaw pulley 3320 and the pitch pulley 3330 of the pulley frame 3310, for example, it may be arranged at a lower side than the yaw pulley 3320 and the pitch pulley 3330. Figure 24 As shown, the yaw pulley 3320 and the pitch pulley 3330 may be arranged in parallel with each other while being arranged on the pulley frame 3310 , and the starting pulley 3340 may be arranged at a lower side than the yaw pulley 3320 and the pitch pulley 3330 .

[0382] As one embodiment, the starting wires 3365 and 3366 may be connected to the moving member 3155 of the end tool 3100. In this case, the starting wires 3365 and 3366 may extend from the moving member 3155 to the starting pulley 3340. As another embodiment, the starting wires 3365 and 3366 may be directly connected to the working member 3154. In this case, the starting wires 3365 and 3366 may extend from the working member 3154 to the starting pulley 3340. As yet another embodiment, when a pulley associated with the translational movement of the working member 3154 is additionally provided in the end tool 3100, the starting wires 3365 and 3366 may be connected to the pulley and extend from the pulley to the starting pulley 3340.

[0383] As an embodiment, the starting wire 3365 and the starting wire 3366 can be formed as a pair. As described below, the starting wire 3365 and the starting wire 3366 can be connected to the left and right sides of the starting pulley 3340 respectively.

[0384] As a specific embodiment, the starting wire 3365 and the starting wire 3366 may include a first starting wire 3365 and a second starting wire 3366. The first starting wire 3365 may be based on Figure 26 The second starting wire 3366 extends to the left side of the starting pulley 3340, thereby connecting to the starting pulley 3340. Figure 26 It extends toward the right side of the starting pulley 3340 and is thereby connected to the starting pulley 3340 .

[0385] After the starting wires 3365 and 3366 are connected to the starting pulley 3340, when the starting pulley 3340 rotates, the starting wires 3365 and 3366 can be wound around or released from the starting pulley 3340. That is, when the starting pulley 3340 rotates in one direction, one starting wire 3365 and one starting wire 3366 are wound around the starting pulley 3340, and the other starting wire 3365 and one starting wire 3366 are released from the starting pulley 3340. For example, when the starting pulley 3340 rotates in one direction, Figure 26 When the first starting wire 3365 is released from the starting pulley 3340, and the second starting wire 3366 is wound around the starting pulley 3340. Figure 26 When rotating counterclockwise, the first starting wire 3365 is wound around the starting pulley 3340, and the second starting wire 3366 is released from the starting pulley 3340.

[0386] To describe this from another perspective, it can also be described as that when the starting pulley 3340 rotates, a pair of starting wires 3365 and starting wires 3366 start to move in opposite directions from the starting pulley 3340.

[0387] In this manner, when the activation pulley 3340 rotates to move the pair of activation wires 3365 and 3366 in different directions, the working member 3154 provided in the end tool 3100 can be moved forward or backward accordingly. As one example, when the working member 3154 is configured to be moved dependently by the movement of the moving member 3155, the activation pulley 3340 rotates, thereby enabling the pair of activation wires 3365 and 3366 to move the moving member 3155 forward or backward, thereby enabling the working member 3154 to move forward or backward. As another example, when the working member 3154 is configured to be connected to the activation wires 3365 and 3366 and to move directly forward or backward, the activation pulley 3340 rotates, thereby enabling the pair of activation wires 3365 and 3366 to move the working member 3154 directly forward or backward. However, the present invention is not limited thereto. When the end tool 3100 is further provided with a pulley related to the translational movement of the working member 3154, the starting wires 3365 and 3366 are connected to the pulleys to rotate the pulleys, thereby moving the working member 3154 forward or backward.

[0388] As an embodiment, the power transmission unit 3300 may further include at least one secondary pulley 3350. The secondary pulley 3350 may be used to change the path of the wire entering the power transmission unit 3300.

[0389] As one embodiment, the secondary pulley 3350 is connected to the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364, and may include a first secondary pulley 3351 for changing the paths of the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364. In addition, the secondary pulley 3350 is connected to the start wires 3365 and 3366, and may include a second secondary pulley 3352 and a third secondary pulley 3353 for changing the paths of the start wires 3365 and 3366.

[0390] The first secondary pulley 3351 is arranged on the power transmission part 3300 so as to be used to change the paths of the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364 extending from the end tool 3100 to the power transmission part 3300 through the connection part 3400 .

[0391] The first secondary pulley fixing portion 3311 may be formed on the pulley frame 3310. The first secondary pulley fixing portion 3311 is a portion to which the first secondary pulley 3351 is mounted. For example, the first secondary pulley fixing portion 3311 may be integrally formed with the pulley frame 3310. Alternatively, the first secondary pulley fixing portion 3311 may be formed as a separate member and may be coupled or assembled to the pulley frame 3310.

[0392] As one embodiment, the first secondary pulley fixing portion 3311 may include at least one through-hole, through which the rotation axis of the first secondary pulley 3351 may be arranged. To describe this from another perspective, the first secondary pulley 3351 may be arranged to overlap in parallel with the through-hole formed in the first secondary pulley fixing portion 3311, and the rotation axis may be arranged to pass through both the first secondary pulley 3351 and the first secondary pulley fixing portion 3311.

[0393] At least a portion of the first secondary pulley fixing portion 3311 may be formed to extend from the pulley frame 3310 toward the connecting portion 3400. For example, it may be described as extending from a surface of the pulley frame 3310 toward the connecting portion 3400. As a preferred embodiment, the first secondary pulley fixing portion 3311 may be disposed at the center of the pulley frame 3310.

[0394] In this case, the yaw pulley 3320 and the pitch pulley 3330 can be arranged on both sides of the first secondary pulley fixing portion 3311. As a preferred embodiment, the yaw pulley 3320 and the pitch pulley 3330 can be arranged in symmetrical positions with respect to the first secondary pulley fixing portion 3311. To describe this from another perspective, the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364 entering the first secondary pulley 3351 can be distributed to both sides when passing through the first secondary pulley fixing portion 3311. As a result, the yaw wires 3361 and 3362 extend toward the yaw pulley 3320, and the pitch wires 3363 and 3364 extend toward the pitch pulley 3330.

[0395] Therefore, the yaw wire 3361 and the yaw wire 3362 may be nearly perpendicular to the yaw pulley 3320, and the pitch wire 3363 and the pitch wire 3364 may be nearly perpendicular to the pitch pulley 3330. Preferably, the yaw wire 3361 and the yaw wire 3362 may be perpendicular to the yaw pulley 3320, and the pitch wire 3363 and the pitch wire 3364 may be perpendicular to the pitch pulley 3330. Describing this from another perspective, it can also be described as follows: the yaw wire 3361 and the yaw wire 3362 may be close to the yaw pulley 3320 to form a tangent to the yaw pulley 3320, and the pitch wire 3363 and the pitch wire 3364 may be close to the pitch pulley 3330 to form a tangent to the pitch pulley 3330.

[0396] The first secondary pulley 3351 is disposed at the first secondary pulley fixing portion 3311 and can change paths of the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364 extending to the power transmission portion 3300 .

[0397] Specifically, if Figure 26 As shown, the first secondary pulley 3351 may be disposed between the yaw pulley 3320 and the pitch pulley 3330 .

[0398] A plurality of first sub-pulleys 3351 may be provided. The number of the first sub-pulleys 3351 may be set to correspond to the number of wires entering at least the power transmission unit 3300.

[0399] As an example, yaw wire 3361 and yaw wire 3362 may be provided as a pair, respectively entering the upper and lower sides of yaw pulley 3320. Furthermore, pitch wire 3363 and pitch wire 3364 may be provided as a pair, respectively entering the upper and lower sides of pitch pulley 3330. That is, when four wires are provided to enter power transmission unit 3300, four first secondary pulleys 3351 may be provided.

[0400] As an optional embodiment, the plurality of first secondary pulleys 3351 may be arranged parallel to one another. For example, the plurality of first secondary pulleys 3351 may be arranged parallel to one another. This can be described as intended to ensure that the wires passing around the first secondary pulleys 3351 extend parallel or nearly parallel to one another to the yaw pulley 3320 and the pitch pulley 3330.

