Asymmetric rolling joint device for surgical instruments

Abstract

The present invention relates to an asymmetric rolling joint device of a surgical instrument, and more particularly to an asymmetric rolling joint device of a surgical instrument in which contact rolling surfaces of mutually facing joint links are asymmetrically formed to increase a traction force. To this end, there is disclosed an asymmetric rolling joint device of a surgical instrument, characterized by comprising: a first joint link portion for forming a joint of a surgical instrument; and a second joint link portion in rolling contact with the first joint link portion, contact rolling surfaces of the first joint link portion and the second joint link portion in mutual rolling contact being asymmetrically formed to relatively increase a traction force as compared to symmetry.

Description

Technical Field

[0001] This invention relates to an asymmetric rolling joint device for surgical instruments, and more specifically to an asymmetric rolling joint device for surgical instruments that asymmetrically forms contact rolling surfaces of opposing joint links to increase traction. Background Technology

[0002] To perform traction, suturing, and removal of tissue within narrow and curved organs of the human body, small and flexible multi-degree-of-freedom surgical instruments are required. However, when the diameter of the surgical instrument is reduced to create a flexible multi-degree-of-freedom instrument, the diameter of the drive wire used for the drive connector also decreases, resulting in a reduction in the traction force applied to each degree of freedom of the surgical instrument.

[0003] Typically, during actual surgery, such as Figure 2 As shown, a large traction force is primarily required in the first direction of the surgical instrument, while the need for increased traction force in the second direction, which is opposite to the first direction, is relatively lower. Therefore, rather than requiring large traction forces on the surgical instrument in all directions, it is more appropriate to determine the direction requiring relatively large traction forces based on the purpose of the surgery.

[0004] In this way, if you want to create a joint that is suitable for surgical instruments that require relatively large traction forces, such as... Figure 1 As shown, there are problems that cannot be solved using traditional symmetrical joints.

[0005] Existing technical documents

[0006] Patent documents

[0007] (Patent Document 0001) KR 10-1909041 Summary of the Invention

[0008] Therefore, the present invention was created to solve the problems described above, and its object is to provide an invention that asymmetrically designs a rolling joint having a symmetrical shape for existing flexible joints, thereby increasing traction in the desired direction.

[0009] However, the purpose of this invention is not limited to the purposes mentioned above, and those skilled in the art to which this invention pertains will clearly understand other purposes not mentioned from the following description.

[0010] The aforementioned objective of the present invention can be achieved by providing an asymmetric rolling joint device for a surgical instrument, characterized in that it includes: a first joint link portion for forming a joint of the surgical instrument; and a second joint link portion for rolling contact with the first joint link portion, wherein the contact rolling surfaces of the first joint link portion and the second joint link portion are asymmetrically formed, thereby relatively increasing the traction force compared to symmetry.

[0011] Furthermore, by changing the formation height of each through hole of the drive line formed on the rolling surface, the traction force is increased together with the asymmetrical rolling surface.

[0012] Furthermore, the joint link includes: a first rolling surface formed on one side with the virtual centerline of the joint link as a reference; a second rolling surface formed on the other side with the centerline as a reference, having a radius different from that of the rolling surface; and a first drive line through hole and a second drive line through hole, disposed on both sides, so that the drive line can pass through.

[0013] Furthermore, the radius of the first rolling surface is relatively larger than that of the second rolling surface, and the rolling surfaces are formed asymmetrically.

[0014] Furthermore, the circle formed with the radius of the second rolling surface as a reference is a circle inscribed in the circle formed with the radius of the first rolling surface as a reference.

[0015] Furthermore, the formation height of the first drive line through hole is relatively small compared to the formation height of the second drive line through hole, resulting in an asymmetrical rolling surface.

[0016] Furthermore, the joint link includes: a first rolling surface formed on one side with the virtual center line of the joint link as a reference; a second rolling surface formed on the other side with the center line as a reference; a first drive line through hole and a second drive line through hole, which are provided on both sides so that the drive line can pass through, and the aforementioned contact rolling surfaces are asymmetrically formed by the first rolling surface and the second rolling surface.

