Drive force transmission device of surgical instrument and surgical instrument including the same

Abstract

An embodiment of the present application relates to a driving force transmission device of a surgical instrument, characterized in that, in the driving force transmission device of a surgical instrument equipped with a shaft unit and having a jaw at the proximal end of the shaft unit, a base is provided at the distal end of the shaft unit, and a first coupler unit is connected to the distal end of the shaft unit and transmits driving force to the jaw, the first coupler unit includes a moving piece that moves together with the shaft unit and adjusts the driving of the jaw, and a driving unit that is connected to the moving piece and transmits driving force to the moving piece to move the moving piece toward the extension direction of the shaft unit.

Description

Technical Field

[0001] Embodiments of the present invention relate to a driving force transmission device for a surgical instrument and a surgical instrument including the same. Background Technology

[0002] In medicine, surgery refers to the use of medical instruments to cut, incise, or manipulate the skin, mucous membranes, or other parts of the body to cure diseases. In particular, cesarean sections, which involve cutting open the skin at the surgical site to treat, reshape, or remove internal organs, can cause problems such as bleeding, side effects, patient pain, and scarring.

[0003] Laparoscopic surgery and even minimally invasive surgery, which address this problem, have attracted much attention. They use tiny incisions instead of cutting the skin to insert medical instruments such as endoscopes, laparoscopes, surgical instruments, and microsurgical microscopes to complete the surgery inside the body.

[0004] In surgical instruments used for this type of laparoscopic surgery, the proximal end of the shaft unit is connected to an operating part that enables the movements required for surgical procedures, and power is transmitted from the distal end of the shaft unit. Power is generated from a handle or generator held by the user, and the generated power is transmitted to the shaft unit or operating part through a drive force transmission device located at the distal end of the shaft unit, thereby completing the various movements required during the surgery.

[0005] Traditional surgical instruments transmit power from the distal end of the shaft unit to the drive unit. This part has a complex structure, which has the following drawbacks: it increases the time and cost of manufacturing the surgical instrument and increases the size of the surgical instrument.

[0006] Therefore, it is necessary to simplify the power transmission structure of surgical instruments, reduce the time and cost consumed in the manufacturing process of surgical instruments, and make surgical instruments smaller in size. Summary of the Invention

[0007] Technical issues

[0008] Embodiments of the present invention provide a drive force transmission device for a surgical instrument that transmits power from a drive unit to a shaft unit and simplifies the structure, as well as a surgical instrument including the same.

[0009] Technical solution

[0010] As a means to solve the above-mentioned technical problems, one embodiment of the present invention provides a drive force transmission device for a surgical instrument equipped with a shaft unit and a clamp (jaw) at the proximal end of the shaft unit, comprising: a base having the distal end of the shaft unit disposed thereon; and a first coupler unit connected to the distal end of the shaft unit for transmitting a drive force to the clamp. The first coupler unit includes: a movable member that moves together with the shaft unit to adjust the drive of the clamp; and a drive unit connected to the movable member for transmitting a drive force to the movable member to move the movable member in the extension direction of the shaft unit.

[0011] In one embodiment, the movable element is connected to a portion of the shaft unit and configured along the extension direction of the shaft unit.

[0012] In one embodiment, the drive unit includes: a first rotating shaft rotatably disposed on the base; and a connecting member for connecting the first rotating shaft and the movable member.

[0013] In one embodiment, it further includes a second coupler unit disposed on one side of the shaft unit for adjusting the drive of the shaft unit to roll.

[0014] In one embodiment, the second coupler unit includes: a first connecting pulley disposed on the shaft unit; a second connecting pulley rotatably disposed on the base; and a connector connecting the first connecting pulley and the second connecting pulley, transmitting driving force from the second connecting pulley to drive the first connecting pulley to perform a rolling motion.

[0015] In one embodiment, the second coupler unit includes: a ring gear rotatably disposed on the base and rotated by a driving force; and a pinion gear, which, when disposed on the shaft unit, meshes with the ring gear and, through the rotation of the ring gear, rotates together with the shaft unit, causing the shaft unit to perform a tumbling motion.

[0016] In one embodiment, it further includes an elastic element disposed along the extension direction of the shaft unit to provide an elastic force to the moving element.

[0017] In another embodiment of the present invention, a drive force transmission device is included, comprising: a shaft unit, a clamp (jaw) mounted on the proximal end of the shaft unit, and a first coupler unit, the first coupler unit having the distal end of the shaft unit located on a base, for transmitting a drive force to the clamp. The first coupler unit includes: a movable member that moves together with the shaft unit to adjust the drive of the clamp; and a drive unit connected to the movable member that transmits a drive force to the movable member, causing the movable member to move in the extending direction of the shaft unit.

[0018] In one embodiment, the shaft unit includes: an anvil; a first shaft disposed outside the anvil and having the movable member at its distal end; and a second shaft disposed outside the first shaft, which performs a tumbling motion together with the anvil and the first shaft.

[0019] In one embodiment, the shaft unit further comprises: the anvil member; the first shaft; and a connector for penetrating the second shaft. The first shaft has an elongated hole for penetrating the connector.

[0020] In one embodiment, the clamp is rotatably mounted on the first shaft on one side and rotatably mounted on the second shaft on the other side. When the first shaft moves, the anvil and the clamp generate a gripping force.

[0021] In one embodiment, the driving force transmission device further includes a second coupler unit disposed on one side of the shaft unit for adjusting the driving force of the second shaft to roll.

[0022] In one embodiment, the drive unit includes: a first rotating shaft rotatably disposed on the base; and a connecting member for connecting the first rotating shaft and the movable member.

[0023] In one embodiment, it further includes an elastic element disposed along the extension direction of the shaft unit to provide an elastic force to the moving element.

[0024] Other aspects, features, and advantages beyond those described above can be clearly understood from the following figures, claims, and description of the invention.

