End tool of a surgical instrument and surgical instrument equipped therewith

Abstract

The present invention relates to an end tool of a surgical instrument and a surgical instrument equipped therewith, and particularly, to an end tool of a surgical instrument mounted on a robot arm or manually operable for laparoscopic surgery or various surgeries and a surgical instrument equipped therewith, wherein the surgical instrument is equipped with an end tool that is rotatable in two or more directions and acts in intuitive correspondence with the action of an operating portion.

Description

Technical Field

[0001] This invention relates to an end-effector of a surgical instrument and a surgical instrument equipped with the same, specifically, to an end-effector of a surgical instrument mounted on a robotic arm or manually operable for use in laparoscopic surgery or various other surgeries, and a surgical instrument equipped with the same, wherein the surgical instrument is equipped with an end-effector that is rotatable in two or more directions and moves in a manner intuitively consistent with the movement of an operating part. Background Technology

[0002] In recent years, laparoscopic surgery, which can reduce postoperative recovery time and complications through small incisions, has been widely used. Laparoscopic surgery involves making multiple small incisions in the patient's abdomen and performing surgery while simultaneously observing the interior of the abdominal cavity through these incisions. It is widely used in general surgery and other procedures.

[0003] During this type of laparoscopic surgery, suturing instruments are inserted into the body to suture the surgical site within the abdominal cavity. These suturing instruments are surgical suture devices that use medical staples to suture the surgical site.

[0004] Generally speaking, a surgical stapler is a medical device widely used in abdominal and thoracic organ surgery for cutting and anastomosing organs. These surgical staplers include open staplers used in open thoracotomy and open laparotomy, and endoscopic staplers used in thoracoscopic and laparoscopic surgery.

[0005] The advantages of surgical staplers lie in their ability to shorten surgical time and precisely suture surgical sites by simultaneously performing cutting at the surgical site and anastomosis of organs. Furthermore, compared to surgical sutures used for cutting and suturing tissue, surgical staplers result in faster recovery and smaller scars, thus they are widely used in modern surgery. In particular, surgical staplers are widely used in cancer surgery for cutting cancerous tissue and suturing the cut sites.

[0006] The background technology described above is technical information possessed by the inventor in order to derive this invention, or obtained in the process of deriving this invention, and should not be considered as necessarily known technology that was disclosed to the public before the application for this invention. Summary of the Invention

[0007] Technical issues

[0008] The present invention aims to provide a surgical instrument that is mounted on a robotic arm or manually operable for laparoscopic surgery or various other surgeries, and that is equipped with an end effector that can rotate in two or more directions and move in a manner intuitively consistent with the movement of the manipulator.

[0009] Technical solution

[0010] This invention provides a surgical instrument comprising: an end effector including a first jaw, a second jaw, a first jaw pulley, a second jaw pulley, and a staple drive assembly; wherein the second jaw is formed opposite to the first jaw; the first jaw pulley is coupled to the first jaw and configured to rotate about a first axis; the second jaw pulley is coupled to the second jaw and configured to rotate about an axis substantially the same as or parallel to the first axis and spaced apart from the first jaw pulley by a certain degree; the staple drive assembly includes a first staple pulley and a second staple pulley formed adjacent to the first jaw pulley or the second jaw pulley; and a staple cartridge including a reciprocating motion assembly and a working member; the reciprocating motion assembly is connected to the staple drive assembly and moves linearly therefrom when the first staple pulley and the second staple pulley rotate; the working member is in contact with the reciprocating motion assembly and moves in one direction due to the reciprocating motion assembly when the reciprocating motion assembly moves in one direction.

[0011] Beneficial effects

[0012] According to the present invention, the direction of operation of the operating part and the direction of operation of the end tool by the surgical operator are intuitively the same, thereby improving the convenience of the surgical operator and improving the accuracy, reliability and speed of the surgery. Attached Figure Description

[0013] Figure 1 'a' is a conceptual diagram of the pitching motion of existing surgical instruments. Figure 1 b is a conceptual diagram of the deflection action.

[0014] Figure 1 c is a conceptual diagram of the pitching motion of another existing surgical instrument. Figure 1 d is a conceptual diagram of the deflection action.

[0015] Figure 1 e is a conceptual diagram of the pitching motion of the surgical instrument according to the present invention. Figure 1 f is a conceptual diagram of the deflection action.

[0016] Figure 2 A perspective view of a surgical instrument according to a first embodiment of the present invention is shown.

[0017] Figure 3 for Figure 2 Side view of a surgical instrument.

[0018] Figure 4 and Figure 5 To show Figure 2 A perspective view of the end effector of a surgical instrument.

[0019] Figure 6 To show Figure 2 A diagram of the center of the end-effector of a surgical instrument.

[0020] Figure 7 and Figure 8 To show Figure 2 A plan view of the end effector of a surgical instrument.

[0021] Figure 9 To show Figure 2 A side view of the end tool of a surgical instrument.

[0022] Figure 10 and Figure 11 for Figure 2 Exploded perspective view of the end effector of a surgical instrument.

[0023] Figure 12 To show Figure 2 A perspective view of the first jaw pulley of a surgical instrument.

[0024] Figure 13 To show Figure 2 A plan view of the first jaw of a surgical instrument.

[0025] Figure 14 To show Figure 2 A plan view of the second jaw of a surgical instrument.

[0026] Figure 15 and Figure 16 To show Figure 2 Exploded perspective view of the suture pulley and suture connector of a surgical instrument.

[0027] Figure 17 and Figure 18 To illustrate the stitching pin pulley in Figure 2 A side view of the operational state of the end effector of a surgical instrument.

[0028] Figure 19 and Figure 20 To illustrate the stitching pin pulley in Figure 2 A perspective view of the motion state of the end effector of a surgical instrument.

[0029] Figure 21 , Figure 22 , Figure 23 as well as Figure 24 To show Figure 2 A plan view of the opening and closing action of the first and second jaws of a surgical instrument.

[0030] Figure 25 and Figure 26 To show Figure 2A perspective view of the opening and closing action of the end effector of a surgical instrument.

[0031] Figure 27 To show Figure 2 A perspective view of the first jaw and staple cartridge of a surgical instrument.

[0032] Figure 28 To show Figure 27 Exploded perspective view of the central nail chamber.

[0033] Figure 29 To show Figure 27 Perspective view of the central nail chamber.

[0034] Figure 30 To show Figure 27 Side view of the central nail chamber.

[0035] Figure 31 To show Figure 27 A perspective cross-sectional view of the central nail magazine.

[0036] Figure 32 To show Figure 27 Side sectional view of the central nail magazine.

[0037] Figure 33 and Figure 34 To show Figure 27 Perspective view of the working components of the central nail magazine.

[0038] Figure 35 To show Figure 2 A side sectional view of the stapled suture-related structures of the end-effector of a surgical instrument.

[0039] Figure 36 and Figure 37 To show Figure 2 A perspective cross-sectional view of the stapled suture structure of the end tool of a surgical instrument.

[0040] Figures 38 to 41 To show Figure 30 Perspective view of the ratchet-driven action of the mid-end tool.

[0041] Figure 42 and Figure 43 To show Figure 36 A plan view of the ratchet-driven action of the mid-end tool.

[0042] Figure 44 To show the whole Figure 36 Perspective view of the ratchet-driven action of the mid-end tool.

[0043] Figure 45 and Figure 46 To show the whole Figure 36 A perspective view of the stitching action of the mid-end tool.

[0044] Figure 47 and Figure 48 To show Figure 2 A perspective view of the operating section of a surgical instrument.

[0045] Figure 49 To show the components only briefly Figure 2 The diagram shows the arrangement of pulleys and wires in the joints of the surgical instrument.

[0046] Figure 50 To show Figure 2 A perspective view of the deflection motion of surgical instruments.

[0047] Figure 51 and Figure 52 For each of the first and second jaws, the decomposition is shown with respect to... Figure 2 The diagram shows the configuration of pulleys and wires related to the actuation and deflection actions of the surgical instruments shown.

[0048] Figure 53 , Figure 54 Figure 55 shows an exploded view of each of the first and second jaws. Figure 2 The diagram shows the configuration of pulleys and guide wires related to the stapled and cut movements of the surgical instruments.

[0049] Figure 56 To show Figure 2 A perspective view of the pitching and flexing motion of surgical instruments.

[0050] Figure 57 , Figure 58 as well as Figure 59 For each of the first and second jaws, the decomposition is shown with respect to... Figure 2 The diagram shows the configuration of pulleys and guide wires related to the pitching motion of the surgical instrument.

[0051] Figure 60 , Figure 61 , Figure 62 as well as Figure 63 To show Figure 2 A plan view of the actuation action of the end effector of a surgical instrument, showing the process of the jaw performing an actuation action in a deflected rotation of -90°.

[0052] Figure 64 , Figure 65 , Figure 66 as well as Figure 67 To show Figure 2 A plan view of the actuation action of the end effector of a surgical instrument, showing the process of the jaws performing an actuation action in a deflected rotation of +90°.

[0053] Figure 68 and Figure 69 To show Figure 2 A plan view of the suturing action of the end tool of a surgical instrument, showing the process of the jaws performing staple suturing in a deflected rotation of +90°.

[0054] Figure 70 and Figure 71 To show Figure 2 A plan view of the suturing action of the end tool of a surgical instrument, showing the process of the jaws performing staple suturing with a deflection rotation of -90°.

[0055] Figure 72 , Figure 73 , Figure 74 as well as Figure 75 To show Figure 2 A perspective view of the pitching and flexing motion of surgical instruments.

[0056] Figure 76 , Figure 77 , Figure 78 as well as Figure 79 To show Figure 2 A perspective view of the deflection motion of surgical instruments.

[0057] Figure 80 , Figure 81 , Figure 82 as well as Figure 83 To show Figure 2 A plan view of the pitch, rotation, and yaw rotation states of the end effector of a surgical instrument.

[0058] Figure 84 and Figure 85 A perspective view showing the end tool of a surgical instrument according to a variant of the present invention.

[0059] Figure 86 and Figure 87 for Figure 84 Exploded perspective view of the end effector of a surgical instrument.

[0060] Figure 88 and Figure 89 To show Figure 84 Exploded perspective view of the suture pulley assembly and suture connector assembly of a surgical instrument.

[0061] Figure 90 and Figure 91 To illustrate the stitching pin pulley in Figure 84 A side view of the operational state of the end effector of a surgical instrument.

[0062] Figure 92 and Figure 93 To illustrate the stitching pin pulley in Figure 84A perspective view of the motion state of the end effector of a surgical instrument.

[0063] Best mode

[0064] An embodiment of the present invention provides a surgical instrument comprising: an end effector including a first jaw, a second jaw, a first jaw pulley, a second jaw pulley, and a staple drive assembly, wherein the second jaw is formed opposite to the first jaw, the first jaw pulley is coupled to the first jaw and configured to rotate about a first axis, the second jaw pulley is coupled to the second jaw and configured to rotate about an axis substantially the same as or parallel to the first axis and spaced apart from the first jaw pulley by a certain degree, the staple drive assembly including a first staple pulley and a second staple pulley formed adjacent to the first jaw pulley or the second jaw pulley; and a staple cartridge including a reciprocating motion assembly and a working member, the reciprocating motion assembly being connected to the staple drive assembly and moving linearly therefrom when the first staple pulley and the second staple pulley rotate, the working member being in contact with the reciprocating motion assembly and moving in one direction due to the reciprocating motion assembly when the reciprocating motion assembly moves in one direction.

[0065] In this invention, the reciprocating moving component connected to the suture drive assembly moves toward the distal or proximal end of the staple cartridge when the first suture pulley or the second suture pulley rotates.

[0066] In this invention, the first suture pin pulley or the second suture pin pulley rotates alternately in a clockwise and counterclockwise direction, while the reciprocating moving component connected to the suture pin drive assembly moves alternately toward the distal end and proximal end of the staple cartridge.

[0067] In this invention, the reciprocating moving assembly moves toward the distal end of the staple cartridge, and the working member moves toward the distal end of the staple cartridge due to the reciprocating moving assembly.

[0068] In this invention, the bidirectional rotational motion of the first suture pin pulley or the second suture pin pulley is converted into the reciprocating linear motion of the reciprocating moving component connected to the suture pin drive assembly by the suture pin drive assembly.

[0069] In this invention, the characteristic is that when the working member moves in the direction and the wedge-shaped portion of the working member sequentially pushes a plurality of suture staples in the staple cartridge to perform a staple stitching action, a blade formed on one side of the wedge-shaped portion of the working member moves in the direction and performs a cutting action.

[0070] In this invention, the suture drive assembly includes a connecting member that connects the first suture pulley, the second suture pulley, and the reciprocating motion assembly.

[0071] In this invention, the working member comprises a ratchet member, wherein a ratchet is formed in at least one side of the ratchet member.

[0072] The ratchet of the ratchet member is configured to contact the reciprocating motion assembly.

[0073] In this invention, the working member moves together with the reciprocating moving assembly toward the distal end of the staple cartridge only when the reciprocating moving assembly moves toward the distal end of the staple cartridge.

[0074] In this invention, the first suture pin pulley rotates in a first direction between clockwise and counterclockwise, and the second suture pin pulley rotates in the opposite direction between the first and counterclockwise directions, the connecting member connected to the first suture pin pulley and the second suture pin pulley, the reciprocating moving assembly connected to the connecting member, and the working member in contact with the reciprocating moving assembly move toward the distal end of the staple cartridge.

[0075] In this invention, the first suture pin pulley rotates in the opposite direction of the first direction (clockwise and counterclockwise) and the second suture pin pulley rotates in the first direction (clockwise and counterclockwise), the connecting member connected to the suture pin pulley and the reciprocating moving assembly connected to the connecting member move toward the proximal end of the end tool, and the working member stops in the one direction.