[0017] Furthermore, as a first embodiment,

[0018] The radii of the first rolling surface and the radii of the second rolling surface have different values, and the contact rolling surfaces are formed asymmetrically.

[0019] Furthermore, the radius of the first rolling surface is relatively larger than that of the second rolling surface, and the rolling surfaces are formed asymmetrically.

[0020] Furthermore, the circle formed with the radius of the second rolling surface as a reference is a circle inscribed in the circle formed with the radius of the first rolling surface as a reference.

[0021] Furthermore, the first drive line through hole and the second drive line through hole are formed on the first rolling surface and the second rolling surface, respectively. The formation height of the first drive line through hole is relatively smaller than that of the second drive line through hole, and the rolling surfaces are formed asymmetrically.

[0022] Furthermore, as a second embodiment,

[0023] The first rolling surface is formed by a partial circle with a first radius and a first tangent line connecting to the partial circle with the first radius, and the second rolling surface is formed by a partial circle with a second radius and a second tangent line connecting to the partial circle with the second radius. The first radius and the second radius have different values, and the contact rolling surfaces are formed asymmetrically.

[0024] Furthermore, the first radius has a relatively larger value compared to the second diameter, and the slope of the second tangent has a relatively larger value compared to the slope of the first tangent, resulting in an asymmetrical rolling surface.

[0025] Furthermore, the first drive line through hole and the second drive line through hole are formed on the first tangent and the second tangent, respectively. The formation height of the first drive line through hole is relatively smaller than that of the second drive line through hole, and the rolling surface is formed asymmetrically.

[0026] Furthermore, as a third embodiment,

[0027] The first rolling surface is formed by a partial circle with a first radius and a tangent to the partial circle with the first radius, and the second rolling surface is formed by a partial circle with a second radius. The first radius and the second radius have different values, and the contact rolling surfaces are formed asymmetrically.

[0028] Furthermore, the first radius has a relatively larger value compared to the second diameter, resulting in an asymmetrically formed rolling surface.

[0029] Furthermore, the first drive line through hole is formed on a tangent to a partial circle formed by a first radius, and the second drive line through hole is formed on a partial circle formed by a second radius. The formation height of the first drive line through hole has a relatively smaller value than the formation height of the second drive line through hole, and the rolling surface is formed asymmetrically.

[0030] Furthermore, as a fourth embodiment,

[0031] The first rolling surface is formed by a partial circle with a first radius, and the second rolling surface is formed by a partial circle with a second radius and a tangent that connects to the partial circle with the second radius. The first radius and the second radius have different values, and the contact rolling surfaces are formed asymmetrically.

[0032] Furthermore, the first radius has a relatively larger value compared to the second diameter, resulting in an asymmetrically formed rolling surface.

[0033] Furthermore, the first drive line through hole is formed on a portion of a circle formed by the first radius, and the second drive line through hole is formed on a tangent line that connects to a portion of a circle formed by the second radius. The formation height of the first drive line through hole has a relatively larger value than the formation height of the second drive line through hole, and the rolling surface is formed asymmetrically.

[0034] On the other hand, the circle formed with the second radius as a reference is a circle internally tangent to the circle formed with the first radius as a reference.

[0035] According to the present invention as described above, a rolling joint with an asymmetrical design having a symmetrical shape for existing flexible joints can increase the traction force in the desired direction. Attached Figure Description

[0036] The following figures accompanying this specification illustrate a preferred embodiment of the invention and serve to further explain the technical concept of the invention together with the detailed description of the invention. Therefore, the invention should not be interpreted as being limited to the matters described in these figures.

[0037] Figure 1 A diagram illustrating the traditional symmetrical rolling joint.

[0038] Figure 2 The diagram shows the direction of joint extension and the direction of joint bending of the surgical instrument according to an embodiment of the present invention (top view).

[0039] Figure 3 This is a side view showing the direction of joint extension and the direction of joint flexion of a surgical instrument according to an embodiment of the present invention.

[0040] Figure 4 A diagram illustrating a joint link according to an embodiment of the present invention is shown below. Figure 4 (a) to Figure 4 (b) in the diagram represents joint extension. Figure 4 (b) to Figure 4 (c) in the diagram represents joint bending.