[0025] Beneficial effects

[0026] The driving force transmission device for the surgical instrument according to embodiments of the present invention, and the surgical instrument including the device, can simplify the power transmission structure of the surgical instrument, reduce the time and cost consumed in the manufacturing process of the surgical instrument, and make the surgical instrument smaller in size. Attached Figure Description

[0027] Figure 1 This is a conceptual diagram of a surgical system according to an embodiment of the present invention;

[0028] Figure 2 It shows Figure 1 Surgical instruments and generator units;

[0029] Figure 3 A surgical instrument according to an embodiment of the present invention is shown;

[0030] Figure 4 yes Figure 3A plan view of the proximal portion of the surgical instrument shown.

[0031] Figure 5 It is along Figure 4 A cross-sectional view taken from line A-A';

[0032] Figure 6 Showing from one direction Figure 3 A perspective view of the driving force transmission device in the middle;

[0033] Figure 7 Shown from another direction Figure 6 A perspective view of the driving force transmission device in the middle;

[0034] Figure 8 yes Figure 3 A plan view of the driving clamp in the surgical instrument shown;

[0035] Figure 9 and Figure 10 It shows Figure 8 Driven by region A in the middle;

[0036] Figure 11 and Figure 12 It shows Figure 8 Driven by region B;

[0037] Figure 13 yes Figure 3 A plan view of the tumbling drive shaft unit in the surgical instrument shown;

[0038] Figure 14 and Figure 15 Another embodiment of the second coupler unit of the driving force transmission device is shown.

[0039] Symbol Explanation

[0040] 10: Instruments; 20: Generator unit; 100: Surgical instruments;

[0041] 110: Jaw; 130: Shaft unit; 150: Drive force transmission device. Detailed Implementation

[0042] The following embodiments will be described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, the same or corresponding components are represented by the same reference numerals, and repeated descriptions thereof are omitted.

[0043] The embodiments of the present invention can be modified in various ways. Specific embodiments will be described with reference to the accompanying drawings, and detailed descriptions will be provided in the detailed description. Referring to the accompanying drawings and the following detailed description, the effects, features, and implementation methods of the embodiments of the present invention can be clearly understood. However, the embodiments of the present invention are not limited to the embodiments disclosed below and can be implemented in various forms.

[0044] In the following embodiments, the terms "first," "second," etc., are not intended to have a limiting meaning, but are used to distinguish one component from other components.

[0045] In the following embodiments, unless the context clearly indicates otherwise, the singular expression includes the plural expression.

[0046] In the following embodiments, the terms "including" or "having" do not imply the presence of the features or components described in the specification, nor do they preclude the possibility of adding more than one other feature or component.

[0047] In the following embodiments, when a unit, region, component, or other part is located above or on other parts, it includes not only the case where it is directly above other parts, but also the case where it has other units, regions, components, etc. in between.

[0048] In the following embodiments, unless the context clearly indicates that they have other meanings, terms such as connection or combination do not mean that the two components must be directly and / or fixedly connected or combined, and do not exclude the presence of other components between the two components.

[0049] This means that the features or components described in the specification exist, and does not preclude the possibility of adding more than one other feature or component.

[0050] For ease of description, the accompanying drawings may be enlarged or reduced to show the size of the components. For example, for ease of description, the size and thickness of the components shown in the drawings are arbitrarily shown; therefore, the following embodiments are not necessarily limited to the drawings.

[0051] Hereinafter, "proximal" is defined as the direction in which the surgical instrument is inserted into the affected area to perform the surgery, and "distal" is defined as the direction away from the affected area.

[0052] In the following, "rolling" direction means taking the direction of extension of the shaft unit as the direction of rotation of the shaft.

[0053] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0054] Figure 1 This is a conceptual diagram of a surgical system 1 according to an embodiment of the present invention.

[0055] like Figure 1 As shown, the surgical system 1 includes a surgical instrument 10 and a generator unit 20.

[0056] Surgical system 1 can be used in surgical environments where medical personnel perform procedures. For example, surgical system 1 can be implemented by placing surgical instruments 10 within the robotic arm of a surgical robot (not shown). Furthermore, surgical system 1 can be implemented by having medical personnel directly hold surgical instruments 10 by hand or operate them through other instruments or devices.

[0057] The surgical instrument 10 is connected to the generator unit 20. The surgical instrument 10 is connected to the generator unit 20 and receives power transmitted by the generator unit 20.

[0058] In one embodiment, the generator unit 20 is connected to the surgical instrument 10 via wired or wireless means and drives the surgical instrument 10. For example, the generator unit 20 transmits the driving force required for the tumbling, pitching, and yaw movements of the surgical instrument 10 to the surgical instrument 10. Furthermore, the generator unit 20 transmits current to the end of the surgical instrument 10 to realize the thermal cauterization function of the surgical instrument 10.

[0059] In one embodiment, the generator unit 20 is connected to the surgical instrument 10 via wired or wireless means to generate signals that control the surgical instrument 10. For example, the surgical instrument 10 performs surgical actions based on the control signals generated by the generator unit 20.

[0060] The generator unit 20 is a device that can be manually started by the user or automatically started by the user's operation.

[0061] In one embodiment, when the generator unit 20 is a device manually activated by the user, the generator unit 20 drives the surgical instrument 10 using power generated by the user.

[0062] In one embodiment, when the generator unit 20 is a device that is automatically started by user operation, the generator unit 20 includes at least one motor, and the user can input a control signal to the generator unit 20 to start at least one motor.

[0063] In one embodiment, to improve the intuitiveness of user operation, the generator unit 20 includes a control unit (not shown) that controls the operation of the motor through user operation. The control unit controls the delay of the control signal so that the user's operation on the motor is consistent with the start of the corresponding motor.