[0401] Specifically, the wires extending from the end tool 3100 to the power transmission unit 3300 extend in parallel with each other. Therefore, the plurality of first secondary pulleys 3351 are arranged in parallel with each other, so that each wire passing around the first secondary pulleys 3351 extends in parallel with each other, or at least almost in parallel with each other, to the yaw pulley 3320 and / or the pitch pulley 3330.

[0402] As an optional embodiment, the first secondary pulley 3351 may be arranged so that the winding direction of the wire is close to vertical in relation to the yaw pulley 3320 and the pitch pulley 3330. Preferably, they may be arranged to be perpendicular to each other. Figure 26 In more detail, the direction in which the wire is wound around the first secondary pulley 3351 can be perpendicular to the direction in which the wire is wound around the yaw pulley 3320 and the pitch pulley 3330. From another perspective, this can also be described as the first secondary pulley 3351 changing the direction of movement of the wire entering the first secondary pulley 3351 by 90 degrees. From yet another perspective, this can also be described as the grooves formed on the first secondary pulley 3351 and the grooves formed on the yaw pulley 3320 and the pitch pulley 3330 being perpendicular to each other.

[0403] By such a constituent element, the wires entering the power transmission portion 3300 change their paths through the first sub-pulley 3351 and can approach the yaw pulley 3320 and the pitch pulley 3330 vertically or nearly vertically.

[0404] The second secondary pulley 3352 is disposed on the power transmission part 3300 so as to be used to change the paths of the activation wires 3365 and 3366 extending from the end tool 3100 to the power transmission part 3300 through the connection part 3400 .

[0405] The third secondary pulley 3353 is disposed on the power transmission portion 3300 so as to be used to change the paths of the starting wires 3365 and 3366 extending from the second secondary pulley 3352 .

[0406] See also Figure 24 The second secondary pulley 3352 can guide the starting wires 3365 and 3366, which pass through the connecting portion 3400 from the end tool 3100 and enter the power transmission unit 3300, upward. Specifically, the second secondary pulley 3352 changes the path of the starting wires 3365 and 3366 entering the power transmission unit 3300, thereby guiding them in a direction opposite to the direction of the starting pulley 3340. The third secondary pulley 3353 changes the path of the starting wires 3365 and 3366 extending from the second secondary pulley 3352, thereby guiding them to the starting pulley 3340.

[0407] Therefore, after the starting wire 3365 and the starting wire 3366 extend in a direction away from the starting pulley 3340 through the second secondary pulley 3352, they can extend toward the starting pulley 3340 again.

[0408] As described above, the start pulley 3340 and the start wires 3365 and 3366 are associated with the movement of the working member 3154 of the end tool 3100. Preferably, the start wires 3365 and 3366 are wound around the start pulley 3340 more times than the yaw wires 3361 and 3362 or the pitch wires 3363 and 3364. This is associated with the movement of the working member 3154 because, for example, the length of the start wires 3365 and 3366 wound or released for movement of the working member 3154 is greater than the length of the yaw wires 3361 and 3362 and the pitch wires 3363 and 3364 wound or released for yaw and pitch movements of the end tool 3100.

[0409] At this time, the groove formed in the starting pulley 3340 is formed in the shape of a screw groove. Therefore, when the starting wires 3365 and 3366 are wound around the starting pulley 3340 multiple times, the starting wires 3365 and 3366 can move in the axial direction of the starting pulley 3340. This means that the angle of the starting wires 3365 and 3366 extending from the third sub-pulley 3353 to the starting pulley 3340 increases (they are connected at an angle). In this case, relatively strong stress can be applied to the starting wires 3365 and 3366.

[0410] Therefore, the second sub-pulley 3352 guides the starting wire 3365 and the starting wire 3366 in the direction opposite to the starting pulley 3340, and the third sub-pulley 3353 again guides the starting wire 3365 and the starting wire 3366 in the direction of the starting pulley 3340, thereby ensuring the length of the starting wire 3365 and the starting wire 3366 extending from the third sub-pulley 3353 to the starting pulley 3340. As a result, the angle change of the starting wire 3365 and the starting wire 3366 entering the starting pulley 3340 can be reduced.

[0411] The second secondary pulley 3352 fixing portion 3312 may be formed on the pulley frame 3310. The second secondary pulley 3352 fixing portion 3312 is the portion to which the third secondary pulley 3353 is mounted. For example, the second secondary pulley 3352 fixing portion 3312 may be integrally formed with the pulley frame 3310. Alternatively, the second secondary pulley 3352 fixing portion 3312 may be formed as a separate member and may be coupled or assembled to the pulley frame 3310.

[0412] As one embodiment, the fixing portion 3312 of the second secondary pulley 3352 may include at least one through-hole, through which the rotation axis of the third secondary pulley 3353 may be arranged. To describe this from another perspective, the third secondary pulley 3353 may be arranged to overlap in parallel with the through-hole formed in the fixing portion 3312 of the second secondary pulley 3352, and the rotation axis may be arranged to pass through both the third secondary pulley 3353 and the fixing portion 3312 of the second secondary pulley 3352.

[0413] The fixing portion 3312 of the second secondary pulley 3352 may be formed to protrude from the pulley frame 3310 toward the connecting portion 3400. For example, the fixing portion 3312 of the second secondary pulley 3352 may be formed to protrude from one surface of the pulley frame 3310 toward the connecting portion 3400. As a preferred embodiment, the fixing portion 3312 of the second secondary pulley 3352 may be disposed on the upper side of the pulley frame 3310, for example, on the opposite side of the starting pulley 3340 based on the center of the pulley frame 3310.

[0414] As one embodiment, the second secondary pulley 3352 and the third secondary pulley 3353 can each be provided as a pair. For example, the second secondary pulley 3352 can include a pulley connected to the first starting wire 3365 and a pulley connected to the second starting wire 3366. Alternatively, the third secondary pulley 3353 can include a pulley connected to the first starting wire 3365 and a pulley connected to the second starting wire 3366.

[0415] As an optional embodiment, the two second secondary pulleys 3352 can be arranged parallel to each other. It can be described that its purpose is to make the wires 3365 and 3366 that pass around the second secondary pulleys 3352 extend parallel or nearly parallel to each other to the third secondary pulley 3353.

[0416] Specifically, the wires 3365 and 3366 extending from the end tool 3100 to the power transmission unit 3300 extend parallel to each other. Therefore, the two second secondary pulleys 3352 are arranged parallel to each other, so that each wire 3365 and wire 3366 passing around the second secondary pulleys 3352 extends parallel to each other, or at least almost parallel to each other, to the third secondary pulley 3353.

[0417] As an optional embodiment, the two third secondary pulleys 3353 can be arranged parallel to each other. It can be described that its purpose is to make the wires 3365 and 3366 that pass around the third secondary pulleys 3353 extend parallel or nearly parallel to each other to the starting pulley 3340.

[0418] Specifically, the wire 3365 and the wire 3366 extending from the second secondary pulley 3352 to the third secondary pulley 3353 extend in parallel with each other. Therefore, the two third secondary pulleys 3353 are arranged in parallel with each other, so that each wire 3365 and the wire 3366 passing around the third secondary pulley 3353 extend in parallel with each other, or at least almost in parallel, to the starting pulley 3340.

[0419] As an optional embodiment, the second sub-pulley 3352 and the third sub-pulley 3353 can be arranged so that the winding directions of the wires 3365 and 3366 are nearly perpendicular to the starting pulley 3340. Preferably, they can be arranged perpendicular to each other. Figure 24 In detail, the direction in which the wires 3365 and 3366 are wound around the second and third sub-pulleys 3352 and 3353 may be perpendicular to the direction in which the wires 3365 and 3366 are wound around the starting pulley 3340. To describe this from another perspective, the grooves formed on the first sub-pulley 3351 and the grooves formed on the yaw pulley 3320 and the pitch pulley 3330 may be perpendicular to each other.

[0420] By such a constituent element, the paths of the wire 3365 and the wire 3366 that bypass the second sub-pulley 3352 and the third sub-pulley 3353 are changed and can approach the starting pulley 3340 vertically or nearly vertically.