[0041] Figure 5 In the example, (a) represents increasing the Ra value (3.5→4.5). Figure 5 In the graph (b), the decrease in Rb value (2.5→1.5) represents the relative increase in traction force.

[0042] Figure 6 This diagram illustrates a first embodiment of the invention, showing the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112.

[0043] Figure 7 This is a diagram illustrating a second embodiment of the invention, showing the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112.

[0044] Figure 8This is a diagram illustrating a third embodiment of the invention, showing the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112.

[0045] Figure 9 This is a diagram illustrating a fourth embodiment of the invention, showing the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112.

[0046] Explanation of reference numerals in the attached figures

[0047] 11: First joint connecting rod

[0048] 12: Second joint link

[0049] 21: First drive line

[0050] 22: Second drive line

[0051] 31a, 31b: Through hole for first drive line, through hole for second drive line

[0052] 32a, 32b: Through hole for first drive line, through hole for second drive line

[0053] 100: Surgical instruments with multiple degrees of freedom

[0054] 101, 102, 103: Multi-flexible joints

[0055] 110: First joint connecting rod section

[0056] 111: First drive line through hole

[0057] 112: Second drive line through hole

[0058] 113, 113a, 113b: First rolling surface

[0059] 114, 114a, 114b: Second rolling surface

[0060] 120: Second joint connecting rod section

[0061] 121: First drive line through hole

[0062] 122: Second drive line through hole

[0063] 123: First rolling surface

[0064] 124: Second rolling surface Detailed Implementation

[0065] Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. Furthermore, the embodiment described below does not unduly limit the scope of the invention as described in the claims, and the overall structure described in this embodiment may not be the essential solution of the present invention. Moreover, matters obvious to those skilled in the art and to whom this invention pertains may be omitted from the description; however, the description of such omitted structural elements (methods) and functions can be fully referred to without departing from the technical spirit of the present invention.

[0066] like Figures 2 to 4 As shown, an embodiment of the surgical instrument of the present invention includes an asymmetric rolling joint device comprising a multi-flexible joint portion 102 formed by joint links. The multi-flexible joint portion 102 is connected to multiple joint links and is operated via drive lines, enabling surgery to be performed with multiple degrees of freedom.

[0067] Figure 2 and Figure 3 This refers to a surgical instrument 100 with multiple degrees of freedom, indicating the direction of joint extension (STEP1) and the direction of joint flexion (STEP2). At this time, as... Figure 2 and Figure 3 As shown, the multi-degree-of-freedom surgical instrument 100 described in this invention is a device for increasing the relative traction force in the first direction from STEP1 to STEP2 (meaning the traction force is greater when symmetrical than when asymmetrical), without considering the increase in the relative traction force in the second direction from STEP2 to STEP1. To increase the relative traction force in the second direction from STEP2 to STEP1, various methods can be used. Figure 4 The positions of the first and second rolling surfaces are shown to achieve this.

[0068] like Figure 4 As shown, the multi-flexible joints 101, 102, and 103 can be controlled in multiple directions based on the rolling contact of the first joint link 110 and the second joint link 120 and the control of the drive line.

[0069] like Figure 4 As shown in (b) of the diagram, for the first joint link portion 110, through holes 111 and 112, through which the first drive line 21 and the second drive line 22 respectively pass, are formed on both sides of the joint link portion. Figure 4 As shown in (b), for the second joint link 120, through-holes 121 and 122, through which the first drive line 21 and the second drive line 22 respectively pass, are formed on both sides of the joint link. Therefore, with the first drive line 21 and the second drive line 22 configured to pass through through-holes 111, 112, 121, and 122 respectively, the multi-flexible joints 101, 102, and 103 can be controlled in multiple directions by means of the traction force of the drive lines. The above-mentioned... Figure 4The first joint link portion 110 and the second joint link portion 120 shown in (b) represent a portion of the joint link of the multi-flexible joint portions 101, 102, and 103, and also include the joint link portion, which is used in the fabrication of... Figure 2 and Figure 3 Such as the flexible joints 101, 102, 103.