[0064] Figure 2 It shows Figure 1 The surgical instrument 10 and the generator unit 20 are included.

[0065] like Figure 2 As shown, the surgical instrument 10 is connected to the generator unit 20 at the distal end.

[0066] The surgical instrument 10 includes an end effector 11, a shaft unit 12, and a drive force transmission device 13.

[0067] An end effector 11 is positioned at the proximal end of the surgical instrument 10 to perform surgical actions. The end effector 11 comes in various forms to facilitate the performance of various actions such as cutting and gripping, depending on the type of surgery.

[0068] In one embodiment, the end effector 11 includes a clamp that rotates with a portion of the shaft unit 12. The clamp is driven by the shaft unit 12, thereby enabling the end effector 11 to perform surgical actions.

[0069] In another embodiment, the end effector has a pair of jaws, each of which is rotatably mounted on a shaft unit. The pair of jaws are driven by the shaft unit to move together, thereby enabling the end effector to perform surgical actions.

[0070] In another embodiment, the end effector includes a medical stapler, endoscope, etc., which operate during surgery.

[0071] For ease of description, the following description focuses on an embodiment in which the end effector 11 has a clamp (jaw) that is rotatably mounted on a shaft unit and performs a gripping action through the driving force transmitted by the shaft unit.

[0072] The shaft unit 12 extends from the proximal end to the distal end of the surgical instrument 10 and is fitted with multiple components in a radially outward direction.

[0073] In one example, shaft unit 12 includes an anvil 12a, a first shaft 12b, and a second shaft 12c.

[0074] The anvil 12a extends along the central axis of the shaft unit 12. The proximal end of the anvil 12a is engaged with the jaw of the end effector 11 to generate or release gripping force.

[0075] In one embodiment, the anvil 12a is connected to the generator unit 20 and receives electrical energy. The generator unit 20 supplies electrical energy to the anvil 12a, enabling the surgical instrument 10 to perform the cauterization function.

[0076] The first shaft 12b covers the outer side of the anvil 12a and has an internal space for accommodating the anvil 12a. The second shaft 12c covers the outer side of the first shaft 12b and has an internal space for accommodating both the anvil 12a and the first shaft 12b.

[0077] One of the first axis 12b and the second axis 12c is connected to the first coupler unit 14. Either axis connected to the first coupler unit 14 moves linearly along its length direction as the first coupler unit 14 drives it.

[0078] The other of the first shaft 12b and the second shaft 12c is connected to the second coupler unit 15. The other shaft connected to the second coupler unit 15 performs a tumbling motion as driven by the second coupler unit 15.

[0079] For ease of description, the following description focuses on an embodiment in which the first shaft 12b is connected to the first coupler unit 14 and the second shaft 12c is connected to the second coupler unit 15. However, this is not a limitation; the first shaft 12b may be connected to the second coupler unit 15 for tumbling motion, or the second shaft 12c may be connected to the first coupler unit 14 for linear motion.

[0080] The driving force transmission device 13 includes a first coupler unit 14 and a second coupler unit 15.

[0081] The first coupler unit 14 causes the shaft unit 12 to move linearly. The first coupler unit 14 is connected to the first shaft 12b, causing the first shaft 12b to move linearly along the length direction.

[0082] The first coupler unit 14 includes a first drive unit 14a, a first connector 14b, and a moving member 14c.

[0083] The first drive unit 14a transmits a driving force to the first connector 14b to move the movable member 14c.

[0084] In one embodiment, the first drive unit 14a is configured as a drive force generating component. For example, the first drive unit 14a is configured as a device for generating drive force, such as a motor, actuator, pump, etc., and the first drive unit 14a includes a shape memory alloy (SMA) and is configured as a device for linear reciprocating motion according to the temperature change of the shape memory alloy.

[0085] In another embodiment, the first drive unit 14a receives external driving force and transmits the driving force to the first connector 14b.

[0086] The first connector 14b is disposed between the first drive unit 14a and the moving member 14c, and transmits the driving force from the first drive unit 14a to the moving member 14c. For example, the first connector 14b can be a component such as a metal wire, belt, chain, transmission belt, or gear.

[0087] The moving part 14c is connected to the first connecting part 14b, and the first axis 12b is moved linearly by driving the first connecting part 14b.

[0088] In one example, the movable component 14c is connected to the first shaft 12b, and the first shaft 12b moves linearly according to the displacement of the movable component 14c. That is, the movable component 14c and the first shaft 12b can move together.

[0089] In another embodiment, the movable member 14c is connected to the first shaft 12b, and the movable member 14c transmits driving force to the first shaft 12b, thereby adjusting the position of the first shaft 12b. That is, when the movable member 14c is fixed, it transmits driving force to the first shaft 12b to adjust its position. For example, the movable member 14c and the first shaft 12b can be configured as a rack and pinion structure, so that the first shaft 12b is displaced by the drive of the movable member 14c.

[0090] The second coupler unit 15 causes the shaft unit 12 to tumble. The second coupler unit 15 is connected to the second shaft 12c, causing the second shaft 12c to tumble about its length as the central axis.

[0091] The second coupler unit 15 includes a second drive unit 15a, a second connector 15b, and a rotating member 15c.

[0092] The second drive unit 15a transmits the driving force that causes the rotating member 15c to rotate to the second connecting member 15b.

[0093] In one embodiment, the second drive unit 15a may be configured as a variety of devices for generating driving force, such as a motor, actuator, pump, etc., that generate driving force like the first drive unit 14a.

[0094] In another embodiment, the second drive unit 15a receives external driving force and transmits the driving force to the second connector 15b.

[0095] The second connector 15b is disposed between the second drive unit 15a and the rotating member 15c, and transmits the driving force generated by the second drive unit 15a to the rotating member 15c. For example, the second connector 15b can be a component such as a metal wire, belt, chain, transmission belt, or gear.