[0421] Figure 27 is a diagram showing an operating portion and a power generating portion according to another embodiment of the present invention, Figure 28 To show Figure 27 A perspective view of the power generating portion of Figure 29 For observation from the rear Figure 28 Diagram of the power generating unit. Figure 30 For description Figure 28 Diagram of the gear structure of the power generating unit, Figure 31 To observe from the front Figure 30 The picture, Figure 32 For description Figure 28 FIG. 1 is a diagram showing the rotation of a power generating unit.

[0422] See also Figures 27 to 32 A surgical instrument according to an embodiment of the present invention may include a power generating unit 3500 that generates power for controlling the end tool 3100 .

[0423] The power generating unit 3500 may be arranged such that at least a portion thereof is housed in the housing 3201 of the operating unit 3200. Here, the housing 3201 may refer to the outer shape of the operating unit 3200, but for a driving module of a surgical instrument, it may refer to the outer shape of the module body.

[0424] When the user operates the operating portion 3200 , the power generating portion 3500 may generate power for controlling the end tool 3100 based on the operation.

[0425] The power generation unit 3500 may include a motor group 3510 including at least one motor.

[0426] The motor group 3510 can roll and rotate with the direction in which the connecting portion 3400 extends as an axis.

[0427] Here, the rolling action used in the present invention is defined as follows.

[0428] The rolling motion refers to the motion of the end tool 3100, the connecting part 3400, the motor group 3510, etc. constituting the surgical instrument 3000 rotating about the direction in which the connecting part 3400 extends. In other words, the rolling motion refers to the motion of the end tool 3100, the connecting part 3400, the motor group 3510, etc. Figure 3 The X-axis direction) is the axis, Figure 3 Y-axis direction or Figure 3The movement of rotating without bending in the Z-axis direction.

[0429] See also Figure 8 , at least a portion of the power generating unit 3500 can be housed inside the housing 3201 of the operating unit 3200. In this case, the motor group 3510 is housed inside the housing 3201 of the operating unit 3200. Here, the rolling rotation of the motor group 3510 can refer to rotation along the inner circumference of the housing 3201 inside the housing 3201. Explaining this from another perspective, when the user holds the handle 3202 of the operating unit 3200 and performs an operation to cause the motor group 3510 to roll, the housing 3201 and handle 3202 of the operating unit 3200 are fixed in place, and the motor group 3510 can rotate around the direction in which the connecting unit 3400 extends inside the housing 3201. Describing this from another perspective, it can also be described as when the user holds the connecting unit 3400 and performs an operation of rolling, the housing 3201 and handle 3202 rotate.

[0430] The motor group 3510 may include at least one motor. For example, the motor group 3510 may include at least one motor that generates power for driving the end tool 3100 based on a signal input to the operating unit 3200 .

[0431] As an optional embodiment, the motor group 3510 may further include a rolling drive motor 3514 .

[0432] The motor group 3510 may include a yaw drive motor 3511. The yaw drive motor 3511 may generate power for yaw rotation of the end tool 3100. For example, when a user operates the operating unit 3200 to yaw the end tool 3100, the yaw drive motor 3511 may generate a driving force for yaw rotation of the end tool 3100.

[0433] The driving force generated by the yaw drive motor 3511 is transmitted to the power transmission unit 3300 , thereby rotating the yaw pulley 3320 . When the yaw wires 3361 and 3362 are moved by the rotation of the yaw pulley 3320 , the end tool 3100 can perform yaw rotation.

[0434] The yaw drive motor 3511 may include a yaw motor rotating shaft 35111 extending in one direction. The yaw motor rotating shaft 35111 is the portion that rotates when the yaw drive motor 3511 is driven. For example, the yaw motor rotating shaft 35111 may extend from the main body of the yaw drive motor 3511 toward the power transmission unit 3300. As described below, a yaw motor plate 3521 may be disposed at one end of the yaw motor rotating shaft 35111, and when the yaw motor rotating shaft 35111 rotates, the yaw motor plate 3521 may rotate along with it. The yaw motor plate 3521 may be connected to the yaw pulley 3320, and when the yaw motor plate 3521 rotates, its driving force may be transmitted to the yaw pulley 3320.

[0435] The motor group 3510 may include a pitch drive motor 3512. The pitch drive motor 3512 may generate power for pitching the end tool 3100. For example, when a user operates the operating unit 3200 to pitch the end tool 3100, the pitch drive motor 3512 may generate a driving force for pitching the end tool 3100.

[0436] The driving force generated by the pitch driving motor 3512 is transmitted to the power transmission unit 3300 , thereby rotating the pitch pulley 3330 . When the pitch wires 3363 and 3364 are moved by the rotation of the pitch pulley 3330 , the end tool 3100 can perform pitch rotation.

[0437] The pitch drive motor 3512 may include a pitch motor rotation shaft 35121 extending in a direction. The pitch motor rotation shaft 35121 is the portion that rotates when the pitch drive motor 3512 is driven. For example, the pitch motor rotation shaft 35121 may extend from the main body of the pitch drive motor 3512 toward the power transmission unit 3300. As described below, a pitch motor plate 3522 may be disposed at one end of the pitch motor rotation shaft 35121. When the pitch motor rotation shaft 35121 rotates, the pitch motor plate 3522 rotates with it. The pitch motor plate 3522 may be connected to the pitch pulley 3330, and when the pitch motor plate 3522 rotates, its driving force may be transmitted to the pitch pulley 3330.

[0438] The power generating unit 3500 may include a rolling drive motor 3514 that generates power for rolling the motor group 3510. For example, when a user operates the operating unit 3200 to rotate the motor group 3510, the rolling drive motor 3514 may generate a driving force for rolling the motor group 3510.

[0439] As an embodiment, the rolling drive motor 3514 may be provided in the motor group 3510 . For example, the rolling drive motor 3514 may be provided inside the motor group 3510 together with the yaw drive motor 3511 and the pitch drive motor 3512 .

[0440] The scroll drive motor 3514 is driven by a user's operation to generate a driving force for rotating the motor unit 3510. In this case, the scroll drive motor 3514 can move together with the motor unit 3510. For example, when the motor unit 3510 is scrolled by the scroll drive motor 3514, the scroll drive motor 3514, as a component provided in the motor unit 3510, can rotate together with the motor unit 3510.

[0441] As another embodiment, the scroll driving motor 3514 may not be provided in the motor group 3510 . For example, the scroll driving motor 3514 may be arranged outside the motor group 3510 .

[0442] The roll drive motor 3514 is driven by a user's operation, thereby generating a driving force for rotating the motor group 3510. In this case, the roll drive motor 3514 can move independently of the motor group 3510. For example, unlike what will be described later, the motor group 3510 can be roll-rotated by the roll drive motor 3514, but the roll drive motor 3514 does not need to rotate together with the motor group 3510. Specifically, the yaw drive motor 3511, the pitch drive motor 3512, and the pitch drive motor 3513 can rotate together, but the roll drive motor 3514 does not need to rotate together.

[0443] For ease of description, the following description will be based on an example in which the scroll drive motor 3514 is disposed in the motor group 3510. However, those skilled in the art will appreciate that, in the following description, the scroll drive motor 3514 may not be disposed in the motor group 3510. Furthermore, those skilled in the art will appreciate that, when the scroll drive motor 3514 is not disposed in the motor group 3510, the following description may be appropriately modified and applied.

[0444] The motor group 3510 may include a starter drive motor 3513. The starter drive motor 3513 may generate power for linearly moving the working member 3154 provided in the end tool 3100. For example, when a user operates the operating part 3200 to linearly move the working member 3154 of the end tool 3100, the starter drive motor 3513 may generate a driving force for linearly moving the working member 3154.

[0445] The starting drive motor 3513 may include a starting motor rotating shaft 35131 that is formed to extend in one direction. The starting motor rotating shaft 35131 is the part that rotates when the starting drive motor 3513 begins to drive. For example, the starting motor rotating shaft 35131 may be formed to extend from the main body of the starting drive motor 3513 in a direction toward the power transmission unit 3300. As described below, a starting motor plate 35231 may be arranged at one end of the starting motor rotating shaft 35131, and when the starting motor rotating shaft 35131 rotates, the starting motor plate 35231 may rotate together. The starting motor plate 35231 may be connected to the starting pulley 3340, and when the starting motor plate 35231 rotates, the driving force may be transmitted to the starting pulley 3340.