[0076] In this invention, a first protruding member is formed in the first suture pin pulley, a second protruding member is formed in the second suture pin pulley, a first groove is formed on the surface of the connecting member opposite to the first suture pin pulley, and a second groove is formed on the surface of the connecting member opposite to the second suture pin pulley.

[0077] In this invention, the first protruding member and the second protruding member are formed in a cam shape, the first protruding member rotates while pressing the first groove of the connecting member, and the second protruding member rotates while pressing the second groove of the connecting member, thereby moving the connecting member.

[0078] In this invention, the center of the first protruding member is not the same as the center of the first suture pin pulley, and the first protruding member is formed to a certain extent eccentric relative to the first suture pin pulley; the center of the second protruding member is not the same as the center of the second suture pin pulley, and the second protruding member is formed to a certain extent eccentric relative to the second suture pin pulley.

[0079] In this invention, the connecting member moves in one direction when the first suture pin pulley and the second suture pin pulley rotate in opposite directions, and stops in one direction when the first suture pin pulley and the second suture pin pulley rotate in the same direction.

[0080] In this invention, it is characterized by further comprising: a first suture guide wire, which causes the first suture pulley to rotate by engaging with the first suture pulley; and a second suture guide wire, which causes the second suture pulley to rotate by engaging with the second suture pulley.

[0081] In this invention, the invention is characterized by further comprising: a pair of end-tool first jaw pitch main pulleys formed on one side of the first jaw pulley and configured to rotate about a second axis at a predetermined angle to the first axis; and a pair of end-tool second jaw pitch main pulleys formed on one side of the second jaw pulley and configured to rotate about an axis substantially the same as or parallel to the second axis.

[0082] In this invention, the end effector is characterized in that it is configured to deflect and rotate about the first axis, and simultaneously pitch and rotate about the second axis.

[0083] In this invention, the first jaw pulley, the first suture pin pulley, the second suture pin pulley, and the second jaw pulley are stacked sequentially.

[0084] In this invention, the suture nail driving assembly is formed between the first jaw pulley and the second jaw pulley.

[0085] Another embodiment of the present invention provides an end effector for a surgical instrument, comprising: a first jaw for receiving a staple cartridge; a second jaw formed opposite to the first jaw; a first jaw pulley coupled to the first jaw and configured to rotate about a first axis; a second jaw pulley coupled to the second jaw and configured to rotate about an axis substantially the same as or parallel to the first axis, and configured to be spaced apart from the first jaw pulley by a certain degree; and a staple driving assembly including a first jaw formed adjacent to the first jaw pulley or the second jaw pulley. The assembly includes a staple pulley and a second staple pulley; a first staple guide wire that transmits the driving force required for the rotation of the first staple pulley to the first staple pulley by contacting at least a portion of it; and a second staple guide wire that transmits the driving force required for the rotation of the second staple pulley to the second staple pulley by contacting at least a portion of it, wherein, since the staple drive assembly is connected to the reciprocating motion assembly of the staple cartridge, the rotational motion of the staple pulley is converted into the linear motion of the reciprocating motion assembly.

[0086] In this invention, the invention is characterized by further comprising: a first jaw pulley joint, a second jaw pulley joint, and an end-effector center, wherein the first jaw pulley joint and the second jaw pulley joint are formed opposite to each other, the end-effector center includes a guide portion connecting the first jaw pulley joint and the second jaw pulley joint, the first jaw pulley is disposed adjacent to the first jaw pulley joint of the end-effector center, and the second jaw pulley is disposed adjacent to the second jaw pulley joint of the end-effector center, such that at least a portion of the suture nail drive assembly is formed between the first jaw pulley and the second jaw pulley.

[0087] In this invention, the first shaft is characterized by being inserted sequentially through the first jaw pulley joint, the first jaw pulley, the first suture pin pulley, the second suture pin pulley, the second jaw pulley, and the second jaw pulley joint.

[0088] In this invention, the first jaw pulley, the first suture pin pulley, the second suture pin pulley, and the second jaw pulley are sequentially stacked within the center of the end tool.

[0089] In this invention, the first jaw pulley, the first suture pin pulley, the second suture pin pulley, and the second jaw pulley are configured to rotate independently of each other.

[0090] In this invention, the feature is that it further includes: a first suture pin auxiliary pulley, which is disposed between the first suture pin pulley and the guide portion.

[0091] In this invention, the first suture thread guide is located on the inner common tangent line of the first suture thread pulley and the first suture thread auxiliary pulley, and the rotation angle of the first suture thread pulley is amplified by the first suture thread auxiliary pulley.

[0092] In this invention, the suture drive assembly includes a suture connector assembly, which connects the first suture pulley, the second suture pulley, and the reciprocating motion assembly.

[0093] In this invention, the suture staple connector assembly includes a connector component, which is respectively connected to the first suture staple pulley, the second suture staple pulley, and the reciprocating movement assembly.

[0094] In this invention, a first protruding member is formed in the first suture pin pulley, a second protruding member is formed in the second suture pin pulley, a first groove and a second groove are formed in the connecting member, the first protruding member is engaged with the first groove, and the second protruding member is engaged with the second groove. When the first suture pin pulley rotates, the first protruding member moves while contacting the first groove in the first groove, and when the second suture pin pulley rotates, the second protruding member moves while contacting the second groove in the second groove.

[0095] In this invention, the first groove and the second groove are symmetrically formed in the connecting member. When the first suture pin pulley and the second suture pin pulley rotate in opposite directions, the connecting member moves in one direction. When the first suture pin pulley and the second suture pin pulley rotate in the same direction, the connecting member stops in that direction.

[0096] In this invention, the first suture pin pulley or the second suture pin pulley rotates alternately in a clockwise and counterclockwise direction, while the suture pin connector assembly connected to the first suture pin pulley or the second suture pin pulley moves alternately toward the distal end and proximal end of the end tool.

[0097] In this invention, the bidirectional rotational motion of the first suture pin pulley or the second suture pin pulley is converted into the reciprocating linear motion of the reciprocating moving component connected to the suture pin connector assembly by the suture pin connector assembly.

[0098] In this invention, a guide groove is formed in the first jaw along its length, and the suture staple connector assembly moves along the guide groove.

[0099] In this invention, the feature is that it further includes: a jaw rotation shaft, which is inserted through the first jaw and the second jaw, thereby becoming the rotation center of the first jaw and the second jaw, wherein the first shaft is a jaw pulley rotation shaft that becomes the rotation center of the first jaw pulley and the second jaw pulley by being inserted through the first jaw pulley and the second jaw pulley, and when the first jaw pulley and the second jaw pulley rotate about the jaw pulley rotation shaft, the jaw rotation shaft moves relative to the jaw pulley rotation shaft.

[0100] In this invention, the jaw rotation axis moves toward the distal end of the end tool when the first jaw and the second jaw are closed, and moves toward the proximal end of the end tool when the first jaw and the second jaw are open.

[0101] In this invention, the invention is characterized by further comprising: a pair of end-tool first jaw pitch main pulleys formed on one side of the first jaw pulley and configured to rotate about a second axis at a predetermined angle to the first axis; and a pair of end-tool second jaw pitch main pulleys formed on one side of the second jaw pulley and configured to rotate about an axis substantially the same as or parallel to the second axis.

[0102] In this invention, the end effector is characterized in that it is configured to deflect and rotate about the first axis, and simultaneously pitch and rotate about the second axis.

[0103] In this invention, the invention is characterized by further comprising: a first jaw wire, at least a portion of which is wound around the first jaw pulley and the pair of end-tool first jaw pitch main pulleys; and a second jaw wire, at least a portion of which is wound around the second jaw pulley and the pair of end-tool second jaw pitch main pulleys.

[0104] Another embodiment of the present invention provides an end effector for a surgical instrument, comprising: a first jaw and a second jaw, which are rotatable independently of each other; a first jaw pulley coupled to the first jaw and configured to rotate about a first axis; a second jaw pulley coupled to the second jaw and configured to rotate about an axis substantially the same as or parallel to the first axis; a first suture pulley configured to rotate about an axis substantially the same as or parallel to the first axis and disposed adjacent to the first jaw pulley; a second suture pulley configured to rotate about an axis substantially the same as or parallel to the first axis and disposed adjacent to the second jaw pulley; and a suture connector assembly connected to the first suture pulley and the second suture pulley respectively, and reciprocating with bidirectional rotation of the first suture pulley or the second suture pulley.

[0105] In this invention, the suture staple connector assembly is characterized by being coupled to a reciprocating motion assembly of a staple cartridge housed within the first jaws, such that the reciprocating motion assembly reciprocates.

[0106] In this invention, the suture staple connector assembly moves toward the distal or proximal end of the end tool along with the first suture staple pulley or the second suture staple pulley.

[0107] In this invention, a first protruding member is formed in the first suture pin pulley, a second protruding member is formed in the second suture pin pulley, a first groove is formed on the surface of the suture pin connector assembly opposite to the first suture pin pulley, and a second groove is formed on the surface of the suture pin connector assembly opposite to the second suture pin pulley.

[0108] In this invention, the first protruding member moves while contacting the first groove when the first suture pin pulley rotates, and the second protruding member moves while contacting the second groove when the second suture pin pulley rotates.

[0109] In this invention, the suture staple connector assembly is characterized by comprising a single connector.

[0110] In this invention, the first protruding member and the second protruding member are formed in a cam shape, the first protruding member rotates while pressing the first groove of the suture pin connector assembly, and the second protruding member rotates while pressing the second groove of the suture pin connector assembly, thereby moving the suture pin connector assembly.

[0111] In this invention, the center of the first protruding member is not the same as the center of the first suture pin pulley, and the first protruding member is formed to a certain extent eccentric relative to the first suture pin pulley; the center of the second protruding member is not the same as the center of the second suture pin pulley, and the second protruding member is formed to a certain extent eccentric relative to the second suture pin pulley.

[0112] In this invention, the first groove and the second groove are formed to be symmetrical about each other on the suture fastener assembly.

[0113] In this invention, the suture pin connector assembly moves in one direction when the first suture pin pulley and the second suture pin pulley rotate in opposite directions, and stops in the same direction when the first suture pin pulley and the second suture pin pulley rotate in the same direction.

[0114] In this invention, a guide groove is formed in the first jaw along its length, and the suture staple connector assembly moves along the guide groove.

[0115] In this invention, the invention is characterized by comprising: a pair of end-tool first jaw pitch main pulleys formed on one side of the first jaw pulley and configured to rotate about a second axis at a predetermined angle to the first axis; and a pair of end-tool second jaw pitch main pulleys formed on one side of the second jaw pulley and configured to rotate about an axis substantially the same as or parallel to the second axis.

[0116] In this invention, the first jaw pulley and the second jaw pulley rotate in the same direction about the second axis, and the first suture pin pulley, the second suture pin pulley, the first jaw pulley, and the second jaw pulley rotate together.

[0117] In this invention, the first jaw pulley and the second jaw pulley rotate in the same direction about the first axis, and the first suture pin pulley and the second suture pin pulley rotate together with the first jaw pulley and the second jaw pulley.

[0118] In this invention, the first jaw pulley and the second jaw pulley rotate in different directions about the first axis, and the first suture pin pulley, the second suture pin pulley, and either the first jaw pulley or the second jaw pulley rotate together.

[0119] In this invention, the first suture pin pulley and the second suture pin pulley may not rotate while the first jaw pulley and the second jaw pulley rotate around the first axis due to the suture pin guide wire.

[0120] In this invention, the first jaw is characterized by forming a staple cartridge receiving portion that can accommodate a staple cartridge, and the second jaw is characterized by forming an anvil, wherein the staples of the staple cartridge can contact the anvil.

[0121] In this invention, the invention is characterized by further comprising: a first jaw wire, at least a portion of which is wound around the first jaw pulley; a second jaw wire, at least a portion of which is wound around the second jaw pulley; a first staple wire, at least a portion of which is wound around the first staple pulley; and a second staple wire, at least a portion of which is wound around the second staple pulley.

[0122] Another embodiment of the present invention provides an end effector for a surgical instrument, comprising: a first jaw and a second jaw, which are rotatable independently of each other; a first jaw pulley, which is coupled to the first jaw and configured to rotate about a first axis; a first jaw guide wire, at least a portion of which is wound around the first jaw pulley; a second jaw pulley, which is coupled to the second jaw and configured to rotate about the first axis; a second jaw guide wire, at least a portion of which is wound around the second jaw pulley; a pair of end effector first jaw pitch main pulleys, which are formed on one side of the first jaw pulley and configured to rotate about a second axis at a predetermined angle to the first axis; and a pair of end effector second jaw pitch main pulleys, which are formed on one side of the second jaw pulley and configured to rotate about a second axis at a predetermined angle to the first axis. The system comprises: a second axis that is substantially the same as or parallel to the first axis, rotating around it; a first suture pulley and a second suture pulley, configured to rotate around the first axis, and disposed between the first jaw pulley and the second jaw pulley; a suture connector assembly connected to the first suture pulley and the second suture pulley, and reciprocating with the bidirectional rotation of the first suture pulley or the second suture pulley; a first suture guide wire that transmits the driving force required for the rotation of the first suture pulley to the first suture pulley by contacting at least a portion of it; and a second suture guide wire that transmits the driving force required for the rotation of the second suture pulley to the second suture pulley by contacting at least a portion of it.

[0123] In this invention, the bidirectional rotational motion of the first suture pin pulley or the second suture pin pulley is converted into the reciprocating linear motion of the suture pin connector assembly.

[0124] In this invention, the staple connector assembly is combined with the reciprocating motion assembly of the staple cartridge housed in the first jaw, and the rotational motion of the first staple pulley or the second staple pulley is transmitted to the working component of the staple cartridge via the staple connector assembly and the reciprocating motion assembly.