[0096] The rotating component 15c is connected to the second connecting component 15b, and the second shaft 12c is rotated by the drive of the second connecting component 15b.

[0097] In one embodiment, the rotating member 15c is mounted on the outer periphery of the second shaft 12c and rotates together with the second shaft 12c as driven by the second driving unit 15a.

[0098] In another embodiment, the rotating member 15c is fixed to the outside of the second shaft 12c, and only the driving force is transmitted to the second shaft 12c as the second driving unit 15a drives it.

[0099] When the surgical instrument 10 is driven by the first coupler unit 14, it causes the first axis 12b to move linearly to drive the end effector 11.

[0100] When the first shaft 12b reciprocates along the length direction, the clamp (Jaw) of the end effector 11 rotates around the rotation axis, and the clamp and the anvil 12a can form a gripping force.

[0101] When the surgical instrument 10 is driven by the second coupler unit 15, it causes the second shaft 12c to rotate, causing the shaft unit 12 to tumble.

[0102] The second shaft 12c, along with the anvil 12a and the first shaft 12b, undergoes a tumbling motion. Therefore, when the second coupler unit 15 rotates, the end effector 11 also undergoes a tumbling motion due to the rotation of the second shaft 12c.

[0103] According to an embodiment of the present invention, the surgical system 1 and surgical instrument 10 drive the end effector 11 by a simple drive of the drive force transmission device 13. The moving part 14c of the first coupler unit 14 causes the first axis 12b to move linearly, thereby performing the grasping action of the end effector 11.

[0104] Figure 3 A surgical instrument 100 according to an embodiment of the present invention is shown. Figure 4 yes Figure 3 A plan view of the proximal portion of the surgical instrument 100 shown. Figure 5 It is along Figure 4 A cross-sectional view taken from line A-A'.

[0105] like Figures 3 to 5 As shown, a surgical instrument 100 according to an embodiment of the present invention includes: a jaw 110, which is mounted on a shaft unit 130 and the proximal end of the shaft unit 130; and a drive force transmission device 150, which is connected to the distal end of the shaft unit 130.

[0106] During surgery, the proximal ends of clamp 110 and shaft unit 130 are placed into the affected area to perform the necessary surgical actions.

[0107] Clamp 110 is mounted on the proximal end of shaft unit 130. The distal end of clamp 110 engages with the proximal end of shaft unit 130 so that clamp 110 performs surgical actions in conjunction with the movement of shaft unit 130.

[0108] In the clamp 110, one side is located on the first shaft 1303, and the other side is located on the second shaft 1305.

[0109] One side of the clamp 110 is rotatably mounted on the first shaft 1303 via the first locking part 110a. The other side of the clamp 110 is rotatably mounted on the second shaft 1305 via the second locking part 110b.

[0110] The first shaft 1303 moves linearly via the drive of the first coupler unit 153, but the second shaft 1305 does not receive driving force from the first coupler unit 153. As the first shaft 1303 moves, one side of the clamp 110 causes the first locking part 110a to move linearly as well. At this time, the other side of the clamp 110 rotates around the second locking part 110b. Through the above-mentioned action of the clamp 110, a change in gripping force occurs between the anvil 1301 and the clamp 110.

[0111] The axial unit 130 is elongated and extends from the proximal end to the distal end. Furthermore, the cross-section of the axial unit 130 is circular to prevent damage to surrounding cells when it is placed in the affected area.

[0112] For example, the surface of the shaft element 130 that contacts the surgical site may be curved. Furthermore, the cross-section of the shaft element 130 may be circular.

[0113] The shaft unit 130 includes an anvil 1301, a first shaft 1303, and a second shaft 1305.

[0114] In one embodiment, the shaft unit 130 is centered on the anvil 1301, and the first shaft 1303 and the second shaft 1305 are arranged sequentially in the direction of the projectile.

[0115] The anvil 1301 extends along the length of the shaft unit 130. The anvil 1301 is defined as the central axis of the shaft unit 130, and a first shaft 1303 and a second shaft 1305 are provided on the outer side of the anvil 1301.

[0116] The proximal end of the anvil 1301 is linked to the clamp 110. As the clamp 110 rotates, the proximal end can grasp or release the affected area.

[0117] In one embodiment, the proximal end of the anvil 1301 protrudes more than at least one of the first shaft 1303 and the second shaft 1305. For example, the proximal end of the anvil 1301 protrudes more than the first shaft 1303 and the second shaft 1305, so that it can overlap with the clamp 110 and perform actions such as cutting and gripping as the clamp 110 is driven.

[0118] In one embodiment, the anvil 1301 has a cross-section that is both round and long. The anvil 1301 may be cylindrical to facilitate the passage of the first shaft 1303 and the second shaft 1305.

[0119] The anvil component 1301 tumbles as driven by the second coupler unit 155. When driven by the second coupler unit 155, the anvil component 1301 tumbles along with the first shaft 1303 and the second shaft 1305, centered on the length direction.

[0120] The first shaft 1303 covers the anvil 1301 from the outside. The first shaft 1303 is a long tube with a diameter larger than that of the anvil 1301 so that there is space inside to accommodate the anvil 1301.

[0121] The second shaft 1305 covers the first shaft 1303 from the outside. The second shaft 1305 is a long tube with a diameter larger than that of the first shaft 1303 so that it has an internal space to accommodate the first shaft 1303.

[0122] The shaft unit 130 causes the anvil 1301, the first shaft 1303, and the second shaft 1305 to tumble together.

[0123] In shaft unit 130, the first shaft 1303 moves along the length direction relative to the anvil 1301 and the second shaft 1305. The movement of shaft unit 130 and clamp 110 will be described in further detail below.

[0124] Figure 6 Showing from one direction Figure 3 A perspective view of the driving force transmission device 150. Figure 7 Shown from another direction Figure 6 A perspective view of the driving force transmission device.