[0446] Motor assembly 3510 may include a base plate 3560. Base plate 3560 may be arranged in front of yaw drive motor 3511, pitch drive motor 3512, roll drive motor 3514, and starter drive motor 3513. Base plate 3560 may be connected to roll drive motor 3514, yaw drive motor 3511, pitch drive motor 3512, and starter drive motor 3513. Another way of describing this is that roll drive motor 3514, yaw drive motor 3511, pitch drive motor 3512, and starter drive motor 3513 are connected to base plate 3560. Another way of describing this is that base plate 3560 connects roll drive motor 3514, yaw drive motor 3511, pitch drive motor 3512, and starter drive motor 3513, allowing them to move or rotate integrally.

[0447] Therefore, when the base plate 3560 is rotated by the driving force of the roll drive motor 3514, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513 connected to the base plate 3560 can rotate simultaneously. That is, when the roll drive motor 3514 starts driving, it rotates the base plate 3560, and when the base plate 3560 rotates, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513 connected to the base plate 3560 rotate together with the base plate 3560. Here, the base plate 3560 rotates about the direction in which the connecting portion 3400 extends. Therefore, the motor assembly 3510, including the base plate 3560, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513, rolls and rotates about the direction in which the connecting portion 3400 extends.

[0448] As an embodiment, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513 may be arranged parallel to each other. In addition, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513 may be arranged to form a circular pattern.

[0449] As described above, the motor group 3510 can roll and rotate within the housing 3201 of the operating unit 3200. In this case, the motor group 3510 includes a plurality of motors, and thus the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513 are arranged to form a circular pattern. This minimizes the diameter of the space occupied by the motor group 3510 during rotation. In other words, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the start drive motor 3513 are arranged to form a circular pattern. This allows the inner diameter of the housing 3201 required for the motor group 3510 to rotate to be designed to be smaller, which can contribute to the miniaturization and lightweighting of the surgical instrument 3000.

[0450] At the same time, here, the rolling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512 and the start drive motor 3513 are arranged to form a circular pattern, which does not mean that they are arranged at equal intervals with each other, and the outer peripheral surfaces of the rolling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512 and the start drive motor 3513 only need to be arranged within a circle.

[0451] As one embodiment, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the starter drive motor 3513 can be configured to have different performances. For example, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the starter drive motor 3513 can have different driving forces required to perform each role. To this end, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the starter drive motor 3513 can have different powers or sizes as needed.

[0452] At least one through-hole may be formed in the substrate 3560. For example, through-holes corresponding to the number of motors included in at least the motor group 3510 may be formed in the substrate 3560. The through-hole is a portion through which a rotating shaft of each motor passes.

[0453] For example, the yaw motor rotation shaft 35111 extends from the main body of the yaw drive motor 3511 and may also be formed so as to extend therefrom (via a through hole) so as to pass through the substrate 3560. Furthermore, the pitch motor rotation shaft 35121 extends from the main body of the pitch drive motor 3512 and may also be formed so as to extend therefrom (via a through hole) so as to pass through the substrate 3560. Furthermore, the starter motor rotation shaft 35131 extends from the main body of the starter drive motor 3513 and may also be formed so as to extend therefrom (via a through hole) so as to pass through the substrate 3560.

[0454] Meanwhile, the scroll drive motor 3514 may include a scroll motor rotation shaft 35141 that is formed to extend in a direction. The scroll motor rotation shaft 35141 is the portion that rotates when the scroll drive motor 3514 starts to drive. For example, the scroll motor rotation shaft 35141 may be formed to extend forward from the main body of the scroll drive motor 3514. In other words, the scroll motor rotation shaft 35141 may extend forward from the main body of the scroll drive motor 3514, or may be formed to extend therefrom and pass through the base plate 3560.

[0455] Hereinafter, the principle of rotation of the motor group 3510 will be described in detail.

[0456] See also Figure 11 and Figure 12 , the power generating part 3500 may include a first gear 3551 formed in a circular shape and a second gear 3552 meshing with the first gear 3551 .

[0457] The first gear 3551 is formed in the shape of a hollow circle, and gear teeth may be formed on the inner circumference of the circle. That is, the first gear 3551 may be a ring gear having gear teeth formed on the inner circumference.

[0458] Second gear 3552 is a gear having gear teeth formed on its outer circumference and can mesh with first gear 3551. Second gear 3552 can be arranged on scroll motor rotation shaft 35141. Specifically, scroll motor rotation shaft 35141 is formed to extend forward from the main body of scroll drive motor 3514, passing through base plate 3560, and second gear 3552 can be arranged on the extended portion of scroll motor rotation shaft 35141. In this case, second gear 3552 is coupled to scroll motor rotation shaft 35141, and when scroll motor rotation shaft 35141 rotates, second gear 3552 can rotate together.

[0459] The first gear 3551 may be disposed in front of the base plate 3560. Furthermore, the first gear 3551 may be fixed to the inner circumference of the housing 3201. Therefore, when the rolling drive motor 3514 starts driving, the motor group 3510 may roll and rotate within the housing 3201.

[0460] Specifically, when the roll drive motor 3514 begins driving, the roll motor rotation shaft 35141 rotates, and the second gear 3552, which is arranged on the roll motor rotation shaft 35141, rotates along with it. At this time, when the second gear 3552 rotates, the first gear 3551, which is fixed to the inner circumferential surface of the housing 3201, meshes with the second gear 3552, causing the second gear 3552 to move along the teeth of the first gear 3551. In other words, when the roll drive motor 3514 begins driving, the first gear 3551 and the second gear 3552 rotate relative to each other. At this time, the first gear 3551 is fixed to the housing 3201, causing the second gear 3552 to move relative to each other along the first gear 3551. Furthermore, the second gear 3552 is connected to the roll motor rotation shaft 35141, and the roll drive motor 3514 is connected to the base plate 3560. In turn, the base plate 3560 is connected to the yaw drive motor 3511 and the pitch drive motor 3512. Therefore, the motor group 3510 can rotate relative to the housing 3201 through the action of the first gear 3551 and the second gear 3552. Describing this from another perspective, the motor group 3510 can rotate independently of the movement of the housing 3201.

[0461] To describe this in more detail, the base plate 3560 can rotate relative to the housing 3201. Specifically, the second gear 3552 is connected to the base plate 3560 via the scroll motor rotation shaft 35141. Therefore, when the second gear 3552 moves, the second gear 3552 moves along the first gear 3551, causing the base plate 3560 to rotate relative to the housing 3201. Here, the scroll motor rotation shaft 35141 is eccentric with respect to the rotation axis of the base plate 3560. Therefore, when the second gear 3552 moves along the first gear 3551, the base plate 3560 can rotate relative to the housing 3201 without its position changing along the second gear 3552.

[0462] At the same time, as described below, bearing plate 3540 can also be connected to second gear 3552 via rolling motor rotation shaft 35141. Therefore, when second gear 3552 rotates, second gear 3552 moves along first gear 3551, allowing bearing plate 3540 to rotate relative to housing 3201. In this case, as described below, bearing 3541, which reduces rotational friction of bearing plate 3540, can be coaxially arranged with bearing plate 3540 and contact the inner circumferential surface of housing 3201. Therefore, bearing plate 3540 can rotate easily.

[0463] Meanwhile, although the teeth of the first gear 3551 and the second gear 3552 are shown in the drawings as being in the shape of spur gears, the present invention is not limited thereto and, of course, various gear forms such as helical gears and herringbone gears may be used.

[0464] Meanwhile, when the scroll driving motor 3514 is disposed outside the motor group 3510 , the first gear 3551 and the second gear 3552 may be formed at different positions.

[0465] As an embodiment, the power generating unit 3500 may further include a bearing plate 3540 and a first bearing 3541. When the motor group 3510 rolls and rotates, the bearing plate 3540 and the first bearing 3541 may reduce rotational friction between the motor group 3510 and the housing 3201.

[0466] The bearing plate 3540 may be disposed in front of the first gear 3551 .

[0467] At least one through-hole may be formed in the bearing plate 3540. The through-hole is a portion through which the rotating shaft of each motor passes.