[0125] In this invention, the bidirectional rotational motion of the first suture pin pulley or the second suture pin pulley is converted into the reciprocating linear motion of the reciprocating moving component connected to the suture pin connector assembly by the suture pin connector assembly.

[0126] In this invention, the feature is that it further includes: a jaw rotation shaft, which is inserted through the first jaw and the second jaw, thereby becoming the rotation center of the first jaw and the second jaw, wherein the first shaft is a jaw pulley rotation shaft that becomes the rotation center of the first jaw pulley and the second jaw pulley by being inserted through the first jaw pulley and the second jaw pulley, and when the first jaw pulley and the second jaw pulley rotate about the jaw pulley rotation shaft, the jaw rotation shaft moves relative to the jaw pulley rotation shaft.

[0127] In this invention, the jaw rotation axis moves toward the distal end of the end tool when the first jaw and the second jaw are closed, and moves toward the proximal end of the end tool when the first jaw and the second jaw are open.

[0128] In this invention, a movable engagement hole is formed in the first jaw or the second jaw, and a shaft engagement portion is formed in the first jaw pulley or the second jaw pulley. When the shaft engagement portion is inserted into the movable engagement hole, the shaft engagement portion is configured to be able to move to a certain extent within the movable engagement hole.

[0129] In this invention, the first suture pin pulley or the second suture pin pulley rotates alternately in a clockwise and counterclockwise direction, while the suture pin connector assembly connected to the first suture pin pulley or the second suture pin pulley moves alternately toward the distal end and proximal end of the end tool.

[0130] In this invention, a guide groove is formed in the first jaw along its length, and the suture staple connector assembly moves along the guide groove.

[0131] In this invention, the suture staple connector assembly includes a connector component, which is respectively coupled to the first suture staple pulley and the second suture staple pulley.

[0132] In this invention, a first protruding member is formed in the first suture pin pulley, a second protruding member is formed in the second suture pin pulley, a first groove is formed on the surface of the connecting member opposite to the first suture pin pulley, and a second groove is formed on the surface of the connecting member opposite to the second suture pin pulley.

[0133] In this invention, the first protruding member and the second protruding member are formed in a cam shape, the first protruding member rotates while pressing the first groove of the connecting member, and the second protruding member rotates while pressing the second groove of the connecting member, thereby moving the connecting member.

[0134] In this invention, the center of the first protruding member is not the same as the center of the first suture pin pulley, and the first protruding member is formed to a certain extent eccentric relative to the first suture pin pulley; the center of the second protruding member is not the same as the center of the second suture pin pulley, and the second protruding member is formed to a certain extent eccentric relative to the second suture pin pulley.

[0135] In this invention, the thickness of the first groove and the thickness of the second groove are respectively formed to be thinner than the thickness of the connecting member.

[0136] In this invention, the sum of the thickness of the first groove and the thickness of the second groove is substantially the same as the thickness of the connecting member.

[0137] In this invention, the first protruding member moves while contacting the first groove when the first suture pin pulley rotates, and the second protruding member moves while contacting the second groove when the second suture pin pulley rotates.

[0138] In this invention, the first groove and the second groove are symmetrically formed in the connecting member. When the first suture pin pulley and the second suture pin pulley rotate in opposite directions, the connecting member moves in one direction. When the first suture pin pulley and the second suture pin pulley rotate in the same direction, the connecting member stops in that direction.

[0139] In this invention, the protruding member is formed in the shape of a pin, and the protruding member presses against the groove of the connector while rotating, thereby moving the connector.

[0140] In this invention, the groove is formed at an angle rather than concentric with the stitching pin pulley, and the pin moves with the groove.

[0141] In this invention, the connecting member is characterized in that it is formed as a single component.

[0142] In this invention, the invention is characterized by further comprising: a pair of end-tool first jaw pitch main pulleys formed on one side of the first jaw pulley and configured to rotate about a second axis at a predetermined angle to the first axis; and a pair of end-tool second jaw pitch main pulleys formed on one side of the second jaw pulley and configured to rotate about an axis substantially the same as or parallel to the second axis.

[0143] In this invention, the end effector is characterized in that it is configured to deflect and rotate about the first axis, and simultaneously pitch and rotate about the second axis.

[0144] In this invention, the invention is characterized by further comprising: a first jaw wire, at least a portion of which is wound around the first jaw pulley and the pair of end-tool first jaw pitch main pulleys; and a second jaw wire, at least a portion of which is wound around the second jaw pulley and the pair of end-tool second jaw pitch main pulleys.

[0145] In this invention, the invention is characterized by further comprising: a pair of first suture pin pitch pulleys formed on one side of the first suture pin pulley and configured to rotate about a second axis at a predetermined angle to the first axis; and a pair of second suture pin pitch pulleys formed on one side of the second suture pin pulley and configured to rotate about an axis substantially the same as or parallel to the second axis.

[0146] In this invention, the invention is characterized by further comprising: a suture thread guide anti-detachment pulley, which is disposed between the first suture thread pulley and the first suture thread pitch main pulley or between the second suture thread pulley and the second suture thread pitch main pulley, and is configured to rotate about an axis substantially the same as or parallel to the second axis, thereby guiding the path of the first suture thread guide or the second suture thread guide.

[0147] Another embodiment of the present invention provides a method for driving a surgical instrument, comprising: (a) when a first suture pulley of a suture driving assembly rotates about a first axis in a first direction and a second suture pulley rotates about the first axis in a second direction opposite to the first direction, a reciprocating motion assembly of a suture connector assembly connected to the first suture pulley and the second suture pulley, and a staple cartridge connected to the suture connector assembly, moves along the second axis toward the distal end of the staple cartridge; (b) when the reciprocating motion assembly moves toward the distal end of the staple cartridge, a working member in contact with the reciprocating motion assembly moves together with the reciprocating motion assembly toward the distal end of the staple cartridge. (c) The working member moves toward the distal end of the staple cartridge, and the working member discharges the staples in the staple cartridge to the outside of the staple cartridge, while the blade of the working member moves toward the distal end of the staple cartridge; and (d) when the first staple pulley rotates about the first axis in the second direction and the second staple pulley rotates about the first axis in the first direction, the staple connector assembly connected to the first staple pulley and the second staple pulley, and the reciprocating motion assembly of the staple cartridge connected to the staple connector assembly, move toward the proximal end of the staple cartridge.

[0148] In this invention, the first suture pin pulley or the second suture pin pulley rotates toward the first direction or the second direction, and the reciprocating moving assembly moves toward the distal end of the staple cartridge or the proximal end of the staple cartridge.

[0149] In this invention, the bidirectional rotational motion of the first suture pin pulley or the second suture pin pulley about the first axis is converted into the reciprocating linear motion of the reciprocating moving assembly along the second axis, wherein the reciprocating moving assembly is connected to the first suture pin pulley and the second suture pin pulley.

[0150] In this invention, the working component moves toward the distal end of the staple cartridge due to the reciprocating linear motion of the reciprocating moving assembly.

[0151] In this invention, a rack is formed in one side of the reciprocating moving component, and the working member includes a ratchet member with a ratchet formed thereon. The ratchet member is pushed when the rack is in close contact with the ratchet member, thereby moving the ratchet member toward the distal end of the staple cartridge.

[0152] In this invention, the characteristic is that, in step (d), the working component stops in the second axial direction.

[0153] In this invention, the working member moves together with the reciprocating moving assembly toward the distal end of the staple cartridge only when the reciprocating moving assembly moves toward the distal end of the staple cartridge.

[0154] In this invention, it is characterized by further comprising: a first suture guide wire and a second suture guide wire, wherein the first suture guide wire causes the first suture pulley to rotate by engaging with the first suture pulley, and the second suture guide wire causes the second suture pulley to rotate by engaging with the second suture pulley, wherein the bidirectional rotation of the first suture pulley or the first suture pulley is converted into the reciprocating linear motion of the reciprocating moving assembly by the first suture guide wire or the second suture guide wire.

[0155] In this invention, the working member moves toward the distal end of the staple cartridge, and while the wedge-shaped portion of the working member sequentially pushes a plurality of staples in the staple cartridge to perform a staple-sewing action, a blade formed on one side of the wedge-shaped portion of the working member moves toward the distal end of the staple cartridge to perform a cutting action.

[0156] In this invention, the steps (a) to (b) are repeated.

[0157] Other aspects, features, and advantages, in addition to those described above, will become apparent from the following drawings, claims, and detailed description of the invention. Detailed Implementation

[0158] Because this invention can be modified in various ways and has multiple embodiments, specific embodiments will be shown in the accompanying drawings and described in detail. However, this is not intended to limit the invention to the specific embodiments, but should be understood to include all variations, equivalents, and substitutions within the scope of the invention's spirit and technology. In describing this invention, if it is determined that a detailed description of relevant prior art might obscure the gist of the invention, that specific description will be omitted.

[0159] Terms such as "first" and "second" can be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0160] The terminology used in this application is for describing specific embodiments only and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly specifies otherwise. In this application, terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, actions, constituent elements, components, or combinations thereof described in the specification, and should be understood not to preclude the possibility of the presence or addition of one or more other features or numbers, steps, actions, constituent elements, components, or combinations thereof.

[0161] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In the description in conjunction with the drawings, the same or corresponding components will be labeled with the same reference numerals and repeated descriptions thereof will be omitted.

[0162] Furthermore, it should be understood that when describing the various embodiments of the present invention, it is not necessary to describe or implement each embodiment separately. The technical ideas described in each embodiment can be described or implemented in combination with other separately described embodiments.

[0163] A feature of the surgical instrument according to the invention is that when the operating part is rotated in any direction for at least one or more of the pitch, yaw and actuation actions, the end effector rotates in the same direction as the operating direction of the operating part.

[0164] Figure 1 'a' is a conceptual diagram of the pitching motion of existing surgical instruments. Figure 1 b is a conceptual diagram of the deflection action.

[0165] See Figure 1 a. The existing surgical instruments are configured as follows when performing pitching movements: with the end effector 120a positioned forward of the end effector rotation center 121a and the operating section 110a positioned rearward of the operating section rotation center 111a, when the operating section 110a is rotated clockwise, the end effector 120a also rotates clockwise; and when the operating section 120a is rotated counterclockwise, the end effector 120a also rotates counterclockwise. See also... Figure 1b. Existing surgical instruments are configured as follows when performing deflection movements: with the end effector 120a positioned forward of the end effector rotation center 121a and the operating section 110a positioned rearward of the operating section rotation center 111a, rotating the operating section 110a clockwise also rotates the end effector 120a clockwise, and rotating the operating section 120a counterclockwise also rotates the end effector 120a counterclockwise. In this configuration, from the user's left-right perspective, when the user moves the operating section 110a to the left, the end effector 120a moves to the right, and when the user moves the operating section 110a to the right, the end effector 120a moves to the left. As a result, since the user's operating direction is opposite to the end effector's direction of movement, user errors may occur, and the instrument may be difficult to operate.

[0166] Figure 1 c is a conceptual diagram of the pitching motion of another existing surgical instrument. Figure 1 d is a conceptual diagram of the deflection action.

[0167] See Figure 1 c. Some existing surgical instruments are formed in a mirror-symmetric manner. Therefore, during pitching movements, the configuration is as follows: with the end effector 120b positioned forward of the end effector rotation center 121b and the operating part 110b positioned rearward of the operating part rotation center 111b, when the operating part 110b is rotated clockwise, the end effector 120b rotates counterclockwise, and vice versa. In this case, from the perspective of the rotation directions of the operating part and the end effector, the user's rotation direction of the operating part 110b and the corresponding rotation direction of the end effector 120b are opposite. This may cause confusion for the user regarding the direction of operation, resulting in unintuitive joint movements and potential errors. See also... Figure 1d. During deflection, the following occurs: with the end effector 120b positioned forward of the end effector rotation center 121b and the operating part 110b positioned rearward of the operating part rotation center 111b, when the operating part 110b is rotated clockwise, the end effector 120b rotates counterclockwise, and vice versa. In this case, from the perspective of the rotation directions of the operating part and the end effector, the user's rotation direction of the operating part 110b and the corresponding rotation direction of the end effector 120b are opposite. As a result, this may cause confusion in the user's operating direction, leading to unintuitive joint movements and potential errors. Therefore, when a user operates existing surgical instruments for pitch or deflection, the user's operating direction and the end effector's movement direction are inconsistent from an angle in either the rotational or left-right direction. This is because the joint configuration of the end effector and the operating part differs in existing surgical instruments. That is, this is because the end-effector is located forward of the end-effector's rotation center, while the operating part is located rearward of the operating part's rotation center. To solve this problem, Figure 1 e and Figure 1 A feature of the surgical instrument according to an embodiment of the present invention shown in f is that the end tool 120c is formed in a position forward of the end tool rotation center 121c, and the operating part 110c is also formed in a position forward of the operating part rotation center 111c, such that the operation of the operating part 110c and the end tool 120c is visually consistent. This feature can be expressed in different ways as follows: [The text abruptly ends here, likely due to an incomplete translation or a missing section.] Figure 1 a, Figure 1 b、 Figure 1 c and Figure 1 This differs from the existing example shown in d, specifically from the configuration where the operating part is positioned closer to the user (i.e., further away from the end tool) relative to its own joint. Figure 1 e and Figure 1 The surgical instrument shown in f, according to an embodiment of the present invention, is configured such that, at any one or more moments during the operation, at least a portion of the operating part is closer to the end tool than its own joint.