[0125] like Figure 6 and Figure 7 As shown, the driving force transmission device 150 is located at the far end of the shaft unit 130.

[0126] In one embodiment, the driving force transmission device 150 includes a base 151, a first coupler unit 153, and a second coupler unit 155.

[0127] The base 151 provides space for mounting the distal end of the shaft unit 130, the first coupler unit 153, and the second coupler unit 155.

[0128] The base 151 is made of a strong material to protect the installed components from external impacts. The base 151 can be formed as a single component, or, for ease of assembly, it can be formed as multiple components located at the top and bottom.

[0129] To receive driving force, the lower part of the base 151 is provided with a plurality of knobs. These knobs are connected to an external drive unit (not shown) and receive driving force from it. For example, a protruding knob is fitted into a slot in the drive unit and can be rotated by the drive unit.

[0130] The first knob 151a is connected to the drive unit 1533 of the first coupler unit 153. When the first knob 151a rotates, it transmits driving force to the drive unit 1533, thereby driving the first coupler unit 153.

[0131] In one embodiment, there is a pair of first knobs 151a connected to each of the first coupler units 153. The pair of first knobs 151a rotates in opposite directions, driving the first coupler units 153.

[0132] In another embodiment, although not shown in the drawings, a first knob may be included. The first coupler unit 153 is connected to an external drive device and is driven by the drive device.

[0133] The second knob 151b is connected to the second connecting pulley 1553 of the second coupler unit 155. When the second knob 151b rotates, it transmits driving force to the second connecting pulley 1553, driving the second coupler unit 155.

[0134] The first coupler unit 153 includes a moving part 1531 and a drive unit 1533 to transmit driving force to the clamp 110.

[0135] The movable component 1531 is connected to the shaft unit 130, which is part of the movable shaft unit 130.

[0136] Specifically, the movable element 1531 is coupled to the shaft unit 130 so as to move together with the shaft unit 130. It can be configured along the extension direction of the shaft unit 130.

[0137] The movable member 1531 is connected to the distal end 1303D of the first shaft 1303. The distal end 1303D of the first shaft 1303 has a slot 1303G, in which the movable member 1531 is fitted. The inner circumference of the movable member 1531 is fitted in the slot 1303G, and the movable member 1531 and the first shaft 1303 can move together. Therefore, as the movable member 1531 moves, the distal end 1303D of the first shaft 1303 can also move together.

[0138] The movable component 1531 is engaged with the first shaft 1303 in the shaft unit 130, but may not be engaged with the anvil component 1301 and the second shaft 1305. As the movable component 1531 moves linearly, the first shaft 1303 moves together with the movable component 1531, but the anvil component 1301 and the second shaft 1305 do not move linearly.

[0139] The drive unit 1533 is connected to the movable member 1531 to move the movable member 1531. Preferably, the drive unit 1533 transmits a driving force to the movable member 1531 to facilitate movement along the extension direction of the shaft unit 130.

[0140] In one embodiment, drive units 1533 are respectively disposed on both sides of the movable member 1531. A pair of drive units 1533 receive driving force from an external drive device (position). At this time, the pair of drive units 1533 rotate in different directions to cause the movable member 1531 to transmit force in the same direction.

[0141] In another embodiment, the drive unit is disposed on one side of the moving member. Although not shown in the figures, the drive unit receives driving force from an external drive device, causing the moving member to move linearly. Preferably, the drive unit 1533 is disposed at the center of the moving member 1531.

[0142] In another embodiment, a pair of drive units are arranged on both sides of the moving member, and driving force is transmitted to either of the pair of drive units. Driving force can be transmitted to the pair of drive units via a connecting member (not shown). When transmitting driving force to either of the pair of drive units, driving force can also be transmitted to the other via the connecting member (not shown).

[0143] The drive unit 1533 includes: a first rotating shaft 1533a that receives driving force and a connecting member 1533b for connecting the first rotating shaft 1533a and the moving member 1531.

[0144] The first rotating shaft 1533a is connected to the first knob 151a, and receives driving force through the first knob 151a.

[0145] In the link 1533b, one end is connected to the first rotating shaft 1533a, and the other end is connected to the moving member 1531. The link 1533b is rotatably disposed on the first rotating shaft 1533a and the moving member 1531. Therefore, the moving member 1531 can be linearly moved by rotating the first rotating shaft 1533a.

[0146] When the driving force is transmitted from an external drive device (not shown) to the first rotating shaft 1533a, the first rotating shaft 1533a rotates while the connecting member 1533b moves. When the connecting member 1533b moves, the moving member 1531 connected to the connecting member 1533b moves along the extension direction of the shaft unit 130, and the first shaft 1303 connected to the moving member 1531 also moves along the extension direction together with the moving member 1531.

[0147] The second coupler unit 155 is disposed on the distal end of the shaft unit 130 that passes through the drive force transmission device 150, thereby adjusting the tumbling of the drive shaft unit 130. The second coupler unit 155 includes a first connecting pulley 1551, a second connecting pulley 1553, and a connector 1555.

[0148] The first connecting pulley 1551 is located on one side of the shaft unit 130, or it can be located on the shaft unit 130 itself. The first connecting pulley 1551 is assembled on the shaft unit 130 and performs a rolling motion together with the shaft unit 130.

[0149] Specifically, the first connecting pulley 1551 is located at the distal end of the shaft unit 130, wrapping around the outer periphery of the second shaft 1305. The first connecting pulley 1551 is integrally connected to the second shaft 1305 and performs tumbling motion together with the second shaft 1305.

[0150] The first connecting pulley 1551 is disposed in the section between the distal end 1305D of the first shaft 1303 and the torque suppression part 157. The first connecting pulley 1551 is disposed in the section of the first shaft 1303 between the moving member 1531 and the torque suppression part 157. Due to this configuration, the first connecting pulley 1551 and the moving member 1531 are spatially separated, and they drive independently without interference.