[0070] First drive line through holes 111 and 121, and second drive line through holes 112 and 122 are respectively formed on the rolling surface. More specifically, the first drive line through hole 111, formed in the first joint connecting rod portion 110, is formed on the first rolling surface 113 or tangent, and the second drive line through hole 112 is formed on the second rolling surface 114 or tangent. However, various formation positions of the first drive line through hole 111 and the second drive line through hole 112 will be described later.

[0071] Furthermore, the first drive line through hole 121 formed in the second joint connecting rod portion 120 is formed on the first rolling surface 123 or tangent, and the second drive line through hole 122 is formed on the second rolling surface 124 or tangent. However, various formation positions of the first drive line through hole 121 and the second drive line through hole 122 will be described later.

[0072] The first joint link portion 110 has a first contact rolling surface that rolls into contact with the second joint link portion 120. The first contact rolling surface is formed by a first rolling surface 113 and a second rolling surface 114. For example, the first rolling surface 113 has a radius Ra value, so that… Figure 4 (b) or Figure 6 The second rolling surface 114 is formed on the left side with the center line as a reference. It has an Rb value, with... Figure 4 The centerline of (b) is used as a reference and is formed on the right side. However, the first rolling surface 113 and the second rolling surface 114 can be formed by circles, or by a circle and a tangent. Detailed explanation will follow.

[0073] Furthermore, the second joint link portion 120 has a second contact rolling surface that rolls into contact with the first joint link portion 110. The second contact rolling surface is formed by a first rolling surface 123 and a second rolling surface 124. As an example, the first rolling surface 123 has a radius Ra value, so that... Figure 4 The centerline of (b) is used as a reference to form the left side. The second rolling surface 124 has an Rb value, which is... Figure 4 The centerline of (b) is used as a reference and is formed on the right side. However, the first rolling surface 113 and the second rolling surface 114 can be formed by circles, or by a circle and a tangent. The detailed description is replaced by the description of the first contact rolling surface.

[0074] Furthermore, since the radii Ra and Rb values ​​of the first rolling surfaces 113, 123 and the second rolling surfaces 123, 124 are different, the rolling surfaces are formed asymmetrically. That is, preferably, the radius Ra value of the first rolling surfaces 113, 123 has a larger value than the radius Rb value of the second rolling surfaces 123, 124. Thus, the virtual circle of the second rolling surfaces 114, 124 with radius Rb becomes a circle internally tangent to the virtual circle of the first rolling surfaces 113, 123 with radius Ra. However, even if they are not internally tangent, this can be achieved as needed.

[0075] Therefore, preferably, the first contact rolling surfaces and the second contact rolling surfaces of the first joint link portion 110 and the second joint link portion 120 are in rolling contact, forming a symmetrical pair. That is, preferably, since they are formed as a symmetrical pair, Ra and Rb values ​​have the same value, and as described later, the driving line through holes 111 and 112 of the first joint link portion and the driving line through holes 121 and 122 of the second joint link portion are also formed symmetrically.

[0076] A first drive line through hole 111 is formed on the first rolling surface 113 of the first joint link portion 110. A second drive line through hole 112 is formed on the second rolling surface 114 of the first joint link portion 110. The first drive line through hole 111 is formed at a distance D1, and the second drive line through hole 112 is formed at a distance D2, with the virtual horizontal line of the rolling surface as a reference.

[0077] The first drive line through hole 121 and the second drive line through hole 122 of the second joint link portion 110 are formed by separating D3 (not shown) and D4 (not shown) respectively, based on the same principle as described above.

[0078] At this point, in order to form a rolling surface asymmetrically, such as Figure 4 As shown in (b), preferably, the forming distances D1 and D3 are formed to be shorter than D2 and D4. In this case, the values ​​of D1 and D3 or D2 and D4 are the same.

[0079] like Figure 5 As shown in (a), increasing the radius Ra from 3.5 to 4.5 results in an increase in the torque arm (mb), which is directly proportional to the magnitude of the traction force. Furthermore, as... Figure 5 As shown in (b), when the radius Rb is reduced from 2.5 to 1.5, it can be seen that the size of the moment arm (mb), which is directly proportional to the magnitude of the traction force, increases.