[0468] For example, the yaw motor rotation axis 35111 may be formed to extend from the main body of the yaw drive motor 3511 so as to pass through the base plate 3560 and the bearing plate 3540. Furthermore, the pitch motor rotation axis 35121 may be formed to extend from the main body of the pitch drive motor 3512 so as to pass through the base plate 3560 and the bearing plate 3540. Furthermore, the starter motor rotation axis 35131 may be formed to extend from the main body of the starter drive motor 3513 so as to pass through the base plate 3560 and the bearing plate 3540. In this case, the roll motor rotation axis 35141 may be formed to extend from the main body of the roll drive motor 3514 so as to pass through the base plate 3560, but may not extend to the bearing plate 3540.

[0469] As such, the yaw motor rotation shaft 35111 , the pitch motor rotation shaft 35121 , and the starter motor rotation shaft 35131 are formed to extend to pass through the bearing plate 3540 , so when the motor group 3510 rotates, the base plate 3560 and the bearing plate 3540 may rotate together.

[0470] The first bearing 3541 may be disposed on the outer circumferential surface of the bearing plate 3540. For example, the first bearing 3541 may be disposed so as to cover the outer circumferential surface of the bearing plate 3540. Therefore, when the motor assembly 3510 rolls and rotates, the bearing plate 3540 rotates together with the motor assembly 3510. At this time, the bearing plate 3540 and the first bearing 3541 may reduce rotational friction between the motor assembly 3510 and the housing 3201.

[0471] As an embodiment, the power generating unit 3500 may further include a circuit board 3570 and a second bearing 3571. When the motor group 3510 rolls and rotates, the circuit board 3570 and the second bearing 3571 may reduce the rotational friction between the motor group 3510 and the housing 3201.

[0472] The circuit board 3570 may be disposed behind the motor group 3510 .

[0473] As described below, the circuit board 3570 is a portion to which the circuit unit 3600 is connected.

[0474] The circuit board 3570 is connected to the motor group 3510 so that they can rotate together when the motor group 3510 rotates.

[0475] The second bearing 3571 may be disposed on the outer circumference of the circuit board 3570. Therefore, when the motor group 3510 rolls and rotates, the circuit board 3570 rotates together with the motor group 3510. At this time, the circuit board 3570 and the second bearing 3571 may reduce the rotational friction between the motor group 3510 and the housing 3201.

[0476] The power generating unit 3500 may further include a pulley coupling plate 3530 .

[0477] The pulley coupling plate 3530 is a portion to which the power transmission unit 3300 is connected.

[0478] Figure 34 and Figure 35 FIG is a diagram for describing the combined structure of surgical instruments according to an embodiment of the present invention. Figure 34 and Figure 35 As one embodiment, the power transmission unit 3300 can be detachably coupled to the power generation unit 3500. For example, the power transmission unit 3300 can be detachably coupled to the pulley coupling plate 3530. Therefore, after using the components from the power transmission unit 3300 toward the distal end (the power transmission unit 3300, the connecting unit 3400, and the end tool 3100), the user can discard these components and use the surgical instrument 3000 again by coupling a new product to the operating unit 3200 that houses the power generation unit 3500.

[0479] As one embodiment, at least one coupling member 3316 may be formed on the pulley frame 3310 of the power transmission unit 3300. A hook 33161 may be formed on the coupling member 3316. In addition, the pulley coupling plate 3530 may include an interior space and a wall surface, wherein the interior space is used to accommodate at least a portion of the pulley frame 3310, and the wall surface is formed along the periphery of the pulley coupling plate 3530 to define the interior space. In this case, a hook groove 3532 may be formed on the wall surface, and the hook 33161 is suspended and fixed in the hook groove 3532. Therefore, when the pulley frame 3310 is inserted into the interior space of the pulley coupling plate 3530, the hook 33161 can be inserted into the hook groove 3532 and be coupled and fixed.

[0480] As one embodiment, the pulley coupling plate 3530 may include a protruding coupling block 3531, and the pulley frame 3310 may include an insertion groove formed so that the coupling block 3531 is inserted into the insertion groove. Therefore, when the pulley coupling plate 3530 is coupled to the pulley frame 3310, the coupling block 3531 is inserted into the insertion groove, so that the pulley coupling plate 3530 and the pulley frame 3310 can be coupled to each other at a specified position. In addition, the coupling block 3531 is inserted into the insertion groove, so that the rolling rotation force of the pulley coupling plate 3530 can be transmitted to the pulley frame 3310 through the coupling block 3531 and the insertion groove. As an alternative embodiment, the coupling block 3531 can be formed in the shape of a long bar, in which case the insertion groove can be formed in a shape corresponding to this.

[0481] As an embodiment, although not shown in the drawings, the surgical instrument 3000 according to the present invention may further include a waterproof structure.

[0482] As a specific embodiment, at least one O-ring may be provided inside the housing 3201. For example, the O-ring may be provided between the outer circumference of the pulley coupling plate 3530 and the housing 3201. The O-ring is arranged between the outer circumference of the pulley coupling plate 3530 and the housing 3201 to be in close contact therewith, thereby preventing water and the like from penetrating between the power generating unit 3500 and the housing 3201.

[0483] As another example, an O-ring may be provided at least between the yaw motor plate 3521 and the pulley coupling plate 3530, and between the pulley motor plate 3522 and the pulley coupling plate 3530. The O-ring is arranged between the yaw motor plate 3521, the pitch motor plate 3522, and the pulley coupling plate 3530 to be in close contact therewith, thereby preventing water or the like from penetrating between the yaw motor plate 3521, the pitch motor plate 3522, and the pulley coupling plate 3530.

[0484] As one embodiment, the pulley coupling plate 3530 and the bearing plate 3540 may be coupled together by at least one bolt. In this case, at least one sealing washer may be disposed below the bolt in the bolt hole into which the bolt is inserted. The sealing washer may prevent water, etc., from penetrating through the bolt hole.

[0485] At least one through hole may be formed in the pulley coupling plate 3530. For example, two through holes may be formed in the pulley coupling plate 3530.

[0486] The yaw motor plate 3521 , the pitch motor plate 3522 , and the starter motor plate 35231 may be disposed in through holes formed in the pulley coupling plate 3530 .

[0487] The yaw motor plate 3521 can be rotated by the driving force generated by the yaw drive motor 3511. The yaw motor plate 3521 can be arranged at one end of the yaw motor rotation shaft 35111. For example, when the yaw motor rotation shaft 35111 rotates, the yaw motor plate 3521 can rotate along with it. To describe this from another perspective, the yaw motor plate 3521 is a component that transmits the driving force generated by the yaw drive motor 3511 to the power transmission unit 3300.

[0488] At least one first protrusion 35211 may be formed on the yaw motor plate 3521. The first protrusion 35211 is a portion that protrudes outward from the yaw motor plate 3521. As described below, the first protrusion 35211 may be inserted into a first insertion port 33131 formed in the yaw pulley plate 3313.

[0489] The pitch motor plate 3522 can be rotated by the driving force generated by the pitch drive motor 3512. The pitch motor plate 3522 can be arranged at one end of the pitch motor rotation shaft 35121. For example, when the pitch motor rotation shaft 35121 rotates, the pitch motor plate 3522 can rotate along with it. To describe this from another perspective, the pitch motor plate 3522 is a component that transmits the driving force generated by the pitch drive motor 3512 to the power transmission unit 3300.

[0490] At least one second protrusion 35221 may be formed on the pitch motor plate 3522. The second protrusion 35221 is a portion that protrudes outward from the pitch motor plate 3522. As described below, the second protrusion 35221 may be inserted into a second insertion port 33141 formed in the pitch pulley plate 3314.

[0491] The starting motor plate 35231 can be rotated by the driving force generated by the starting drive motor 3513. The starting motor plate 35231 can be arranged at one end of the starting motor rotating shaft 35131. For example, when the starting motor rotating shaft 35131 rotates, the starting motor plate 35231 can rotate together. To describe this from another perspective, the starting motor plate 35231 is a component that transmits the driving force generated by the starting drive motor 3513 to the power transmission unit 3300.

[0492] At least one third protrusion 3523 may be formed on the starting motor plate 35231. The third protrusion 3523 is a portion that protrudes outward from the starting motor plate 35231. As described below, the third protrusion 3523 may be inserted into a third insertion port 33151 formed in the starting pulley plate 3315.