[0151] The first connecting pulley 1551 has a groove on its outer circumference where a connecting member 1555 is provided. The connecting member 1555 is assembled in the groove of the first connecting member 1555, so as to smoothly and without loss transmit driving force.

[0152] In one embodiment, the first connecting pulley 1551 is divided into a distal end 1551D and a proximal end 1551P. The distal end 1551D and the proximal end 1551P each have a groove with a connecting member 1555.

[0153] The second connecting pulley 1553 is rotatably mounted on the base 151. The second connecting pulley 1553 is connected to the first connecting pulley 1551, which is coupled with the shaft unit 130, and transmits driving force to the first connecting pulley 1551 to make the first connecting pulley 1551 rotate. The first connecting pulley 1551 and the second connecting pulley 1553 are connected by a connector 1555.

[0154] The second connecting pulley 1553 is connected to the second knob 151b and rotates by the driving force transmitted through the second knob 151b.

[0155] In one embodiment, the second connecting pulley 1553 is divided into a first part 1553a and a second part 1553b along the height direction. The first part 1553a and the second part 1553b are respectively provided with connecting members 1555, and each connecting member 1555 is assembled to the distal end 1551D and the proximal end 1551P of the first connecting pulley 1551.

[0156] The first part 1553a and the proximal end 1551P are connected by any one connector, and the second part 1553b and the distal end 1551D are connected by another connector. The first part 1553a and the second part 1553b transmit power to the proximal end 1551P and the distal end 1551D respectively, thus the driving force can be transmitted smoothly without distortion.

[0157] Specifically, the first connecting pulley 1551 transmits driving force to both the proximal end 1551P and the distal end 1551D, thus distributing the force relatively evenly along the length direction. Therefore, torsion of the first connecting pulley 1551 can be suppressed, maintaining durability.

[0158] The second connecting pulley 1553 transmits driving force to both the first part 1553a and the second part 1553b, distributing the force relatively evenly along the height direction. Therefore, the torsion of the first connecting pulley 1551 can be suppressed, maintaining durability.

[0159] The connector is used to connect the first connecting pulley 1551 and the second connecting pulley 1553. The connector may be a metal wire, which is disposed between the first connecting pulley 1551 and the second connecting pulley 1553 to connect them.

[0160] When the driving force is transmitted from an external drive device (not shown) to the second connecting pulley 1553, the second connecting pulley 1553 rotates. Furthermore, while the first connecting pulley 1551, which is connected to the second connecting pulley 1553, is driven to tumble via the connector 1555, the drive shaft unit 130 also tumbles.

[0161] In one embodiment of the second coupler unit, the connecting member connecting the second connecting pulley and the first connecting pulley is configured as a metal wire wound in opposite directions, so that the tumbling rotation direction of the shaft unit can be either forward or reverse.

[0162] In a preferred embodiment, the drive force transmission device 150 further includes a torque suppression section 157. One side of the torque suppression section 157 is connected to the drive force transmission device 150, and the other side is connected to the shaft unit 130.

[0163] During surgery, with the proximal end of the shaft unit 130 inserted into the affected area, excessive rotation of the shaft unit 130 can damage the affected area. The torque suppression unit 157 can suppress excessive drive of the shaft unit 130 to tumble.

[0164] The drive force transmission device 150 further includes an elastic element 159 disposed along the extending direction of the shaft unit 130. The elastic element 159 is disposed at the distal end of the shaft unit 130, adjacent to the moving element 1531.

[0165] The elastic element 159 is a component that generates elastic force and restoring force, and it is not limited to a specific component. However, for ease of description, the following description will focus on the example of the elastic element 159 being a spring.

[0166] One end of the elastic element 159 contacts the movable element 1531. Furthermore, the elastic element 159 may contact the distal end of the second shaft 1305. When the movable element 1531 or the first shaft 1303 moves linearly, the elastic element 159 generates a buffering force, thus enabling a damping function. Additionally, the elastic element 159 adds elastic force to the clamp 110 to enhance grip strength.

[0167] like Figure 9 As shown, in one embodiment, the elastic element 159 contacts the proximal end of the movable element 1531. When the movable element 153 moves linearly, the elastic element 159 compresses or expands and generates a restoring force, softening the grip of the clamp 110.

[0168] In another embodiment, although not shown in the drawings, the elastic member 159 contacts the distal end of the movable member 1531. In yet another embodiment, the elastic member 159 contacts the distal end 1303D of the first shaft 1303.

[0169] Figure 8 yes Figure 3 The surgical instrument shown is a plan view of the driving clamp. Figure 9 and Figure 10 It shows Figure 8 Driven by region A in the middle, Figure 11 and Figure 12 It shows Figure 8 Driven by region B in the middle.

[0170] like Figures 8 to 12 As shown, in one embodiment of the present invention, the surgical instrument 100 adjusts the position of the clamp 110 via the first coupler unit 153.

[0171] The first coupler unit 153 is driven by a driving force transmitted from outside the driving force transmission device 150.

[0172] When the driving force is transmitted to the first rotating shaft 1533a, as the first rotating shaft 1533a rotates, the connecting member 1533b moves, moving the moving member 1531 along the extension direction of the shaft unit 130 to the proximal end or the distal end.

[0173] The movable element 1531 of the first coupler unit 153 is connected to the shaft unit 130, enabling the shaft unit 130 to move linearly. The movable element 1531 is connected to the distal end 1303D of the first shaft 1303, therefore, the linear movement of the movable element 1531 can enable the first shaft 1303 to move linearly.

[0174] like Figure 9 As shown, the movable part 1531 is adjacent to the first connecting pulley 1551.