[0080] The following examples illustrate the formation locations of the rolling surface and the through hole. However, only the rolling surface and through hole of the first joint link are described; the rolling surface and through hole of the second joint link are replaced with the examples described above.

[0081] A first embodiment of the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112 is described.

[0082] like Figure 6 As shown, the first rolling surface 113 and the second rolling surface 114 are each part of a circle formed by radii Ra and Rb, respectively. At this time, the radii Ra1 of the first rolling surface and the radii of the second rolling surface have different values. That is, the radius Ra of the first rolling surface has a relatively larger value than the radius Rb of the second rolling surface, and the rolling surfaces are formed asymmetrically. Furthermore, the circle formed with the radius Rb of the second rolling surface as a reference is an inscribed circle with respect to the circle formed with the radius Ra of the first rolling surface as a reference.

[0083] Furthermore, the first drive line through hole 111 and the second drive line through hole 112 are formed on the first rolling surface 113 and the second rolling surface 114, respectively. The formation height of the first drive line through hole 111 is relatively smaller than that of the second drive line through hole 112, resulting in an asymmetrical formation of the rolling surfaces. The determination of the distances D1 and D2 related to the formation heights can be found in [reference needed]. Figure 4 (b) in the middle.

[0084] A second embodiment of the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112 is described.

[0085] like Figure 7 As shown, the first rolling surfaces 113a and 113b are formed by a partial circle 113a with a first radius Ra and a first tangent 113b tangent to the partial circle 113a with the first radius. The second rolling surfaces 114a and 114b are formed by a partial circle 114a with a second radius Rb and a second tangent 114b tangent to the partial circle with the second radius. Furthermore, the first radius Ra and the second radius Rb have different values, resulting in an asymmetrical rolling surface. The first radius Ra has a relatively larger value than the second radius Rb, and the slope of the second tangent 114b has a relatively larger value than the slope of the first tangent 113b, resulting in an asymmetrical rolling surface.

[0086] Furthermore, the first drive line through hole 111 and the second drive line through hole 112 are formed at the first tangent 113b and the second tangent 114b, respectively. The formation height of the first drive line through hole 111 is relatively smaller than that of the second drive line through hole 112, and the aforementioned rolling surface is formed asymmetrically. The determination of the distances D1 and D2 regarding the formation height can be found in [reference needed]. Figure 4 (b) in the middle.

[0087] A third embodiment is described, comprising the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112.

[0088] like Figure 8 As shown, the first rolling surfaces 113a and 113b are formed by a partial circle 113a with a first radius Ra and a tangent 113b tangent to the partial circle with the first radius. The second rolling surface 114 is formed by a partial circle 114 with a second radius Rb. The first radius Ra and the second radius Rb have different values, and the contact rolling surfaces are formed asymmetrically.

[0089] On the other hand, the first drive line through hole 111 is formed on a tangent 113b that aligns with a partial circle formed by a first radius Ra, and the second drive line through hole 112 is formed on a partial circle 114 formed by a second radius Rb. The formation height of the first drive line through hole 111 is relatively smaller than that of the second drive line through hole 112, resulting in an asymmetrical rolling surface. The determination of the distances D1 and D2 related to the formation heights can be found in [reference needed]. Figure 4 (b) in the middle.

[0090] A fourth embodiment is described, comprising the first rolling surface 113, the second rolling surface 114, the first drive line through hole 111, and the second drive line through hole 112.

[0091] like Figure 9 As shown, the first rolling surface 113 is formed by a partial circle with a first radius Ra, and the second rolling surfaces 114a and 114b are formed by a partial circle 114a with a second radius Rb and a tangent 114b that connects to the partial circle with the first radius. The first radius Ra and the second radius Rb have different values, and the contact rolling surfaces are formed asymmetrically.

[0092] On the other hand, the first drive line through hole 111 is formed on a portion of a circle 113 formed by a first radius Ra, and the second drive line through hole 112 is formed on a tangent 114b that aligns with a portion of a circle formed by a second radius. The formation height of the first drive line through hole 111 is relatively large compared to the formation height of the second drive line through hole, resulting in an asymmetrical rolling surface. The determination of the distances D1 and D2 related to the formation heights can be found in [reference needed]. Figure 4 (b) in the middle.