[0168] In other words, in Figure 1 a, Figure 1 b、 Figure 1 c and Figure 1In the existing surgical instrument shown in d, the end effector is located forward of its own rotation center, while the operating part is located backward. The end effector, which is fixed in the front and moving in the rear, is moved by the operation of the operating part. Therefore, structurally, the structures are not intuitively consistent. This can lead to problems such as inconsistencies between the operation of the operating part and the movement of the end effector in the left-right or rotational directions, causing user confusion and hindering intuitive and rapid operation, potentially leading to errors. Conversely, in the surgical instrument according to an embodiment of the present invention, both the end effector and the operating part move relative to a rotation center located backward. Therefore, structurally, the movements are intuitively consistent. In other words, just as the moving part of the end effector moves relative to a rotation center located backward, the moving part of the operating part also moves relative to a corresponding rotation center located backward. Thus, structurally, the movements are intuitively consistent. This allows the user to intuitively and quickly control the direction of the end effector, significantly reducing the possibility of errors. The detailed mechanism for achieving the above functions will be described below.

[0169] <First Embodiment of Surgical Instruments>

[0170] Figure 2 A perspective view of a surgical instrument according to a first embodiment of the present invention is shown. Figure 3 for Figure 2 Side view of a surgical instrument. Figure 4 and Figure 5 To show Figure 2 A perspective view of the end effector of a surgical instrument. Figure 6 To show Figure 2 A diagram of the center of the end-effector of a surgical instrument. Figure 7 and Figure 8 To show Figure 2 A plan view of the end effector of a surgical instrument. Figure 9 To show Figure 2 A side view of the end tool of a surgical instrument. Figure 10 and Figure 11 for Figure 2 Exploded perspective view of the end effector of a surgical instrument. Figure 12 To show Figure 2 A perspective view of the first jaw pulley of a surgical instrument. Figure 13 To show Figure 2 A plan view of the first jaw of a surgical instrument. Figure 14 To show Figure 2 A plan view of the second jaw of a surgical instrument. Figure 15 and Figure 16 To show Figure 2 Exploded perspective view of the suture pulley and suture connector of a surgical instrument. Figure 17 and Figure 18 To illustrate the stitching pin pulley in Figure 2 A side view of the operational state of the end effector of a surgical instrument. Figure 19 and Figure 20 To illustrate the stitching pin pulley in Figure 2 A perspective view of the motion state of the end effector of a surgical instrument. Figure 21 , Figure 22 , Figure 23 as well as Figure 24 To show Figure 2 A plan view of the opening and closing action of the first and second jaws of a surgical instrument. Figure 25 and Figure 26 To show Figure 2 A perspective view of the opening and closing action of the end effector of a surgical instrument.

[0171] First, see Figure 2 and Figure 3 According to a first embodiment of the present invention, the surgical instrument 2000 includes an end tool 2100, an operating part 200, a power transmission part 300, and a connecting part 400.

[0172] Here, the connecting portion 400 is formed as a hollow shaft, which can accommodate one or more wires and cables. The operating portion 200 is attached to one end of the connecting portion 400, while the end tool 2100 is attached to the other end of the connecting portion 400, so that the connecting portion 400 can be used to connect the operating portion 200 and the end tool 2100. Here, a feature of the connecting portion 400 of the surgical instrument 2000 according to the first embodiment of the present invention is that it has a straight portion 401 and a curved portion 402, with the straight portion 401 formed on the side attached to the end tool 2100 and the curved portion 402 formed on the side attached to the operating portion 200. As described above, the end of the connecting portion 400 on the operating portion 200 side is curved, such that the pitch operating portion 201, the deflection operating portion 202, and the actuation operating portion 203 are formed on or near the extension line of the end tool 2100. To describe this from another perspective, it can be said that at least a portion of the pitch control unit 201 and the deflection control unit 202 are housed in a recess formed by the bend 402. The shape and movement of the control unit 200 and the end effector 2100 can be more intuitively aligned by the shape of the bend 402 as described above.

[0173] On the one hand, the plane forming the curved portion 402 can be the same as the pitch plane, i.e. Figure 2The XZ plane is essentially the same plane as the XZ plane. As described above, since the curved portion 402 is formed on a plane that is essentially the same as the XZ plane, interference between the operating parts can be reduced. Of course, for the sake of intuitive operation of the end tool and the operating parts, other configurations besides the XZ plane can also be adopted.

[0174] On one hand, connector 410 can be formed on the bend 402. Connector 410 can be connected to an external power source (not shown), and connector 410 is also connected to end tool 2100 via an electric wire, thereby transmitting electrical energy supplied by the external power source (not shown) to end tool 2100. Additionally, the electrical energy transmitted to end tool 2100 in this manner can power the stitching pin pulley (described later)... Figure 5 161) The driving force for rotation in a clockwise or counterclockwise direction.

[0175] An operating unit 200 is formed at one end of the connecting unit 400 and has an interface that can be directly operated by the doctor, such as a clamp-shaped, rod-shaped, or lever-shaped interface. When the doctor controls it, it connects to the corresponding interface, and the end effector 2100 inserted into the surgical patient's body performs the surgery by executing a predetermined operation. Here, although in Figure 2 The operating part 200 is shown to be formed in the shape of a handle that can be rotated by inserting a finger. However, the spirit of the present invention is not limited to this. It can be an operating part of various forms, as long as it can be connected to the end tool 2100 to control the end tool 2100.

[0176] An end-effector 2100 is formed at the other end of the connector 400 and is inserted into the surgical site to perform the actions required for the surgery. As an example of the end-effector 2100 described above, it can be used... Figure 2 The pair of jaws 2103 shown are used for gripping actions. However, the spirit of the invention is not limited to this, and various surgical devices can be used as the end tool 2100. For example, a configuration such as a single-arm cauterizer can also be used as an end tool. As described above, the end tool 2100 is connected to the operating unit 200 via the power transmission unit 300 and receives the driving force from the operating unit 200 via the power transmission unit 300, thereby performing the actions required for the surgery, such as gripping, cutting, and suturing actions.

[0177] Here, the distal end tool 2100 of the surgical instrument 2000 according to the first embodiment of the present invention is configured to rotate in one or more directions. For example, the distal end tool 2100 may be configured to surround... Figure 2 While performing pitch motion along the Y-axis, it also moves around... Figure 2The Z-axis performs yaw and actuation motions.

[0178] Here, the pitch, yaw, and actuation actions used in this invention are defined as follows.

[0179] First, the pitch motion refers to the direction of extension of the end effector 2100 relative to the connecting part 400. Figure 2 The motion of rotation in the vertical direction (X-axis direction), that is, around Figure 2 The pitch motion refers to the vertical rotation of the end effector 2100 relative to the connecting portion 400 about the Y-axis. Figure 2 It extends along the X-axis direction.

[0180] Next, the yaw action refers to the extension direction of the end tool 2100 relative to the connecting part 400. Figure 2 The movement of rotating in the left and right directions (x-axis direction) is called rotation around the x-axis. Figure 2 The Z-axis rotation. In other words, the yaw motion refers to the rotational movement of the end-effector 2100 relative to the connecting portion 400 about the Z-axis in the left-right direction, wherein the end-effector 2100 extends from the connecting portion 400 in the direction of extension of the connecting portion 400 ( Figure 2 The X-axis direction of the end tool 2100 extends to form the end tool. That is, the yaw action refers to the movement of the two jaws 2103 formed on the end tool 2100 rotating in the same direction around the Z-axis.

[0181] On the other hand, the actuation action refers to the action of the end tool 2100 rotating about the same rotation axis as the yaw action, but with the two jaws 2103 rotating in opposite directions to each other, while the jaws contract or open. That is, the actuation action refers to the movement of the two jaws 2103 formed on the end tool 2100 rotating about the Z-axis in opposite directions to each other.

[0182] The power transmission unit 300 connects the operating unit 200 and the end tool 2100, thereby transmitting the driving force of the operating unit 200 to the end tool 2100, and may include multiple wires, pulleys, connectors, joints, gears, etc.

[0183] The above will be described in detail later. Figure 2Surgical instruments 2000 include end tools 2100, operating parts 200, power transmission parts 300, etc.

[0184] (Intuitive driving)

[0185] The intuitive drive of the surgical instrument 2000 of the present invention will be described below.

[0186] First, with the user gripping the first handle 204 in their palm, they move around the Y-axis (i.e., Figure 25 The first handle 204 is rotated around the rotation axis 246 to perform a pitch motion, and around the Z-axis (i.e., Figure 43 The first handle 204 is rotated by the rotating axis 243 to perform a deflection action. In addition, the user can operate the actuation operation unit 203 to perform an actuation action by inserting the thumb and index finger into the first actuation extension 252 and / or the second actuation extension 257, which are formed in the shape of a finger ring at one end of the actuation operation unit 203.

[0187] Here, a feature of the surgical instrument 2000 according to the first embodiment of the present invention is that when the operating part 200 is rotated in any direction relative to the connecting part 400, the end tool 2100 rotates in a direction that is visually identical to the operating direction of the operating part 200. In other words, when the first handle 204 of the operating part 200 is rotated in any direction, the end tool 2100 also rotates in a direction that is visually identical to said direction to perform pitch or yaw movements. Here, it can be further explained that the visually identical direction means that the direction of movement of the user's finger grasping the operating part 200 is substantially the same as the direction of movement of the end part of the end tool 2100. Of course, the identical direction here is not necessarily a completely consistent direction in three-dimensional coordinates, but can be understood as the following degree of similarity: for example, if the user's finger moves to the left, the end part of the end tool 2100 also moves to the left, and when the user's finger moves downward, the end part of the end tool 2100 also moves downward.

[0188] Furthermore, for this purpose, a feature of the surgical instrument 2000 according to the first embodiment of the present invention is that, with reference to a plane perpendicular to the extension axis (X-axis) of the connecting portion 400, the operating portion 200 and the end tool 2100 are formed in the same direction. That is, from Figure 2Viewed from the YZ plane, the operating part 200 extends in the +X axis direction, and the end effector 2100 also extends in the +X axis direction. In other words, with the YZ plane as a reference, the direction in which the end effector 2100 is formed at one end of the connecting part 400 is the same as the direction in which the operating part 200 is formed at the other end of the connecting part 400. Or, in other words, it can be said that the operating part 200 is formed in a direction away from the user's body, that is, along the direction in which the end effector 2100 is formed. That is, in the first handle 204, the first actuation operating part 251, and the second actuation operating part 256, etc., which are moved by the user to perform actuation, yaw, and pitch actions, the portion that moves for each action extends in the +X axis direction relative to the rotation center of each joint used to perform the corresponding action. Thus, the moving portion of the end effector 2100 extends in the +X axis direction relative to the rotation center of each joint used to perform the corresponding action, and the arrangement of the operating part 200 can be the same, and see also Figure 1 As mentioned above, the user's operating direction and the end-effector's movement direction are consistent whether viewed from the rotation direction or the left-right direction, thus resulting in intuitively consistent operation.

[0189] In detail, existing surgical instruments have the following problems: because the direction of the user's operation of the operating part and the actual running direction of the end effector are different from each other and are not intuitively consistent, it is not easy to perform intuitive operation from the surgeon's point of view. It takes a long time to skillfully operate the end effector to move it in the desired direction, and in some cases, errors may occur, causing harm to the patient.

[0190] To solve the above problems, a feature of the surgical instrument 2000 according to the first embodiment of the present invention is that the operating direction of the operating part 200 and the running direction of the end tool 2100 are visually identical. For this purpose, the operating part 200, like the end tool 2100, is formed such that the part that actually moves for performing actuation, deflection, and pitching actions extends along the +X axis direction relative to the rotation center of the corresponding joint for performing each action.

[0191] More details will be described later. Figure 2 Surgical instruments 2000 include end tools 2100, operating parts 200, power transmission parts 300, etc.

[0192] (Power Transmission Department)

[0193] The following is a further detailed description. Figure 2 The power transmission unit 300 of the surgical instrument 2000.

[0194] Reference Figures 2 to 20 as well as Figure 49 According to an embodiment of the present invention, the power transmission unit 300 of the surgical instrument 2000 may include wires 301, 302, 303, 304, 305, 306, 307, 308, 309 and 310.

[0195] Wires 301 and 305 can function as first jaw wires in pairs. Wires 302 and 306 can function as second jaw wires in pairs. The component comprising wires 301 and 305 as first jaws and wires 302 and 306 as second jaws is referred to as a jaw wire. Furthermore, wires 303 and 304 can function as pitch wires in pairs. Additionally, wires 307 and 308 can function as stitching wires in pairs.

[0196] Furthermore, the power transmission unit 300 of the surgical instrument 2000 according to an embodiment of the present invention may include fasteners 321, 323, 324, 326, 327, 329, and 330, which are coupled to the respective ends of each wire to connect the wire and the pulley. Each fastener may have various shapes as needed, such as spherical or tubular.

[0197] Among them, on the end tool 2100 side, fastener 321 can perform the function of pitch guide-end tool fastener, fastener 323 can perform the function of first jaw guide-end tool fastener, fastener 326 can perform the function of second jaw guide-end tool fastener, and fastener 329 / fastener 330 can perform the function of stitching nail guide-end tool fastener.

[0198] Furthermore, on the operating section 200 side, fastener 324 can function as a first jaw wire-operating section fastener, and fastener 327 can function as a second jaw wire-operating section fastener. Additionally, although not shown in the accompanying drawings, on the operating section 200 side, pitch wire-operating section fasteners and stitching pin wire-operating section fasteners can be further formed.

[0199] The following describes in detail the connections between the wires, fasteners, and each pulley.

[0200] First, the wires 301 and 305, which are the first jaw wires, can be a single wire. A fastener 323, which serves as the first jaw wire end tool fastener, is inserted into the middle of the single first jaw wire. After being secured by crimping the fastener 323, the two branches of the first jaw wire, centered on the fastener 323, are respectively named wire 301 and wire 305.