[0175] Then, when the first coupler unit 153 is driven by an external drive device (not shown), as follows: Figure 10 As shown, the first rotating shaft 1533a rotates. The first rotating shaft 1533a and the connecting member 1533b move the movable member 1531 to its original position.

[0176] A pair of first rotating shafts 1533a rotate in opposite directions, causing the movable member 1531 to move to its original position. At this time, the elastic member 159 comes into contact with either the movable member 1531 or the distal end 1305D of the second shaft 1305. The elastic member 159 is compressed or expanded to provide a buffering effect, making the movement of the first shaft 1303 smooth.

[0177] When the moving part 1531 causes the first shaft 1303 to reciprocate linearly, the clamp 110 rotates in the shaft unit 130 to form or release gripping force.

[0178] One side of the clamp 110 is rotatably connected to the first shaft 1303 via the first locking part 110a, and the other side of the clamp 110 is rotatably connected to the second shaft 1305 via the second locking part 110b. When the first shaft 1303 moves to the proximal end, the first locking part 110a also moves to the proximal end, and the clamp 110 rotates around the second locking part 110b as the center.

[0179] The clamp 110 generates gripping force at the end effector by rotating. The proximal ends of the clamp 110 and the anvil 1301 can be changed to a gripping state and a spaced-out state, thereby generating or releasing gripping force at the proximal ends of the clamp 110 and the anvil 1301.

[0180] According to an embodiment of the present invention, the surgical instrument 100 drives the anvil 1301, the first shaft 1303 and the second shaft 1305 disposed on the shaft unit 130 to tumble together. However, the surgical instrument 100 allows the first shaft 1303 to be drivably coupled to the anvil 1301 and the second shaft 1305 separately.

[0181] The shaft unit 130 includes an anvil 1301, a first shaft 1303 located outside the anvil 1301, and a second shaft 1305 located outside the first shaft 1303.

[0182] The anvil component 1301 has a first locking hole 1301a for penetrating the anvil component 1301. The first shaft 1303 has a second locking hole 1303a for penetrating the first shaft 1303. The second shaft 1305 has a third locking hole 1305a for penetrating the second shaft 1305.

[0183] The first locking hole 1301a, the second locking hole 1303a and the third locking hole 1305a are arranged in an overlapping manner and are assembled by a connector 131 that passes through them.

[0184] The anvil 1301, the first shaft 1303, and the second shaft 1305 are assembled through the connector 13. Therefore, when the second shaft 1305 is driven to tumble and rotate by the second coupler unit 155, the anvil 1301 and the first shaft 1303 also tumble together.

[0185] The movable element 1531 is disposed at the distal end 1303D of the first shaft 1303. The movable element 1531 is connected to the first shaft 1303, but not to the anvil 1301 and the second shaft 1305.

[0186] The second locking hole 1303a is an elongated hole that extends along its length and is longer than the first locking hole 1301a and the third locking hole 1305a. The open area of ​​the second locking hole 1303a can be larger than the open area of ​​the first locking hole 1301a or the open area of ​​the third locking hole 1305a.

[0187] The second locking hole 1303a allows for linear movement of the first shaft 1303. The connector 131 moves relative to the second locking hole 1303a, which extends along its length.

[0188] When the movable member 1531 moves along the length of the shaft unit 130, the first shaft 1303 connected to the movable member 1531 can move to a length (d) corresponding to the second locking hole 1303a of the first shaft 1303. At this time, the anvil member 1301 and the second shaft 1305 are fixed to the connector member 131, so the movement of the first shaft 1303 is not affected.

[0189] Figure 13 yes Figure 3 The surgical instrument 1000 shown is a plan view of the tumbling of the drive shaft unit 130.

[0190] like Figure 9 and Figure 13 As shown, the second coupler unit 155 receives driving force from an external drive device (not shown), causing the drive shaft unit 130 to tumble. The first connecting pulley 1551 and the second connecting pulley 1553 are driven by the driving force transmitted from outside the driving force transmission device 150, driving the second shaft 1305 to tumble.

[0191] When the driving force is transmitted to the second connecting pulley 1553, the second connecting pulley 1553 rotates, and at the same time, the driving force is transmitted to the first connecting pulley 1551 through the connecting member 1555. Furthermore, the driving force transmitted through the connecting member 1555 drives the first connecting pulley 1551 to tumble.

[0192] The anvil 1301, the first shaft 1303, and the second shaft 1305 of the shaft unit 130 are connected by the connector 131. The first connecting pulley 1551 is fixed to the outside of the second shaft 1305. Therefore, when the first connecting pulley 1551 rotates, the entire shaft unit 130 tumbles through the connector 131.

[0193] When the drive shaft unit 130 rolls, the position of the clamp 110, which serves as the end effector, can be adjusted.

[0194] in addition, Figure 14 This is a perspective view of another embodiment of the second coupler unit 155. Figure 15 This is a plan view of another embodiment of the second coupler unit 155.

[0195] like Figure 14 and Figure 15 As shown, the second coupler unit 155 includes a ring gear 1557 and a pinion 1559.

[0196] The ring gear 1557 is rotatably mounted on the base 151, and its teeth are conical along the circumferential direction, meshing with the pinion 1559 described below.

[0197] This ring gear 1557 is rotatably engaged with the base 151 and rotates around an axis that intersects the shaft unit 130 at a right angle. It is also engaged with a second knob 151b provided on the base 151, thereby rotating by the driving force transmitted through the second knob 151b.

[0198] The pinion 1559 is located on one side of the shaft unit 130 and meshes with the ring gear 1557. When the ring gear 1557 rotates, it rotates together with the shaft unit 130, causing the shaft unit 130 to tumble.

[0199] Specifically, the pinion 1559 is located at the far end of the shaft unit 130, wrapping around the outer periphery of the second shaft 1305, or it can be arranged in a conical shape along the circumferential direction.