[0493] The yaw pulley plate 3313 , the pitch pulley plate 3314 , and the start pulley plate 3315 may be arranged on the pulley frame 3310 .

[0494] The yaw pulley plate 3313 can be formed to be rotatable. Specifically, the yaw pulley plate 3313 can be combined with the yaw motor plate 3521, and can rotate together when the yaw motor plate 3521 rotates. The yaw pulley plate 3313 is a part connected to the yaw pulley 3320, and when the yaw pulley plate 3313 rotates, the yaw pulley 3320 can rotate together. Describing this from another perspective, when the power transmitted from the outside causes the yaw pulley plate 3313 to rotate, the yaw pulley 3320 can rotate together. Describing this from yet another perspective, it can also be described as the yaw pulley plate 3313 being the part that transmits the driving force generated by the yaw drive motor 3511 to the yaw pulley 3320.

[0495] The yaw pulley plate 3313 may include at least one first insertion opening 33131. The first insertion opening 33131 is a portion into which the first protrusion 35211 of the yaw motor plate 3521 is inserted. Thus, the yaw motor plate 3521 and the yaw pulley plate 3313 can be stably coupled together by coupling the at least one first protrusion 35211 with the first insertion opening 33131, and the driving force of the yaw drive motor 3511 can be effectively transmitted to the yaw pulley 3320.

[0496] The pitch pulley plate 3314 can be rotatable. Specifically, the pitch pulley plate 3314 can be coupled to the pitch motor plate 3522 so that the two components rotate together when the pitch motor plate 3522 rotates. The pitch pulley plate 3314 is connected to the pitch pulley 3330, so that the pitch pulley 3330 rotates together when the pitch pulley plate 3314 rotates. To describe this from another perspective, when externally transmitted power rotates the pitch pulley plate 3314, the pitch pulley 3330 rotates together. To describe this from yet another perspective, the pitch pulley plate 3314 transmits the driving force generated by the pitch drive motor 3512 to the pitch pulley 3330.

[0497] The pitch pulley plate 3314 may include at least one second insertion opening 33141. The second insertion opening 33141 is a portion into which the second protrusion 35221 of the pitch motor plate 3522 is inserted. Thus, the pitch motor plate 3522 and the pitch pulley plate 3314 can be stably coupled together by coupling the at least one second protrusion 35221 and the second insertion opening 33141, and the driving force of the pitch driving motor 3512 can be effectively transmitted to the pitch pulley 3330.

[0498] Starting pulley plate 3315 can be rotatable. Specifically, starting pulley plate 3315 can be coupled to starting motor plate 35231 so that they can rotate together when starting motor plate 35231 rotates. Starting pulley plate 3315 is connected to starting pulley 3340. When starting pulley plate 3315 rotates, starting pulley 3340 can rotate together. To describe this from another perspective, when externally transmitted power causes starting pulley plate 3315 to rotate, starting pulley 3340 can rotate together. From yet another perspective, starting pulley plate 3315 can also be described as transmitting the driving force generated by starting drive motor 3513 to starting pulley 3340.

[0499] The starting pulley plate 3315 may include at least one third insertion opening 33151. The third insertion opening 33151 is a portion into which the third protrusion 3523 of the starting motor plate 35231 is inserted. Thus, the starting motor plate 35231 and the starting pulley plate 3315 can be stably coupled together by the coupling of the at least one third protrusion 3523 and the third insertion opening 33151, and the driving force of the starting drive motor 3513 can be effectively transmitted to the starting pulley 3340.

[0500] As one embodiment, the yaw drive motor 3511, the pitch drive motor 3512, the roll drive motor 3514, and the start drive motor 3513 can be driven independently of one another. Therefore, the yaw drive motor 3511, the pitch drive motor 3512, the roll drive motor 3514, and the start drive motor 3513 can independently perform yaw rotation of the end tool 3100, pitch rotation of the end tool 3100, roll rotation of the motor group 3510, and linear movement of the working member 3154.

[0501] See also Figure 32In detail, the roll drive motor 3514 starts driving, causing the pulley coupling plate 3530 to rotate in direction A. At this point, since the yaw drive motor 3511 can be driven independently, it can be driven independently regardless of the drive status of the roll drive motor 3514, causing the yaw motor plate 3521 to rotate in direction B. Furthermore, since the pitch drive motor 3512 can be driven independently, it can be driven independently regardless of the drive status of the roll drive motor 3514 and the yaw drive motor 3511, causing the pitch motor plate 3522 to rotate in direction C. Furthermore, since the starter drive motor 3513 can be driven independently, it can be driven independently regardless of the drive status of the roll drive motor 3514, the yaw drive motor 3511, and the pitch drive motor 3512, causing the starter motor plate 35231 to rotate in direction D. To describe this from another perspective, the end tool 3100 can perform any one of pitch rotation, yaw rotation, roll rotation, and linear movement of the working member 3154, or can perform multiple rotations simultaneously.

[0502] Figure 33 FIG. 1 is a diagram for describing a rolling action of a surgical instrument according to an embodiment of the present invention.

[0503] See also Figure 33 According to an embodiment of the present invention, the surgical instrument can be formed to enable the motor group 3510 to roll and rotate.

[0504] Here, the power generation unit including the motor group 3510 may include a pulley frame 3310 coupled to the power transmission unit at the front. The pulley frame 3310 may be coupled to the power transmission unit. Therefore, the power transmission unit 3300 may roll and rotate together with the pulley coupling plate 3530 while coupled to the pulley coupling plate 3530.

[0505] In addition, the connection part 3400 can be connected to the power transmission part 3300. Therefore, the connection part 3400 can roll and rotate together with the roll and rotation of the power transmission part 3300.

[0506] In addition, the end tool 1100 disposed on one side of the connection portion 3400 may be connected to the connection portion 3400. Therefore, the end tool 1100 may be rolled and rotated together with the rotation of the connection portion 3400.

[0507] As a result, according to the present invention, when the user operates the operation portion 3200 to drive the scroll drive motor 3514 , components other than the operation portion 3200 can be scroll-rotated about the longitudinal direction in which the connection portion 3400 extends.

[0508] Figure 36 FIG. 1 is a diagram illustrating the internal structure of a surgical instrument according to another embodiment of the present invention.

[0509] See also Figure 36 , an operating portion internal space 3203 may be provided inside the operating portion 3200 .

[0510] The circuit unit 3600 may be disposed in the inner space 3203 of the operation portion.

[0511] The circuit unit 3600 is a component including an electronic circuit for controlling the driving of the motor group 3510. As an example, the circuit unit 3600 may include a motor driver, a motor controller, and a microcontroller unit, but is not limited thereto and may be used as long as it is intended to drive the motor group 3510.

[0512] The circuit unit 3600 can be arranged on one side of the motor group 3510. For example, based on Figure 36 , the circuit unit 3600 can be arranged behind the motor group 3510 (i.e., in the opposite direction of the connection portion 3400). Specifically, the circuit unit 3600 can be connected to the circuit board 3570 of the power generating portion 3500. Therefore, when the motor group 3510 performs rolling rotation, the circuit unit 3600 can rotate together with the motor group 3510.

[0513] Although not shown in the drawings, the circuit unit 3600 and the motor group 3510 may be connected by a plurality of wires to drive the motor group 3510. Therefore, when the motor group 3510 rolls and rotates, the circuit unit 3600 also rotates, thereby preventing the plurality of wires connecting the motor group 3510 and the circuit unit 3600 from being twisted.

[0514] As one embodiment, a slip ring 3700 can be arranged on one side of the circuit unit 3600. The slip ring 3700 connects the circuit unit 3600, which controls the motor group 3510 or the driving of the motor group 3510, with various electrical / electronic components, or facilitates communication. For example, the slip ring 3700 can electrically connect the circuit unit used to control the motor group 3510 or the driving of the motor group 3510 with a power supply, switch, button, OLED screen, and other circuit units. The power supply, switch, button, OLED screen, and other circuit units can be arranged inside or outside the surgical instrument 3000 according to the present invention. Furthermore, the slip ring 3700 can facilitate communication between various components involved in the operation of the surgical instrument 3000. For example, the slip ring 3700 can facilitate communication between at least some of the operating unit 3200, the power transmission unit 3300, the power generation unit 3500, and the circuit unit 3600. At this time, the communication type is not limited, and any type capable of connecting the respective elements of the surgical instrument 3000 through communication may be adopted.