[0201] Alternatively, wires 301 and 305, which are the first jaw wires, can be formed as separate wires, and wires 301 and 305 can be connected by fasteners 323.

[0202] Furthermore, by fastening the aforementioned fastener 323 to the pulley 2111, wires 301 and 305 can be fixedly connected to the pulley 2111. Thus, as wires 301 and 305 are pulled and released, the pulley 2111 can rotate.

[0203] On the other hand, in wires 301 and 305, the opposite end of the fastening point of fastener 323 can be combined with the first jaw wire-operating part fastener (see reference). Figure 49 (324).

[0204] In addition, the fasteners via the first jaw wire-operating part (see reference) Figure 49 As described above, wires 301 and 305 are fixedly connected to pulley 210. Finally, when pulley 210 is rotated by a motor or manually, wires 301 and 305 are pulled and released, thereby enabling pulley 2111 of end tool 2100 to rotate.

[0205] Similarly, wires 302 and 306, serving as the second jaw wires, are respectively connected to the fasteners serving as the second jaw wire-end tool fasteners (see reference). Figure 49 326) and the second jaw wire-operating part fastener (refer to ... Figure 49 (327) combination. In addition, fasteners (refer to...) Figure 49 326) is combined with pulley 2121, second jaw wire - operating part fastener (refer to Figure 49 327) is combined with pulley 220. Finally, when pulley 220 is rotated by a motor or manually, wires 302 and 306 are pulled and released, thereby enabling pulley 2121 of end tool 2100 to rotate.

[0206] Similarly, wires 303 and 304, serving as pitch guides, are respectively coupled to fasteners 321 (pitch guide-end tool fastener) and 321 (pitch guide-operating part fastener, not shown). Furthermore, fastener 321 is coupled to pulley 2131, and the pitch guide-operating part fastener (not shown) is coupled to pulley 231. Finally, when pulley 231 is rotated by a motor or manually, wires 303 and 304 are pulled and released, thereby enabling pulley 2131 of the end tool 2100 to rotate.

[0207] Similarly, wires 307 and 308, serving as the first jaw guide wires, are respectively connected to fasteners serving as the suture thread guide-end tool fasteners (see reference). Figure 68 329) and the suture thread guide-operating part fastener (not shown) are combined. Furthermore, the fastener (refer to...) Figure 68 329) is combined with the first suture pin pulley 2181, the suture pin guide-operating part fastener (not shown) and the pulley (see reference) Figure 53 269) combined. Finally, when pulley 269 is rotated by a motor or manually, wires 307 and 308 are pulled and released, thereby enabling the first stitching pin pulley 2181 of the end tool 2100 to rotate.

[0208] Similarly, wires 309 and 310, serving as the second jaw guide wires, are respectively connected to the fasteners serving as the suture thread guide-end tool fasteners (see reference). Figure 69 The 330) and the suture thread-operated fastener (not shown) are combined. Additionally, the fastener (refer to...) Figure 69 330) is combined with the second suture pin pulley 2191, the suture pin guide-operating part fastener (not shown) and the pulley (see reference) Figure 53 270) combined. Finally, when pulley 270 is rotated by a motor or manually, wires 309 and 310 are pulled and released, thereby enabling the second stitching pin pulley 2191 of the end tool 2100 to rotate.

[0209] (End-of-line tool)

[0210] The following is a further detailed description. Figure 2 End tool 2100 of surgical instrument 2000.

[0211] Figure 4 and Figure 5 To show Figure 2 A perspective view of the end effector of a surgical instrument. Figure 6 To show Figure 2 A diagram of the center of the end effector of a surgical instrument. Figure 7 and Figure 8 To show Figure 2A plan view of the end effector of a surgical instrument.

[0212] in, Figure 4 This shows the combined state of the end-effector center 2106 and the pitch center 2107. Figure 5 This shows the state where the end tool center 2106 has been removed. On the other hand, Figure 7 The diagram mainly shows the conductor. Figure 8 The diagram mainly shows the pulley.

[0213] Reference Figures 4 to 8 The end tool 2100 of the first embodiment of the present invention is equipped with a pair of jaws for performing a gripping action, namely a first jaw 2101 and a second jaw 2102. Each of the first jaw 2101 and the second jaw 2102, or a component including the first jaw 2101 and the second jaw 2102, may be referred to as jaw 2103.

[0214] Furthermore, the end effector 2100 may include pulleys 2111, 2112, 2113, 2114, 2115, and 2116 associated with the rotational movement of the first jaw 2101. Additionally, the end effector 2100 may include pulleys 2121, 2122, 2123, 2124, 2125, and 2126 associated with the rotational movement of the second jaw 2102.

[0215] In the accompanying drawings, the opposing pulleys are formed parallel to each other, but the concept of the invention is not limited thereto, and each pulley can be formed in different positions and sizes to suit the configuration of the end tool.

[0216] Furthermore, the end tool 2100 of the first embodiment of the present invention may include an end tool center 2106 and a pitch center 2107.

[0217] The end-tool center 2106 can be inserted through the rotating shafts 2141 and 2142, which will be described later, and its interior can accommodate at least a portion of the pulleys 2111 and 2121 that are shaft-connected to the rotating shaft 2141. Furthermore, the end-tool center 2106 can internally accommodate at least a portion of the pulleys 2112 and 2122 that are shaft-connected to the rotating shaft 2142.

[0218] Specifically, refer to Figure 6 The end tool center 2106 includes a first jaw pulley joint 2106a, a second jaw pulley joint 2106b, a guide 2106c, a pitch pulley joint 2106e, and an anti-disengagement pulley joint 2106f.

[0219] Specifically, the first jaw pulley coupling portion 2106a and the second jaw pulley coupling portion 2106b are formed to face each other, and thus the pulleys 2111, 2121, the first staple pulley 2181, and the second staple pulley 2191 are accommodated therein. In addition, through holes are respectively formed in the first jaw pulley coupling portion 2106a and the second jaw pulley coupling portion 2106b, so that the rotary shaft 2141 is axially coupled by passing through the first jaw pulley coupling portion 2106a, the pulley 2111, the first staple pulley 2181, the second staple pulley 2191, the pulley 2121, and the second jaw pulley coupling portion 2106b.

[0220] The first jaw pulley coupling portion 2106a and the second jaw pulley coupling portion 2106b are connected by a guiding portion 2106c. That is, the first jaw pulley coupling portion 2106a and the second jaw pulley coupling portion 2106b that are parallel to each other are coupled by the guiding portion 2106c formed in a substantially perpendicular direction thereto, so that the first jaw pulley coupling portion 2106a, the second jaw pulley coupling portion 2106b, and the guiding portion 2106c are substantially in the shape of a "匚", and the pulleys 2111, 2121, the first staple pulley 2181, and the second staple pulley 2191 are accommodated therein.

[0221] Among them, the pulley 2111 serving as the first jaw pulley is disposed adjacent to the first jaw pulley coupling portion 2106a of the end tool center 2106, and the pulley 2121 serving as the second jaw pulley is disposed adjacent to the second jaw pulley coupling portion 2106b of the end tool center 2106, so that a staple component accommodating portion can be formed between the first jaw pulley coupling portion 2106a and the second jaw pulley coupling portion 2106b. In addition, at least a part of a staple pulley assembly (refer to Figure 10 2160) and a staple connecting member assembly (refer to Figure 10 2170) to be described later can be formed in the staple component accommodating portion. Explained from another perspective, it can also be expressed that at least a part of the first staple pulley 2181, the second staple pulley 2191, and the connecting member 2171 are disposed between the first jaw pulley coupling portion 2106a and the second jaw pulley coupling portion 2106b. As described above, one feature of the present invention is that by disposing at least a part of a staple pulley assembly (refer to Figure 10 2160) and a staple connecting member assembly (refer to Figure 10 2170) between the pulley 2111 serving as the first jaw pulley and the pulley 2121 serving as the second jaw pulley, while performing the pitching and deflecting actions of the end tool 2100, the staple sewing action and the cutting action can be performed by using the first staple pulley 2181 and the second staple pulley 2191. This will be further described in detail later.

[0222] On the other hand, one end of the end-effector center 2106 can form a pulley 2131, which performs the function of an end-effector pitch pulley. For example... Figure 6 As shown, pulley 2131 can be integrally formed with end-tool center 2106 (one-body). That is, one end of end-tool center 2106 can be formed into a disc-shaped pulley, and its outer peripheral surface can be formed into a groove for winding the wire. Alternatively, pulley 2131 can be formed as a component independent of end-tool center 2106, thereby being combined with end-tool center 2106. The aforementioned wires 303 and 304 are combined with pulley 2131, which performs the function of the end-tool pitch pulley. Pulley 2131 rotates around rotation axis 2143, thereby performing the pitch action.

[0223] On the other hand, a pulley engagement portion 2106f can be further formed on one side of pulley 2131 to prevent detachment from the pulley. The pulley engagement portion 2106f can be formed parallel to the rotation axis 2143, which serves as the pitch rotation axis of the end tool, so that pulleys 2187, 2188, 2197, and 2198, which will be described later, can engage. Pulleys 2187 and 2188 function as first suture guide wire detachment prevention pulleys, and pulleys 2197 and 2198 function as second suture guide wire detachment prevention pulleys. This will be described in further detail later.

[0224] Rotation shafts 2143 and 2144, described later, are inserted through the pitch center 2107, and the pitch center 2107 can be coupled to the end tool center 2106 and pulley 2131 via rotation shaft 2143. Therefore, the end tool center 2106 and pulley 2131 can be configured to rotate relative to the pitch center 2107 about the rotation shaft 2143.

[0225] Furthermore, the pitch center 2107 may internally accommodate at least a portion of pulleys 2113, 2114, 2123, and 2124, which are axially connected to the rotation shaft 2143. Additionally, the pitch center 2107 may internally accommodate at least a portion of pulleys 2115, 2116, 2125, and 2126, which are axially connected to the rotation shaft 2144.

[0226] On the other hand, the end effector 2100 of the first embodiment of the present invention may include a rotation axis 2141, a rotation axis 2142, a rotation axis 2143, and a rotation axis 2144. As described above, the rotation axis 2141 and the rotation axis 2142 can be inserted through the end effector center 2106, and the rotation axis 2143 and the rotation axis 2144 can be inserted through the pitch center 2107.

[0227] Rotary shafts 2141, 2142, 2143, and 2144 can be sequentially arranged from the distal end 2104 to the proximal end 2105 of the end tool 2100. Thus, starting from the distal end 2104, rotary shaft 2141 can be referred to as the first pin, rotary shaft 2142 as the second pin, rotary shaft 2143 as the third pin, and rotary shaft 2144 as the fourth pin.

[0228] Among them, the rotating shaft 2141 functions as the rotating shaft of the end tool jaw pulley, the rotating shaft 2142 functions as the rotating shaft of the end tool jaw auxiliary pulley, the rotating shaft 2143 functions as the rotating shaft of the end tool pitch, and the rotating shaft 2144 functions as the rotating shaft of the end tool pitch auxiliary of the end tool 2100.

[0229] Each of the aforementioned rotating shafts 2141, 2142, 2143, and 2144 can be inserted into one or more pulleys, which will be described in further detail below.

[0230] On the other hand, a rotating shaft 2145 may be further formed on one side of the rotating shaft 2141, specifically on the distal end 2104 side of the rotating shaft 2141. The rotating shaft 2145 can be inserted through the first jaw 2101 and the second jaw 2102, thereby functioning as a jaw rotating shaft. This will be described in more detail later.

[0231] Pulley 2111 functions as the first jaw pulley of the end tool, and pulley 2121 functions as the second jaw pulley of the end tool. Pulley 2111 can also be called the first jaw pulley, and pulley 2121 can be called the second jaw pulley. Both components can also be collectively referred to as end tool jaw pulleys or simply jaw pulleys.

[0232] Pulleys 2111 and 2121, which serve as end-effector jaw pulleys, are formed opposite to each other and are configured to rotate independently of each other about a rotation axis 2141, which serves as the rotation axis of the end-effector jaw pulleys. In this case, pulleys 2111 and 2121 can be spaced apart by a predetermined degree, thereby forming a staple assembly receiving portion therebetween. Furthermore, at least a portion of the staple pulley assembly 2160 and the staple connector assembly 2170, which will be described later, can be disposed in the staple assembly receiving portion.

[0233] In the attached diagram, pulleys 2111 and 2121 rotate around a central axis 2141. However, each end-tool jaw pulley can be configured to rotate around a different axis. The first jaw 2101 can be fixedly connected to pulley 2111 and rotate with it, while the second jaw 2102 can be fixedly connected to pulley 2121 and rotate with it. The deflection and actuation of the end tool 2100 are performed as pulleys 2111 and 2121 rotate. That is, a deflection action is performed when pulleys 2111 and 2121 rotate in the same direction around the central axis 2141, and an actuation action is performed when pulleys 2111 and 2121 rotate in opposite directions around the central axis 2141.

[0234] The first jaw 2101 and the pulley 2111 can be formed as separate components and combined with each other, or the first jaw 2101 and the pulley 2111 can be formed as a single unit. Similarly, the second jaw 2102 and the pulley 2121 can also be formed as separate components and combined with each other, or the second jaw 2121 and the pulley 2111 can also be formed as a single unit.

[0235] Pulley 2112 functions as an auxiliary pulley for the first jaw of the end tool, and pulley 2122 functions as an auxiliary pulley for the second jaw of the end tool. The two components can also be collectively referred to as end tool jaw auxiliary pulleys or simply as auxiliary pulleys.