[0200] This pinion 1559 meshes with the ring gear 1557, so that the ring gear 1557 rotates together with the shaft unit 130, and performs a tumbling motion.

[0201] That is, the second coupler unit 155 can be composed of a bevel gear, which is one of the gear devices used to connect two shafts that intersect in a right-angle direction. Furthermore, by transmitting power from the second knob 151b to the shaft unit 130, the tumbling of the drive shaft unit 130 can be adjusted.

[0202] The pinion 1559 is rotatably engaged with the support block 1515, which is disposed on the base 151 in a manner provided on the shaft unit 130.

[0203] A support block 1515 is vertically disposed on top of the base 151, rotatably supporting the pinion 1559. This allows the pinion 1559 to mesh more securely with the ring gear 1557. Of course, the support block 1515 can be omitted, but in this case, the pinion 1559 can mesh with the ring gear 1557 without the support block 1515.

[0204] According to another embodiment, the second coupler unit 155 can receive driving force from an external drive device (not shown), and while the drive shaft unit 130 tumbles, the position of the clamp 110 is adjusted.

[0205] Specifically, while the ring gear 1557 rotates via the second knob 151b, it causes the pinion 1559 to rotate. The second knob 151b rotates via the driving force of an external drive device (not shown).

[0206] While the pinion 1559 rotates via the ring gear 1557, the second shaft 1305 of the drive shaft unit 130 tumbles.

[0207] The shaft unit 130 is connected to the anvil 1301, the first shaft 1303, and the second shaft 1305 via the connector 131. Thus, when the second shaft 1305 rotates via the pinion 1559, the whole unit rotates and tumbles simultaneously.

[0208] Thus, when the drive shaft unit 130 tumbles, the position of the clamp 110, which serves as the end effector, can be adjusted.

[0209] As described above, the present invention has been described with reference to an embodiment shown in the accompanying drawings. However, these are merely illustrative examples, and those skilled in the art should understand that various modifications and alterations can be made accordingly. Therefore, the actual scope of protection of the present invention should be defined based on the technical concept of the appended claims.

Claims

1. A driving force transmission device for a surgical instrument, characterized in that, In the drive force transmission device of a surgical instrument equipped with a shaft unit and a clamp (jaw) at the proximal end of the shaft unit, include: A base having the distal end of the shaft unit; and The first coupler unit, which is connected to the distal end of the shaft unit, transmits driving force to the clamp. The first coupler unit includes: A movable component, which moves together with the shaft unit, adjusts the drive of the clamp; and A drive unit, connected to the moving member, transmits a driving force to the moving member to move the moving member in the extension direction of the shaft unit, the moving member being connected to a portion of the shaft unit and configured along the extension direction of the shaft unit; The drive unit includes: A first rotating shaft is rotatably mounted on the base; A connecting component for connecting the first rotating shaft and the moving component; and The first knob is connected to the first rotating shaft and transmits driving force to the first rotating shaft.

2. The driving force transmission device for the surgical instrument according to claim 1, characterized in that, Further includes: A second coupler unit, disposed on one side of the shaft unit, adjusts the rotation of the shaft unit.

3. The driving force transmission device for the surgical instrument according to claim 2, characterized in that, The second coupler unit includes: A first connecting pulley is disposed on the shaft unit; A second connecting pulley, rotatably mounted on the base; and A connector that connects the first connecting pulley and the second connecting pulley, and transmits driving force from the second connecting pulley to drive the first connecting pulley to perform a rolling motion.

4. The driving force transmission device for the surgical instrument according to claim 2, characterized in that, The second coupler unit includes: A ring gear, rotatably mounted on the base, rotates by a driving force; and The pinion, when located on the shaft unit, meshes with the ring gear. Through the rotation of the ring gear, it rotates together with the shaft unit, causing the shaft unit to tumble.

5. The driving force transmission device for the surgical instrument according to claim 1, characterized in that, Further includes: An elastic element, which is arranged along the extension direction of the shaft unit, provides an elastic force to the moving element.

6. A surgical instrument, characterized in that, include: The drive force transmission device includes: Shaft unit; clamp (Jaw) mounted on the proximal end of the shaft unit; as well as A first coupler unit, located at the distal end of the shaft unit on the base, transmits driving force to the clamp. The first coupler unit includes: A movable component that moves together with the shaft unit adjusts the drive of the clamp; as well as A drive unit, connected to the moving member, transmits a driving force to the moving member to move the moving member in the extension direction of the shaft unit. The moving member is connected to a portion of the shaft unit and configured along the extension direction of the shaft unit. The drive unit includes: A first rotating shaft, rotatably mounted on the base; and A connecting component for connecting the first rotating shaft and the moving component; and The first knob is connected to the first rotating shaft and transmits driving force to the first rotating shaft.

7. The surgical instrument according to claim 6, characterized in that, The shaft unit includes: Anvil parts; A first shaft, disposed on the outer side of the anvil, with the movable member located at its distal end; and The second shaft is located outside the first shaft and tumbles together with the anvil and the first shaft.

8. The surgical instrument according to claim 7, characterized in that, The shaft unit further comprises: The anvil; The first axis; and A connector for passing through the second shaft. The first shaft has an elongated hole for penetrating the connector.

9. The surgical instrument according to claim 7, characterized in that, In the clamp, one side is rotatably mounted on the first shaft, and the other side is rotatably mounted on the second shaft. When the first shaft moves, the anvil and the clamp generate a gripping force.

10. The surgical instrument according to claim 7, characterized in that, The driving force transmission device further includes: The second coupler unit, located on one side of the shaft unit, adjusts the rolling motion of the second shaft.

11. The surgical instrument according to claim 6, characterized in that, Further includes: An elastic element, which is arranged along the extension direction of the shaft unit, provides an elastic force to the moving element.

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