[0515] As described above, motor assembly 3510 and circuit unit 3600 are configured to be capable of rolling rotation. Furthermore, motor assembly 3510 and / or circuit unit 3600 may be electrically connected to various electrical / electronic components. In this case, when motor assembly 3510 and / or circuit unit 3600 are connected to electrical / electronic components via wires, the rotation of motor assembly 3510 and circuit unit 3600 may cause the wires to become twisted.

[0516] Therefore, the slip ring 3700 is arranged on one side of the circuit unit 3600, so that the wires connecting the motor group 3510 and / or the circuit unit 3600 and various electrical / electronic components are not twisted even when the circuit unit 3600 rotates. For example, the motor group 3510 and the circuit unit 3600 can stably receive power from the external power source because the wires are not twisted.

[0517] As an embodiment, although not shown in the drawings, the surgical instrument may further include at least one auxiliary circuit unit. The auxiliary circuit unit may be arranged inside the operating portion 3200. As a preferred embodiment, the auxiliary circuit unit may be arranged in the handle portion ( Figure 27 3202). In this case, even when the motor group 3510 rotates, the sub-circuit unit may not rotate.

[0518] The sub-circuit unit can pre-process various signals used to control the motor unit 3510. Furthermore, the sub-circuit unit can transmit the pre-processed signals to the circuit unit 3600. To this end, the circuit unit 3600 and the sub-circuit unit can be connected via serial communication, but this is not limited to this. The circuit unit 3600 and the sub-circuit unit can be connected in various ways. Therefore, the slip ring 3700 can reduce the number of wires required to connect to the circuit unit 3600.

[0519] As a specific example, assuming that operating unit 3200 has four buttons for operation, and two wires (e.g., a ground wire and a communication wire) are required to send and receive signals to each button, at least five wires must be connected to circuit unit 3600. That is, even if the ground wire is shared, at least one ground wire is required to operate operating unit 3200, and four communication wires are required. In this case, as shown in this embodiment, while the signals of at least five wires of the sub-circuit unit are pre-processed once in the sub-circuit unit, the communication connection function of slip ring 3700 allows circuit unit 3600 and the four buttons of operating unit 3200 to communicate using only two wires. Therefore, this component simplifies the layout of the wires and minimizes the size of slip ring 3700. However, this example is just one of the many functions of the sub-circuit unit; the sub-circuit unit can also pre-process signals from multiple wires, and the technical content of the present invention is not limited to the foregoing.

[0520] As one embodiment, although not shown in the accompanying drawings, the surgical instrument may further include a component for setting a zero point for the roll rotation of the motor unit 3510, etc. For example, the surgical instrument may further include at least one encoder to measure the roll rotation angle of the motor unit 3510, etc. Alternatively, the surgical instrument may further include a touch sensor, a Hall effect sensor, a light sensor, etc. to measure the roll rotation angle of the motor unit 3510, etc. However, this is not limiting and any component may be included in the surgical instrument of the present invention as long as it is used to measure the roll rotation angle of the motor unit 3510, etc.

[0521] Figures 42 to 46 FIG. 1 is a diagram illustrating the yaw rotation motion of a surgical instrument according to an embodiment of the present invention.

[0522] Specifically, Figure 42 This is a diagram showing a state where the jaw is yaw rotated -90°. Figure 43 A diagram showing a process in which a jaw performs an actuation action in a state in which the jaw is yaw rotated by -90°. Figure 44 This is a diagram showing a state where the jaw is yaw rotated by +90°. Figure 45 : is a diagram showing a process in which the jaw performs an actuation action in a state where the jaw is yaw rotated by +90°. Figure 46 This figure shows a state where the jaw performs a rolling action in a state of yaw rotation.

[0523] See also Figures 42 to 46 The surgical instrument 5000 according to the present invention may include an end tool 5100, wherein the end tool 5100 includes a first jaw 5101 and a second jaw 5102. Figures 1 to 4 Alternatively, the end tool 5100 of the surgical instrument 5000 may be the end tool 1100 described in Figures 14 to 18 Alternatively, the end tool 5100 of the surgical instrument 5000 may be a component of the end tool 1100 or the end tool 3100 that is modified or has at least a portion omitted.

[0524] The end tool 5100 of the surgical instrument 5000 can perform yaw rotation in the positive direction about the yaw rotation axis (Z axis). When the end tool 5100 performs yaw rotation in the positive direction about the yaw rotation axis (Z axis), the first jaw 5101 and the second jaw 5102 of the end tool 5100 can perform an actuation operation.

[0525] Furthermore, the end tool 5100 of the surgical instrument 5000 can perform yaw rotation in the - direction about the yaw rotation axis (Z axis). When the end tool 5100 performs yaw rotation in the - direction about the yaw rotation axis (Z axis), the first jaw 5101 and the second jaw 5102 of the end tool 5100 can perform an actuation operation.

[0526] Here, the rotation angle of the end tool 5100 may be variously set according to the ratio of the pulleys.

[0527] At the same time, the end tool 5100 of the surgical instrument 5000 can roll about the roll axis (X axis) while not rotating about the yaw axis (Z axis), yaw rotating in the positive direction, or yaw rotating in the negative direction. In this case, the end tool 5100 can roll with the first jaw 5101 and the second jaw 5102 separated from each other, or with the first jaw 5101 and the second jaw 5102 actuated.

[0528] Here, the end tool 5100 is mechanically connected to the motor assembly of the power generating unit so as to rotate together with the motor assembly. In the end tool 5100, when the motor assembly of the power generating unit rolls and rotates, the power transmission unit connected to the power generating unit, the connection unit connected to the power transmission unit, and the end tool 5100 formed on one side of the connection unit can rotate simultaneously.

[0529] Figures 47 to 51 1 is a diagram illustrating a state where a surgical instrument according to an embodiment of the present invention performs pitch rotation and yaw rotation.

[0530] Specifically, Figure 47 This is a diagram showing a state where each jaw performs a pitch rotation of -90° and a yaw rotation of +90°. Figure 48 The figure shows a process of performing an actuation action in a state where each jaw performs a pitch rotation of -90° and a yaw rotation of +90° at the same time. Figure 49 This is a diagram showing a state where each jaw performs a pitch rotation of +90° and a yaw rotation of -90°. Figure 50 This is a diagram showing a process of performing an actuation action when each jaw is performing a pitch rotation of +90° and a yaw rotation of -90°. Figure 51 This figure shows a state in which each jaw performs a rolling action while performing pitch rotation and yaw rotation.

[0531] See also Figures 47 to 51 The surgical instrument 5000 according to the present invention may include an end tool 5100, wherein the end tool 5100 includes a first jaw 5101 and a second jaw 5102. Figures 1 to 4 Alternatively, the end tool 5100 of the surgical instrument 5000 may be the end tool 1100 described in Figures 14 to 18 Alternatively, the end tool 5100 of the surgical instrument 5000 may be a component of the end tool 1100 or the end tool 3100 that is modified or has at least a portion omitted.

[0532] The end tool 5100 of the surgical instrument 5000 can simultaneously perform yaw rotation about the yaw rotation axis (Z-axis) and pitch rotation about the pitch rotation axis (Y-axis). To describe this from another perspective, the end tool 5100 of the surgical instrument 5000 can simultaneously perform yaw and pitch rotations. In this case, while the end tool 5100 is performing yaw and pitch rotations, the first jaw 5101 and the second jaw of the end tool 5100 can perform actuation operations.

[0533] Here, the rotation angle of the end tool 5100 may be variously set according to the ratio of the pulleys.

[0534] At the same time, the end tool 5100 of the surgical instrument 5000 can perform rolling rotation about the roll rotation axis (X-axis) while performing pitch rotation and yaw rotation. In this case, the end tool 5100 can perform rolling rotation with the first jaw 5101 and the second jaw 5102 separated from each other, or with the first jaw 5101 and the second jaw 5102 performing an actuation operation.

[0535] Here, the end tool 5100 can rotate along with the rotation of the motor group of the power generating unit. In the end tool 5100, when the motor group of the power generating unit rotates, the power transmission unit connected to the power generating unit, the connection unit connected to the power transmission unit, and the end tool 5100 formed on one side of the connection unit can rotate simultaneously.