[0236] Specifically, pulleys 2112 and 2122, serving as auxiliary pulleys for the end-effector jaws, can be further disposed on one side of pulleys 2111 and 2121; in other words, pulley 2112, as an auxiliary pulley, can be positioned between pulley 2111 and pulleys 2113 / 2114. Furthermore, pulley 2122, as an auxiliary pulley, can be positioned between pulley 2121 and pulleys 2123 / 2124. Pulleys 2112 and 2122 can be configured to rotate independently of each other around a rotation axis 2142. While pulleys 2112 and 2122 in the accompanying drawings rotate around one rotation axis 2142, each of them can naturally be configured to rotate around a different axis. The auxiliary pulleys described above will be further described in detail later.

[0237] Pulleys 2113 and 2114 function as the main pulleys for pitching the first jaw of the end tool, while pulleys 2123 and 2124 function as the main pulleys for pitching the second jaw of the end tool. These two components can also be collectively referred to as the main pulleys for pitching the jaw of the end tool.

[0238] Pulleys 2115 and 2116 function as the first jaw pitch pulley of the end tool, while pulleys 2125 and 2126 function as the second jaw pitch pulley of the end tool. These two components can also be collectively referred to as the end tool jaw pitch pulleys.

[0239] The following describes the components related to the rotation of pulley 2111.

[0240] Pulleys 2113 and 2114 function as the main pulleys for the pitching of the first jaw of the end tool. That is, pulleys 2113 and 2114 function as the main rotating pulleys for the pitching motion of the first jaw 2101. Specifically, wire 301, serving as the first jaw guide wire, is wound around pulley 2113, and wire 305, also serving as the first jaw guide wire, is wound around pulley 2114.

[0241] Pulleys 2115 and 2116 function as auxiliary pulleys for the pitching of the first jaw of the end tool. Specifically, pulleys 2115 and 2116 function as auxiliary rotary pulleys for the pitching motion of the first jaw 2101. Wire 301, serving as the first jaw guide wire, is wound around pulley 2115, and wire 305, also serving as the first jaw guide wire, is wound around pulley 2116.

[0242] In this invention, pulleys 2113 and 2114 are arranged opposite each other on one side of pulleys 2111 and 2112. Pulleys 2113 and 2114 are configured to rotate independently of each other around a rotation axis 2143, which serves as the end-tool pitch rotation axis. Furthermore, pulleys 2115 and 2116 are arranged opposite each other on one side of each of pulleys 2113 and 2114. Pulleys 2115 and 2116 are configured to rotate independently of each other around a rotation axis 2144, which serves as the end-tool pitch auxiliary rotation axis. While pulleys 2113, 2115, 2114, and 2116 in the accompanying drawings are all configured to rotate around the Y-axis, the invention is not limited to this; the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0243] The wire 301, serving as the first clamp wire, is sequentially wound around pulleys 2115, 2113, and 2111 to make contact with at least a portion of them. Furthermore, the wire 305, connected to the wire 301 by the fastener 323, is sequentially wound around pulleys 2111, 2112, 2114, and 2116 to make contact with at least a portion of them.

[0244] From another perspective, the wires 301 and 305, which are the first clamp wires, are sequentially wound around pulleys 2115, 2113, 2111, 2112, 2114, and 2116 so that at least a portion of them are in contact. The wires 301 and 305 are configured to be able to rotate the pulleys while moving with the pulleys.

[0245] Therefore, the current regime Figure 7 When the wire 301 is pulled on the side indicated by arrow 301, the fastener 323 connected to the wire 301 and the pulley 2111 connected to it move towards... Figure 7 Rotate in the direction of arrow L. Conversely, when facing... Figure 7 When the arrow 305 in the diagram pulls the wire 305, the fastener 323 connected to the wire 305 and the pulley 2111 connected to it move towards... Figure 7 Rotate the direction of arrow R in the diagram.

[0246] The following describes the components related to the rotation of pulley 2121.

[0247] Pulleys 2123 and 2124 function as the main pulleys for the pitching of the second jaw of the end tool. That is, pulleys 2123 and 2124 function as the main rotating pulleys for the pitching motion of the second jaw 2102. Wire 306, serving as the second jaw guide wire, is wound around pulley 2123, and wire 302, also serving as the second jaw guide wire, is wound around pulley 2124.

[0248] Pulleys 2125 and 2126 function as auxiliary pulleys for the pitching of the second jaw of the end tool. Specifically, pulleys 2125 and 2126 function as auxiliary rotary pulleys for the pitching motion of the second jaw 2102. The wire 306, serving as the second jaw guide wire, is wound around pulley 2125, and the wire 302, also serving as the second jaw guide wire, is wound around pulley 2126.

[0249] Pulleys 2123 and 2124 are arranged opposite each other on one side of pulley 2121. Pulleys 2123 and 2124 are configured to rotate independently of each other around a rotation axis 2143, which serves as the end-tool pitch rotation axis. Furthermore, pulleys 2125 and 2126 are arranged opposite each other on one side of each of pulleys 2123 and 2124. Pulleys 2125 and 2126 are configured to rotate independently of each other around a rotation axis 2144, which serves as the end-tool pitch auxiliary rotation axis. While pulleys 2123, 2125, 2124, and 2126 in the accompanying drawings are all configured to rotate around the Y-axis, the invention is not limited to this; the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0250] The wire 306, serving as the second clamp wire, is sequentially wound around pulleys 2125, 2123, and 2121 to make contact with at least a portion of them. Furthermore, the wire 302, connected to the wire 306 by the fastener 326, is sequentially wound around pulleys 2121, 2122, 2124, and 2126 to make contact with at least a portion of them.

[0251] From another perspective, the wires 306 and 302, which are the second clamp wires, are sequentially wound around pulleys 2125, 2123, 2121, 2122, 2124, and 2126 so that at least a portion of them are in contact. The wires 306 and 302 are configured to be able to rotate the pulleys while moving with the pulleys.

[0252] Therefore, the current regime Figure 7 When the arrow 306 is pulled, the fastener 322 connected to the wire 306 and the pulley 2121 connected to it move towards the direction of the arrow 306. Figure 7 Rotate in the direction of arrow R. Conversely, when facing... Figure 7 When the wire 302 is pulled on the side indicated by arrow 302, the fastener 326 connected to the wire 302 and the pulley 2121 connected to it move towards... Figure 7 Rotate in the direction of arrow L.

[0253] The following will describe in detail the pulleys 2112 and 2122 that perform the auxiliary pulley function.

[0254] Pulleys 2112 and 2122 change the path of wires 305 and 302 to a certain extent by contacting wires 305 (which is the first jaw wire) and 302 (which is the second jaw wire), thereby expanding the rotation angle of each of the first jaw 2101 and the second jaw 2102.

[0255] That is, when no auxiliary pulley is provided, each of the first jaw and the second jaw can only rotate to a right angle. However, in one embodiment of the present invention, by further equipping pulleys 2112 and 2122 as auxiliary pulleys, the rotation angle can be expanded to a greater extent. Figure 8 The effect of θ shown. This enables the two jaws of the end tool 2100 to unfold for actuation when they are both deflected and rotated 90° together in the L direction. This is because the second jaw 2102 can... Figure 8 It rotates at an additional angle θ as shown. Similarly, the actuation action can also be performed when both jaws are deflected and rotated in the L direction. In other words, it has the feature of expanding the range of deflection rotation that can perform the actuation action by means of pulleys 2112 and 2122.

[0256] The following is a detailed description of this.

[0257] When no auxiliary pulley is installed, the first jaw guide wire is fixedly connected to the first jaw pulley of the end tool, and the second jaw guide wire is fixedly connected to the second jaw pulley of the end tool. Therefore, the first and second jaw pulleys of the end tool can only rotate to 90°. In this case, when the actuation action is performed with the first and second jaws on the 90° line, the first jaw opens, but the rotation of the second jaw cannot exceed 90°. Therefore, when the first and second jaws deflect at a certain angle or greater, the actuation action cannot be performed smoothly.

[0258] To solve the above problems, in the surgical instrument 2000 of the present invention, pulleys 2112 and 2122, serving as auxiliary pulleys, are further provided on one side of pulleys 2111 and 2121. By providing pulleys 2112 and 2122 as described above, the installation paths of the wire 305, which serves as the first jaw guide, and the wire 302, which serves as the second jaw guide, are changed to a certain extent, thereby changing the tangential direction of the wires 305 and 302, so that the fastener 323 connecting the wire 301 and the pulley 2111 rotates to... Figure 8 On the N-line. That is, the fastener 323, which is the joint between the conductor 301 and the pulley 2111, can rotate to the inner common tangent line of the pulleys 2111 and 2112. Similarly, the fastener 326, which is the joint between the conductor 302 and the pulley 2121, can rotate to the inner common tangent line of the pulleys 2121 and 2122, thereby expanding its rotation range to the L-direction.

[0259] In other words, the two strands of the first clamping wire wound around pulley 2111, namely wire 301 and wire 305, are positioned on either side of a plane perpendicular to the Y-axis and passing through the X-axis, due to pulley 2112. Simultaneously, the two strands of the second clamping wire wound around pulley 2121, namely wire 302 and wire 306, are positioned on the other side of a plane perpendicular to the Y-axis and passing through the X-axis, due to pulley 2122.

[0260] In other words, pulleys 2113 and 2114 are positioned on either side of a plane perpendicular to the Y-axis and passing through the X-axis, while pulleys 2123 and 2124 are positioned on the other side of a plane perpendicular to the Y-axis and passing through the X-axis.

[0261] In other words, wire 305 is located on the internal tangent of pulleys 2111 and 2112, and the rotation angle of pulley 2111 is increased by pulley 2112. Furthermore, wire 302 is located on the internal tangent of pulleys 2121 and 2122, and the rotation angle of pulley 2121 is increased by pulley 2122.

[0262] According to the present invention as described above, the rotation radius of jaws 2101 and 2102 is increased, thus achieving the effect of expanding the deflection range that enables the opening and closing actuation action to be performed normally.

[0263] The pitch motion of the present invention will now be described in detail.

[0264] On the other hand, when conductor 301 is pulled to Figure 7 On the side of arrow 301, at the same time, wire 305 is pulled to Figure 7 When the middle arrow 305 is pointing (i.e., both branches of the first clamp wire are pulled), as... Figure 49 As shown, wires 301 and 305 are wound downwards around pulleys 2113 and 2114, which can rotate around the rotation axis 2143, which serves as the pitch rotation axis of the end tool. Therefore, pulley 2111, to which wires 301 and 305 are fixedly attached, and the end tool center 2106, to which pulley 2111 is attached, rotate together counterclockwise around the rotation axis 2143, ultimately causing the end tool 2100 to rotate downwards while performing a pitch motion. At this time, the second jaw 2102 and wires 302 and 306 fixedly attached to it are wound upwards around pulleys 2113 and 2114, which can rotate around the rotation axis 2143. Therefore, wires 302 and 306 are released in opposite directions, 302 and 306 respectively.

[0265] Conversely, when wire 302 is pulled to Figure 7 On the side of arrow 302, at the same time, wire 306 is pulled to Figure 7 When the middle arrow is on the 306 side, such as Figure 49 As shown, wires 302 and 306 are wound above pulleys 2123 and 2124, which can rotate around the rotation axis 2143, which serves as the pitch rotation axis of the end tool. Therefore, pulley 2121, to which wires 302 and 306 are fixedly attached, and the end tool center 2106, to which pulley 2121 is attached, rotate together clockwise around the rotation axis 2143, ultimately causing the end tool 2100 to rotate upwards while performing a pitch motion. At this time, the first jaw 2101 and wires 301 and 305 fixedly attached to it are wound below pulleys 2113 and 2114, which can rotate around the rotation axis 2143. Therefore, wires 302 and 306 move in the opposite directions of 301 and 305, respectively.

[0266] On the other hand, the end effector 2100 of the surgical instrument 2000 of the present invention may be further equipped with a pulley 2131 as an end effector pitch pulley, the operating unit 200 may be further equipped with pulleys 231 and 232 as operating unit pitch pulleys, and the power transmission unit 300 may be further equipped with wires 303 and 304 as pitch guides. Specifically, the pulley 2131 of the end effector 2100 can rotate around a rotation axis 2143 as an end effector pitch rotation axis, and is integrally formed with (or fixedly coupled to) the end effector center 2106. In addition, the wires 303 and 304 can perform the function of connecting the pulley 2131 of the end effector 2100 with the pulleys 231 and 232 of the operating unit 200.

[0267] Therefore, when the pulleys 231 and 232 of the operating unit 200 rotate, the rotation of the pulleys 231 and 232 is transmitted to the pulley 2131 of the end tool 2100 through the wires 303 and 304, so that the pulley 2131 also rotates, and finally the end tool 2100 rotates while performing pitch motion.

[0268] That is, the surgical instrument 2000 according to the first embodiment of the present invention is equipped with pulley 2131 of the end tool 2100, pulley 231 and pulley 232 of the operating part 200, and wire 303 and wire 304 of the power transmission part 300 to transmit the power required for pitching motion, so that the driving force of the pitching motion of the operating part 200 is transmitted to the end tool 2100 more perfectly, thereby improving the reliability of the action.

[0269] The diameters of pulleys 2113, 2114, 2123, and 2124, which serve as the main pulleys for end-tool jaw pitching, can be the same as or different from the diameter of pulley 2131, which serves as the end-tool pitching pulley. In this case, the ratio of the diameter of the main end-tool jaw pitching pulley to the diameter of the end-tool pitching pulley can be the same as the ratio of the diameter of the operating section pitching pulley to the diameter of the operating section pitching main pulley in the operating section 200, which will be described later. This will be described in further detail later.

[0270] (Components related to the stitching pin pulley)

[0271] The following is a further detailed description. Figure 2 The surgical instrument 2000 has a first suture pulley 2181 and a second suture pulley 2191 in its end tool 2100 and suture pulley assembly 2160.