[0093] In the second, third, and fourth embodiments, the circle formed with the second radius Rb as a reference is an inscribed circle with respect to the circle formed with the first radius Ra as a reference. Furthermore, in the third and fourth embodiments, the first radius Ra has a relatively larger value than the second radius Rb, and the aforementioned rolling surface is formed asymmetrically.

[0094] In describing this invention, matters obvious to those skilled in the art may be omitted, and the description of such omitted structural elements (methods) and functions may be fully referenced without departing from the technical concept of this invention. Furthermore, the structural elements of this invention described above are merely for illustrative purposes, and structural elements not described herein may be added without departing from the technical concept of this invention.

[0095] The above descriptions of the structure and function of each part are separated for ease of explanation only. As needed, a structure and function can be realized by combining other structural elements, or it can be further subdivided.

[0096] The above description refers to one embodiment of the present invention, but the present invention is not limited thereto and can be varied and applied in many ways. That is, various modifications can be made without departing from the spirit of the present invention, which is easily understood by those skilled in the art. Furthermore, it should be noted that when it is determined that a detailed description of the relevant known functions and structures of the present invention or the specific combination relationships of the various structures of the present invention may unnecessarily obscure the spirit of the present invention, such detailed descriptions are omitted.

Claims

1. An asymmetric rolling joint device for a surgical instrument, characterized in that, include: The first joint link is used to form the joint of the surgical instrument; The second joint link portion rolls into contact with the first joint link portion. The contact rolling surfaces of the first joint link and the second joint link are formed asymmetrically; compared with the symmetrically formed contact rolling surfaces, the asymmetrically formed contact rolling surfaces relatively increase the traction force. The first joint link portion and the second joint link portion respectively include: The first rolling surface is formed on one side with reference to the virtual centerline of the joint link; A second rolling surface is formed on the other side with the center line as a reference. The first drive line through hole and the second drive line through hole are respectively provided on both sides of the virtual center line of the first joint connecting rod and the second joint connecting rod, so that the drive line can pass through. The contact rolling surface is formed asymmetrically by the first rolling surface and the second rolling surface; The first rolling surface is formed by a partial circle with a first radius and a first tangent that tangents to the partial circle with the first radius. The second rolling surface is formed by a partial circle with a second radius and a second tangent that tangents to the partial circle with the second radius. The first radius and the second radius have different values, and the contact rolling surface is formed asymmetrically.

2. The asymmetric rolling joint device of the surgical instrument according to claim 1, characterized in that, By changing the formation height of each through hole of the drive line formed on the contact rolling surface, the traction force is increased together with the asymmetrical contact rolling surface.

3. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The radius of the first rolling surface is relatively larger than the radius of the second rolling surface, and the rolling surfaces are formed asymmetrically.

4. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The circle formed with the radius of the second rolling surface as a reference is a circle inscribed in the circle formed with the radius of the first rolling surface as a reference.

5. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The first drive line through hole and the second drive line through hole are respectively formed on the first rolling surface and the second rolling surface. The first drive line through hole has a relatively smaller formation height than the second drive line through hole, and the rolling surface is formed asymmetrically.

6. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The first radius has a relatively larger value compared to the second diameter. The slope of the second tangent has a relatively larger value than the slope of the first tangent, and the rolling surface is formed asymmetrically.

7. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The first drive line through hole and the second drive line through hole are formed at the first tangent and the second tangent, respectively. The first drive line through hole has a relatively smaller formation height than the second drive line through hole, and the rolling surface is formed asymmetrically.

8. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The first drive line through hole is formed at a tangent to a portion of the circle formed by the first radius. The second drive line through hole is formed on a portion of a circle formed by the second radius. The first drive line through hole has a relatively smaller formation height than the second drive line through hole, and the rolling surface is formed asymmetrically.

9. The asymmetric rolling joint device of the surgical instrument according to claim 2, characterized in that, The first drive line through hole is formed on a portion of a circle formed by the first radius. The second drive line through hole is formed at a tangent to a portion of the circle formed by the second radius. The forming height of the first drive line through hole has a relatively large value compared to the forming height of the second drive line through hole, and the rolling surface is formed asymmetrically.

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