[0536] Thus, the surgical instrument 1000 according to the present invention is configured to roll and rotate together with the motor groups 1510 and 3510, the power transmission unit 1300, and the end tools 1100 and 3100. This prevents the problem of wires or conductors being twisted within the surgical instruments 1000 and 3000. This is technically significant because it enables the surgical instruments 1000 and 3000 to roll and rotate without restriction.

[0537] For example, in existing surgical instruments, the pulleys inside the power transmission unit do not roll, but only the connector and end tool do. This can cause the wires connecting the end tool and the power transmission unit to become twisted inside the connector. In this case, if the end tool and connector continue to roll, the wires may eventually break or become damaged.

[0538] In contrast, surgical instruments 1000 and 3000 according to the present invention can roll and rotate together with pulleys 1320, 1330, 3320, 3330, and 3340 within end tools 1100 and 3100, connectors 1400 and 3400, and power transmission units 1300 and 3300. Another way of describing this is that wires 1361, 1362, 1363, 1364, 3361, 3362, 3363, 3364, 3365, and 3366, which connect pulleys 1320, 1330, 3320, 3330, and 3340 of end tools 1100 and 3100 and power transmission unit 3300, roll and rotate together at the starting point and the end point. Therefore, the wires 1361 , 1362 , 1363 , 1364 , 3361 , 3362 , 3363 , 3364 , 3365 , and 3366 are not twisted inside the connection parts 1400 and 3400 .

[0539] As described above, although the present invention has been described with reference to one embodiment shown in the accompanying drawings, this is merely exemplary, and those skilled in the art will appreciate that various modifications and equivalent embodiments may be implemented accordingly. Therefore, the true technical protection scope of the present invention shall be determined by the technical concepts of the appended claims.

[0540] The specific implementation described in the embodiment is only an embodiment and does not limit the scope of the embodiment in any way. For the sake of brevity of the specification, the description of existing electronic structures, control systems, software and other functional aspects of the system may be omitted. In addition, the connection of the lines or connecting members between the constituent elements shown in the drawings exemplarily shows functional connections and / or physical or circuit connections, which can be replaced or represented as additional various functional connections, physical connections or circuit connections in actual devices. In addition, unless specifically mentioned, for example, "necessary", "important", etc., it may not be an essential component to which the present invention is applicable.

[0541] In the description of the embodiments (particularly in the claims), the use of the term "said" and similar indicative pronouns can be applied to the singular and the plural. In addition, when a range is described in the embodiments, it includes inventions applicable to individual values ​​belonging to the range (if there is no record to the contrary), which is equivalent to describing the individual values ​​constituting the range in the detailed description. Finally, if the order of the steps constituting the method according to the embodiment is not clearly described, or there is no record to the contrary, the steps can be performed in an appropriate order. The embodiments of the present invention are not limited to the order in which the steps are described. The use of all examples or exemplary terms (e.g., etc.) in the embodiments is only used to describe the embodiments in detail, and the scope of the embodiments is not limited by the examples or exemplary terms unless limited by the claims. In addition, those skilled in the art will recognize that various modifications, combinations and changes can be made according to design conditions and factors within the scope of the appended claims or their equivalents.

[0542] The present invention can provide a surgical instrument that can be axially rotated (rolled) and is not restricted by the rotation angle.

[0543] However, these effects are exemplary, and thus the effects of the present invention are not limited thereto.

[0544] It should be understood that the embodiments described herein should be considered only as illustrative and not for purposes of limitation. Descriptions of features or aspects in each embodiment should generally be considered applicable to other similar features or aspects in other embodiments. Although one or more embodiments have been described with reference to the accompanying drawings, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope defined by the claims.

[0545] Description of Reference Numerals

[0546] 1000, 5000: surgical instruments

[0547] 1100, 3100, 5100: end tooling

[0548] 1200, 3200: Operation department

[0549] 1300, 3300: Power transmission unit

[0550] 1400, 3400: connection part

[0551] 1500, 3500: Power generation unit

Claims

1. A surgical instrument comprising: an end tool including a first jaw and a second jaw, each of which is formed to be rotatable and each of which is configured to rotate in at least one direction; an operating unit configured to receive a signal from a user for controlling the movement of the end tool; as well as A power generating unit, which includes a motor group and a rolling drive motor, wherein the power generating unit is arranged so that at least a portion thereof is accommodated in the housing of the operating unit, and the motor group includes at least one motor, which is configured to generate power for driving the end tool based on a signal input to the operating unit, and the rolling drive motor is configured to generate power for causing the motor group to perform rolling rotation.

2. The surgical instrument according to claim 1, wherein: The motor assembly is configured to rotate independently of movement of the housing.

3. The surgical instrument according to claim 1, wherein: The rolling drive motor is arranged on the motor group.

4. The surgical instrument according to claim 3, wherein: The power generation unit further includes: a first gear formed in a circular shape and having gear teeth formed on an inner peripheral surface thereof; and The second gear is arranged at one side of the rolling drive motor and meshes with the first gear.

5. The surgical instrument according to claim 4, wherein: The first gear is fixed on the inner circumferential surface of the housing. The second gear is formed so as to move along the inner peripheral surface of the first gear while being rotated by the rolling drive motor.

6. The surgical instrument according to claim 1, wherein: The end tool is connected to the motor group and is configured to roll and rotate together with the motor group.

7. The surgical instrument according to claim 1, further comprising: The power transmission part includes at least one wire, and the wire transmits the power generated by the power generation part to the end tool.

8. The surgical instrument according to claim 7, wherein: The power transmission unit is connected to the motor group and is configured to roll and rotate together with the motor group.

9. The surgical instrument according to claim 8, further comprising: A connecting portion is arranged between the power transmission portion and the end tool, and the lead wire is accommodated in the interior thereof.

10. The surgical instrument according to claim 9, wherein: The connection portion is connected to the power transmission portion, and is configured to roll and rotate together with the power transmission portion due to the rolling rotation of the power transmission portion.

11. The surgical instrument according to claim 7, wherein: The power generation unit further includes: A pulley coupling plate is coupled to the power transmission portion, wherein: The pulley coupling plate is configured to rotate together with the motor assembly by being driven by the rolling drive motor.

12. The surgical instrument according to claim 11, wherein: The power transmission portion is configured to roll and rotate together with the pulley coupling plate in a state coupled to the pulley coupling plate.

13. The surgical instrument according to claim 1, wherein: The motor group further comprises: a yaw drive motor configured to generate power for causing the end tool to perform yaw rotation; and A pitch drive motor is configured to generate power for causing the end tool to perform pitch rotation.

14. The surgical instrument according to claim 13, wherein: The power generation unit further includes: A substrate is connected to the roll drive motor, the yaw drive motor and the pitch drive motor, wherein: The base plate is rotated by the drive of the roll drive motor, and the roll drive motor, the yaw drive motor, and the pitch drive motor are simultaneously rotated by the rotation of the base plate.

15. The surgical instrument according to claim 13, wherein: The end tool further comprises: a moving member configured to move along the longitudinal direction of the end tool, wherein The motor group further comprises: A driving motor is fired, which is configured to generate power for linearly moving the moving member.

16. The surgical instrument according to claim 15, wherein: The power generation unit further includes: A substrate is connected to the rolling drive motor, the yaw drive motor, the pitch drive motor and the start drive motor, wherein: The base plate is rotated by the drive of the roll drive motor, and the roll drive motor, the yaw drive motor, the pitch drive motor, and the pitch drive motor are simultaneously rotated by the rotation of the base plate.

17. The surgical instrument according to claim 14, wherein: The power generation unit further includes: a bearing plate connected to the base plate; and A first bearing is arranged to cover an outer peripheral surface of the bearing plate.

18. The surgical instrument according to claim 1, further comprising: The circuit unit is arranged at one side of the motor group and is configured to control driving of the motor group.

19. The surgical instrument according to claim 18, wherein: The circuit unit is connected to the motor group and is configured to roll and rotate together with the motor group.

20. The surgical instrument according to claim 18, further comprising: A slip ring is arranged at one side of the circuit unit and electrically connects the motor group and the circuit unit.

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