[0272] Figure 9 To show Figure 2 A side view of the end effector of a surgical instrument. Figure 10 and Figure 11 To show Figure 2 A perspective view of the first jaw of a surgical instrument. Figure 12 To show Figure 2 A perspective view of the first jaw pulley of a surgical instrument. Figure 13 To show Figure 2 A plan view of the first jaw of a surgical instrument. Figure 14 To show Figure 2 A plan view of the second jaw of a surgical instrument. Figure 15 and Figure 16 To show Figure 2 Exploded perspective view of the suture pulley and suture connector of a surgical instrument.

[0273] Reference Figures 4 to 16 According to the first embodiment of the present invention, the end tool 2100 may include each pulley for stitching and cutting, and a first stitching pulley 2181, a first stitching auxiliary pulley 2182, pulley 2183, pulley 2184, pulley 2185, and pulley 2186 associated with the linear / rotational movement of the connector. Furthermore, the end tool 2100 of the first embodiment of the present invention may further include pulleys 2187 and 2188.

[0274] Furthermore, the end tool 2100 of the first embodiment of the present invention may include each pulley for stitching and cutting, and a second stitching pulley 2191, a second stitching auxiliary pulley 2192, pulley 2193, pulley 2194, pulley 2195, and pulley 2196 associated with the linear / rotational movement of the connector. Additionally, the end tool 2100 of the first embodiment of the present invention may further include pulleys 2197 and 2198.

[0275] The first suture pin pulley 2181 and the second suture pin pulley 2191 are configured to face each other relative to the pulleys 2111 and 2121, which serve as end-tool jaw pulleys, and are configured to rotate independently of each other about the rotation axis 2141, which serves as the rotation axis of the end-tool jaw pulley. In the accompanying drawings, the first suture pin pulley 2181 and the second suture pin pulley 2191 are positioned between pulleys 2111 and 2121; however, the invention is not limited to this, and the first suture pin pulley 2181 and the second suture pin pulley 2191 can be positioned at various locations adjacent to pulleys 2111 or 2121.

[0276] One feature of this invention is that the first suture pin pulley 2181, the second suture pin pulley 2191, pulley 2111, and pulley 2121 are configured to rotate substantially around the same axis. As described above, by configuring the first suture pin pulley 2181, the second suture pin pulley 2191, pulley 2111, and pulley 2121 to rotate around the same axis, pitch / yaw / actuation movements can be performed simultaneously to achieve suturing and cutting operations. This will be described in further detail later. However, while the first suture pin pulley 2181, the second suture pin pulley 2191, pulley 2111, and pulley 2121 in the drawings are configured to rotate around a single rotation axis 2141, it is reasonable to assume that each pulley can be configured to rotate around another concentric axis.

[0277] From another perspective, it can also be represented as a structure in which pulley 2111 (as the first jaw pulley), pulley 2181 (as the first suture pin pulley), pulley 2191 (as the second suture pin pulley), and pulley 2121 (as the second jaw pulley) are sequentially stacked along the rotation axis 2141. Alternatively, it can be represented as a structure in which the first suture pin pulley 2181 and the second suture pin pulley 2191 are disposed between pulleys 2111 and 2121 that are opposite to each other. In this configuration, pulleys 2111 (as the first jaw pulley), 2181 (as the first suture pin pulley), 2191 (as the second suture pin pulley), and 2121 (as the second jaw pulley) can be configured to rotate independently of each other.

[0278] A first suture pin auxiliary pulley 2182 may be further provided on one side of the first suture pin pulley 2181. In other words, the first suture pin auxiliary pulley 2182 may be disposed between the first suture pin pulley 2181 and pulleys 2183 / 2184. The first suture pin auxiliary pulley 2182 may be configured to rotate independently of pulleys 2112 and 2122 about the rotation axis 2142.

[0279] On the other hand, pulleys 2187 and 2188 can be further provided between the first suture staple auxiliary pulley 2182 and pulleys 2183 / 2184. Pulleys 2187 and 2188 can be configured to rotate about the anti-disengagement pulley engagement portion 2106f of the end tool center 2106. The anti-disengagement pulley engagement portion 2106f can be configured parallel to the rotation axis 2143, which serves as the central axis of pulleys 2183 and 2184. Pulleys 2187 and 2188 function as anti-disengagement pulleys for the first suture staple guide wire.

[0280] On the other hand, pulleys 2183 and 2184 can function as main pulleys for suture pin pitching, while pulleys 2185 and 2186 can function as auxiliary pulleys for suture pin pitching.

[0281] A second suture pin auxiliary pulley 2192 may be further provided on one side of the second suture pin pulley 2191. In other words, the second suture pin auxiliary pulley 2192 may be disposed between the second suture pin pulley 2191 and pulleys 2193 / 2194. The second suture pin auxiliary pulley 2192 may be configured to rotate independently of pulleys 2112 and 2122 about the rotation axis 2142.

[0282] In the accompanying drawings, the first suture pin auxiliary pulley 2182, the second suture pin auxiliary pulley 2192, pulley 2112, and pulley 2122 are configured to rotate around a central axis 2142. However, each of these pulleys can be configured to rotate around a different axis. The suture pin auxiliary pulleys described above will be further described in detail later.

[0283] On the other hand, pulleys 2197 and 2198 can be further provided between the second suture staple auxiliary pulley 2192 and pulleys 2193 / 2194. Pulleys 2197 and 2198 can be configured to rotate about the anti-disengagement pulley engagement portion 2106f of the end tool center 2106. The anti-disengagement pulley engagement portion 2106f can be configured parallel to the rotation axis 2143, which serves as the central axis of pulleys 2183 and 2184. Pulleys 2197 and 2198 function as anti-disengagement pulleys for the second suture staple guide wire.

[0284] On the other hand, pulleys 2193 and 2194 can function as main pulleys for suture pin pitching, while pulleys 2195 and 2196 can function as auxiliary pulleys for suture pin pitching.

[0285] The first suture pin auxiliary pulley 2182 is described in further detail below.

[0286] The first suture pin auxiliary pulley 2182 changes the path of the wire 308 to a certain extent by contacting the wire 308, which serves as the wire of the first suture pin, thereby expanding the rotation angle of the first suture pin pulley 2181.

[0287] That is, when the suture pin auxiliary pulley is not provided, the suture pin pulley can only rotate to a right angle. However, in one embodiment of the present invention, by further providing a first suture pin auxiliary pulley 2182 as an auxiliary pulley, the effect of expanding the rotation angle by θ can be achieved. This allows the first suture pin pulley 2181 to rotate for suturing and cutting actions when both jaws of the end tool 2100 are deflected and rotated by 90° together, so that the linear movement of the working member 540, which will be described later, can be realized. In other words, it has the feature of expanding the range of deflection rotation for performing suturing and cutting actions by means of the first suture pin auxiliary pulley 2182.

[0288] The following is a detailed description of this.

[0289] Taking the surgical instrument 2000 of the present invention as an example, a first suture auxiliary pulley 2182 is further provided on one side of the first suture pulley 2181. As described above, by providing the first suture auxiliary pulley 2182, the setting path of the wire 308, which serves as the first suture wire, is changed to a certain extent, thereby changing the tangential direction of the wire 308, and further expanding the fastener connecting the wire 308 and the first suture pulley 2181 (see reference). Figure 62 The rotation angle of 329). That is, the fastener at the junction of the wire 308 and the first stitching pin pulley 2181 (see reference 329). Figure 62 (329) can rotate to the inner common tangent line located on the first suture pin pulley 2181 and the suture pin auxiliary pulley 2122.

[0290] In other words, the conductor 308 is located on the inner tangent of the first suture pin pulley 2181 and the first suture pin auxiliary pulley 2182, and the rotation angle of the first suture pin pulley 2181 is increased by the first suture pin auxiliary pulley 2182.

[0291] According to the present invention as described above, the rotation radius of the first suture pin pulley 2181 is increased, thus achieving the effect of expanding the deflection range that enables the suture and cutting actions to be performed normally.

[0292] The pulleys 2187 and 2188, which serve as the first suture thread guide to prevent detachment from the pulley, are described in further detail below.

[0293] The end tool 2100 of the surgical instrument according to the first embodiment of the present invention can perform the function of preventing the wires 307 and 308, which serve as first suture wires, from detaching by further equipping it with pulleys 2187 and 2188 as pulleys to prevent detachment of the first suture wires.

[0294] That is, by setting pulleys 2187 and 2188 between the first suture pin auxiliary pulley 2182 and pulleys 2183 / 2184, the path of the conductor 307 from pulley 2183 to the first suture pin pulley 2181 and the path of the conductor 308 from pulley 2184 to the first suture pin auxiliary pulley 2182 are changed to a certain extent. More specifically, the paths of conductors 307 and 308 are changed to make the conductor 307 from pulley 2183 to the first suture pin pulley 2181 and the conductor 308 from pulley 2184 to the first suture pin auxiliary pulley 2182 parallel to the X-axis.

[0295] Specifically, the height of the wire 307 bypassing pulley 2183 in the Z-axis direction is different from the height of the wire 307 towards the first suture pin pulley 2181 in the Z-axis direction. Similarly, the height of the wire 308 bypassing pulley 2184 in the Z-axis direction is different from the height of the wire 308 towards the first suture pin auxiliary pulley 2182 in the Z-axis direction. Therefore, when pulleys 2187 / 2188, which serve as the first suture pin wires to prevent them from detaching from the pulleys, are absent, the path of wires 307 / 308 is oblique (i.e., the flee angle of the wires relative to the pulleys is increased), thus posing a risk that wires 307 / 308 may detach from the pulleys, and also a risk that wires 307 / 308 may be damaged.

[0296] Therefore, in this embodiment, by setting a pulley 2187 / pulley 2188 between the first suture staple auxiliary pulley 2182 and pulleys 2183 / 2184 to prevent the first suture staple guide from detaching from the pulley, the path of the guide 307 / guide 308 is changed to a certain extent so that the guide 307 / guide 308, which is wound around the pulley 2183 / pulley 2184 and faces the distal end 2104 side of the end tool 2100, is parallel to the X-axis.

[0297] According to the present invention as described above, by preventing the wires 307 and 308, which serve as the first stitch guide wires, from disengaging from the pulley, the cutting action can be performed more smoothly.

[0298] The following describes the components related to the rotation of the first stitching pin pulley 2181.

[0299] Pulleys 2183 and 2184 function as the main pulleys for tilting the suture staple. Wire 307, serving as the first suture staple guide wire, is wound around pulley 2183, and wire 308, also serving as the first suture staple guide wire, is wound around pulley 2184.

[0300] Pulleys 2185 and 2186 function as auxiliary pulleys for suture nail pitching. Wire 307, serving as the first suture nail guide wire, is wound around pulley 2185, and wire 308, also serving as the first suture nail guide wire, is wound around pulley 2186.

[0301] In this design, pulleys 2183 and 2184 are arranged opposite each other on one side of the first suture pin pulley 2181, the first suture pin auxiliary pulley 2182, and pulleys 2187 / 2188. Pulleys 2183 and 2184 are configured to rotate independently of each other around a rotation axis 2143, which serves as the end-tool pitch rotation axis. Furthermore, pulleys 2185 and 2186 are arranged opposite each other on one side of each of the pulleys 2183 and 2184. Pulleys 2185 and 2186 are configured to rotate independently of each other around the rotation axis 2144, which serves as the end-tool pitch auxiliary rotation axis. While pulleys 2183, 2185, 2184, and 2186 in the accompanying drawings are all configured to rotate around the Y-axis, the concept of the invention is not limited to this; the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0302] As described above, rotation shafts 2141, 2142, 2143, and 2144 can be sequentially arranged from the distal end 2104 to the proximal end 2105 of the end tool 2100. Consequently, the first staple pulley 2181, the first staple auxiliary pulley 2182, pulleys 2187 / 2188, 2183 / 2184, and 2185 / 2186 can be sequentially arranged from the distal end 2104 to the proximal end 2105 of the end tool 2100.

[0303] The wire 307, serving as the lead wire for the first stitch, is sequentially wound around pulleys 2185, 2183, 2187, and the first stitch pulley 2181 to make contact with at least a portion of them. Furthermore, due to the fastener (see...) Figure 62 (329) The wire 308 connected to the wire 307 is sequentially wound around the first suture pin pulley 2181, the first suture pin auxiliary pulley 2182, the pulley 2188, the pulley 2184 and the pulley 2186 so as to make contact with at least a portion of them.

[0304] From another perspective, the wires 307 and 308, which serve as the first suture thread guides, are sequentially wound around pulleys 2185, 2183, 2187, 2181, 2182, 2188, 2184, and 2186 to make contact with at least a portion of them, and the wires 307 and 308 are configured to move with the pulleys while they rotate.

[0305] Therefore, when the conductor 307 is pulled, the fasteners connected to the conductor 307 (see reference) Figure 62 The 329) and the first stitching pulley 2181 coupled thereto rotate in one direction. Conversely, when the wire 308 is pulled, the fastener coupled to the wire 308 (see reference 329) rotates in one direction. Figure 62 329) and the first stitching pulley 2181 connected thereto rotate in the opposite direction.

[0306] On the other hand, the second suture pin pulley 2191, the second suture pin auxiliary pulley 2192, and the pulleys 2193, 2194, 2195, 2196, 2197, 2198, wire 309, and wire 310, which are related components, may have the same or similar configuration as the related components of the first suture pin pulley 2181.

[0307] Specifically, pulleys 2193 and 2194 function as the main pulleys for suture nail pitching. Wire 310, serving as the second suture nail guide wire, is wound around pulley 2193, and wire 309, also serving as the second suture nail guide wire, is wound around pulley 2194.

[0308] Pulleys 2195 and 2196 function as auxiliary pulleys for suture pin pitch. Wire 310, serving as the second suture pin guide wire, is wound around pulley 2195, and wire 309, also serving as the second suture pin guide wire, is wound around pulley 2196.

[0309] In this design, pulleys 2193 and 2194 are arranged opposite each other on one side of the second suture pin pulley 2191, the second suture pin auxiliary pulley 2192, and pulleys 2197 / 2198. Pulleys 2193 and 2194 are configured to rotate independently about a rotation axis 2143, which serves as the end-tool pitch rotation axis. Furthermore, pulleys 2195 and 2196 are arranged opposite each other on one side of each of the pulleys 2193 and 2194. Pulleys 2195 and 2196 are configured to rotate independently about a rotation axis 2144, which serves as the end-tool pitch auxiliary rotation axis. While pulleys 2193, 2195, 2194, and 2196 in the accompanying drawings are all configured to rotate about the Y-axis, the invention is not limited to this; the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0310] As described above, rotation shafts 2141, 2142, 2143, and 2144 can be sequentially arranged from the distal end 2104 to the proximal end 2105 of the end tool 2100. Consequently, the second suture pin pulley 2191, the second suture pin auxiliary pulley 2192, pulleys 2197 / 2198, 2193 / 2194, and 2195 / 2196 can be sequentially arranged from the distal end 2104 to the proximal end 2105 of the end tool 2100.

[0311] The wire 310, serving as the second suture pin guide, is sequentially wound around pulleys 2195, 2193, 2197, and the first suture pin pulley 2191 to make contact with at least a portion of them. Furthermore, due to the fastener (see...) Figure 62 (330) The wire 309 connected to the wire 310 is sequentially wound around the first suture pin pulley 2191, the first suture pin auxiliary pulley 2192, the pulley 2198, the pulley 2194 and the pulley 2196 so as to make contact with at least a portion of them.

[0312] From another perspective, the wires 310 and 309, which serve as the second suture thread guides, are sequentially wound around pulleys 2195, 2193, 2197, the first suture thread pulley 2191, the first suture thread auxiliary pulley 2192, the pulley 2198, the pulley 2194, and the pulley 2196 so as to make contact with at least a portion of them, and the wires 310 and 309 are configured to move with the pulleys while they rotate.

[0313] Therefore, when the conductor 310 is pulled, the fasteners connected to the conductor 310 (see reference) Figure 62 The 330) and the first stitching pulley 2191 coupled thereto rotate in one direction. Conversely, when the wire 309 is pulled, the fastener coupled to the wire 309 (see reference 330) rotates in one direction. Figure 62 The 330) and the first stitch pulley 2191 connected thereto rotate in the opposite direction.

[0314] (Suture thread drive assembly)

[0315] The following is a further detailed description of the suture staple drive assembly 2150.

[0316] Reference Figures 15 to 20 The staple drive assembly 2150 may include a staple pulley assembly 2160 and a staple connector assembly 2170. The staple drive assembly 2150 is characterized in that it is connected to a reciprocating motion assembly 550 of the staple cartridge 500, which will be described later, thereby converting the rotational motion of the staple pulley assembly 2160 into the linear motion of the reciprocating motion assembly 550. For other embodiments of the invention described later, it can also be understood that the staple drive assembly includes both the staple pulley assembly and the staple connector assembly.

[0317] The suture pin pulley assembly 2160 may include one or more suture pin pulleys. The suture pin pulley assembly 2160 may be formed with pulleys 2111 and 2121 adjacent to each other. In this embodiment, it is assumed that the suture pin pulley assembly 2160 includes two suture pin pulleys, namely a first suture pin pulley 2181 and a second suture pin pulley 2191.

[0318] The staple connector assembly 2170 may include one or more connector members 2171. Furthermore, the connector member 2171 may include one or more connectors. In a first embodiment of the invention, it is assumed that the staple connector assembly 2170 includes a connector member 2171, and the connector member 2171 includes a connector.

[0319] The end-effector 2100 of the surgical instrument according to the present invention is characterized in that the staple pulley assembly 2160 and the staple connector assembly 2170 form a cam / groove structure. Furthermore, the above structure amplifies the force required to advance the reciprocating motion assembly 550.

[0320] Specifically, the staple pulley assembly 2160 may include a first staple pulley 2181 and a second staple pulley 2191.

[0321] The first stitching pin pulley 2181 may include a body 2181a, a protruding member 2181b, and a shaft through portion 2181c.

[0322] The main body 2181a is formed in the shape of a disk.

[0323] The central portion of the main body 2181a can form a shaft through portion 2181c. The shaft through portion 2181c is formed in the shape of a hole, and the rotating shaft 2141, which serves as the rotating shaft of the end tool jaw pulley, can be inserted through the shaft through portion 2181c.

[0324] Furthermore, a protruding member 2181b may be formed in the main body 2181a of the first suture pin pulley 2181. The protruding member 2181b can be engaged with the connecting member 2171 of the suture pin connector assembly 2170. The center of the protruding member 2181b may not coincide with the center of the first suture pin pulley 2181, and the protruding member 2181b may be formed to a certain extent eccentrically relative to the first suture pin pulley 2181. The protruding member 2181b can be inserted into the first groove 2171d of the connecting member 2171, which will be described later.

[0325] The second suture pin pulley 2191 may include a body 2191a, a protruding member 2191b, and a shaft through portion 2191c.

[0326] The main body 2191a is formed in the shape of a disk.

[0327] The central portion of the main body 2191a can form a shaft through portion 2191c. The shaft through portion 2191c is formed in the shape of a hole, and the rotating shaft 2141, which serves as the rotating shaft of the end tool jaw pulley, can be inserted through the shaft through portion 2191c.

[0328] Furthermore, a protruding member 2191b may be formed in the main body 2191a of the second suture pin pulley 2191. The protruding member 2191b can be coupled to the connecting member 2171 of the suture pin connector assembly 2170. The center of the protruding member 2191b may not coincide with the center of the second suture pin pulley 2191, and the protruding member 2191b may be formed to a certain extent eccentrically relative to the first suture pin pulley 2191. The protruding member 2191b can be inserted into the second groove 2171e of the connecting member 2171, which will be described later.

[0329] On the other hand, the end tool 2100 of the present invention may further include a suture connector assembly 2170 connected to the suture pulley assembly 2160, the suture connector assembly 2170 including a connector member 2171. The suture connector assembly 2170 may function to connect the suture pulley assembly 2160 and the reciprocating movement assembly 2150 of the staple cartridge 2110, which will be described later.

[0330] The characteristic of this embodiment is that the suture pin connector assembly 2170 includes a connector member 2171, and the connector member 2171 includes only one connector. That is, the suture pin pulley assembly 2160 and the suture pin connector assembly 2170 are connected by a cam / groove structure, so even when the suture pin connector assembly 2170 includes only one connector, the rotational motion of the suture pin pulley assembly 2160 can be converted into the linear motion of the suture pin connector assembly 2170.

[0331] Specifically, the connecting member 2171 can be formed as a single connecting member.

[0332] The connector component 2171 is formed in the shape of a combination of an elongated bar and an elliptical plate, and can be formed in a generally "L" shape. The connector component 2171 may include a first protrusion 2171a, a second protrusion 2171b, a fastening part 2171c, a first groove 2171d, and a second groove 2171e.

[0333] A first protrusion 2171a and a second protrusion 2171b may be formed in a central region of the connector component 2171. The first protrusion 2171a and the second protrusion 2171b may be inserted into the guide groove 2101b of the first jaw 2101.

[0334] As described above, with the first protrusion 2171a and the second protrusion 2171b of the connector member 2171, which is formed in a raised shape, inserted into the groove-shaped guide groove 2101b, the first protrusion 2171a and the second protrusion 2171b move with the guide groove 2101b, thereby moving the connector member 2171 relative to the first jaw 2101 (and the staple cartridge 500 inside it). This will be described in further detail later.

[0335] On the other hand, a fastening portion 2171c may be formed at one end of the connecting member 2171. The fastening portion 2171c may be combined with the fastening portion 551a of the reciprocating moving member 551 of the staple cartridge 500.

[0336] On the other hand, a first groove 2171d and a second groove 2171e may be formed on the opposite end of one end of the fastening part 2171c formed in the connecting member 2171.

[0337] Specifically, in the connecting member 2171, a first groove 2171d can be formed on the surface opposite to the first stitch pulley 2181. The first groove 2171d can be formed in the shape of an elongated hole, allowing the protruding member 2181b of the first stitch pulley 2181 to be inserted therein. The first groove 2171d can be formed with a predetermined curvature and is approximately elliptical. In this case, the first groove 2171d can be formed to be slightly larger than the protruding member 2181b. Therefore, when the protruding member 2181b of the first stitch pulley 2181 is inserted into the first groove 2171d of the connecting member 2171, the protruding member 2181b can be configured to move a certain distance within the first groove 2171d.

[0338] As described above, the protruding member 2181b can be formed to a certain extent eccentrically relative to the center of the first suture pin pulley 2181. Therefore, when the first suture pin pulley 2181 rotates, the connecting member member 2171 can be moved by pushing the first groove 2171d while the protruding member 2181b is in contact with the first groove 2171d. That is, when the first suture pin pulley 2181 rotates, the protruding member 2181b contacts and moves within the first groove 2171d, thereby allowing the connecting member member 2171 to move linearly along the guide groove 2101b of the first jaw 2101.

[0339] The first groove 2171d can be formed so that it does not penetrate the entire thickness of the connector member 2171, but rather penetrates about half the entire thickness of the connector member 2171. Alternatively, the first groove 2171d can be formed with a thickness substantially the same as the thickness of the protruding member 2181b of the first stitch pulley 2181.

[0340] On the other hand, a second groove 2171e can be formed in the connecting member 2171. Specifically, a second groove 2171e can be formed on the surface of the connecting member 2171 opposite to the second suture pulley 2191. The second groove 2171e can be formed in the shape of an elongated hole, allowing the protruding member 2191b of the second suture pulley 2191 to be inserted therein. The second groove 2171e can be formed with a predetermined curvature and is approximately elliptical. In this case, the second groove 2171e can be formed to be larger than the protruding member 2191b to a certain extent. Therefore, when the protruding member 2191b of the second suture pulley 2191 is inserted into the second groove 2171e of the connecting member 2171, the protruding member 2191b can be configured to move a certain degree within the second groove 2171e.

[0341] As described above, the protruding member 2191b can be formed to a certain extent eccentrically relative to the center of the second suture pin pulley 2191. Therefore, when the second suture pin pulley 2191 rotates, the connecting member 2171 can be moved by pushing the second groove 2171e while the protruding member 2191b is in contact with the second groove 2171e. That is, when the second suture pin pulley 2191 rotates, the protruding member 2191b contacts and moves within the second groove 2171e, thereby allowing the connecting member 2171 to move linearly along the guide groove 2101b of the first jaw 2101.

[0342] The second groove 2171e can be formed so that it does not penetrate the entire thickness of the connector member 2171, but rather penetrates about half the entire thickness of the connector member 2171. Alternatively, the second groove 2171e can be formed with a thickness substantially the same as the thickness of the protruding member 2191b of the second stitching pin pulley 2191.

[0343] The first groove 2171d and the second groove 2171e may be formed to overlap at least partially. In addition, the sum of the thicknesses of the first groove 2171d and the second groove 2171e in the Y-axis direction may be formed to be approximately the same as the thickness of the connecting member 2171 in the Y-axis direction.

[0344] The first groove 2171d and the second groove 2171e can be formed symmetrically about the rotation axis 2141. As described above, by forming the first groove 2171d and the second groove 2171e symmetrically about the rotation axis 2141, the protruding members 2181b of the first stitch pulley 2181 and the protruding members 2191 of the second stitch pulley 2191, which are coupled to the connecting member 2171, can also be set symmetrically to each other. This will be described in more detail later.

[0345] (The staple pulley assembly is based on the displacement and movement of the staple pulley rotation)

[0346] The following describes the displacement of the staple connector assembly 2170 based on the rotation of the first staple pulley 2181 and the second staple pulley 2191.

[0347] Reference Figure 17 In a first embodiment of the present invention, the first suture pin pulley 2181 and the suture pin connector assembly 2170 are coupled in a cam / groove configuration. Specifically, a cam-shaped protrusion 2181b formed on the first suture pin pulley 2181 engages with a first groove 2171d formed on the connector assembly 2171. Therefore, when the first suture pin pulley 2181 rotates in the direction of arrow A, the displacement of the protrusion 2181b along the X-axis is B. Furthermore, the displacement of the suture pin connector assembly 2170 along the X-axis is C.

[0348] Similarly, refer to Figure 18 In the first embodiment of the present invention, the second suture pin pulley 2191 and the suture pin connector assembly 2170 are coupled in the form of a cam / groove. That is, the cam-shaped protruding member 2191b formed on the second suture pin pulley 2191 is coupled to the second groove 2171e formed on the connector assembly 2171. Therefore, when the second suture pin pulley 2191 rotates in the direction of arrow D, the displacement of the protruding member 2191b of the second suture pin pulley 2191 along the X-axis is E. Furthermore, the displacement of the suture pin connector assembly 2170 along the X-axis is F.

[0349] In contrast, when the staple pulley and staple connector assembly are coupled as a connector / shaft rather than a cam / groove, the displacement of the staple connector assembly along the X-axis is much greater than that of the first embodiment of the present invention.

[0350] In other words, compared to the suturing pin pulley and suturing pin connector assembly being axially coupled, when the suturing pin pulley and suturing pin connector assembly are coupled with a cam / groove as shown in this embodiment, even if the suturing pin pulley rotates by the same amount, the displacement of the suturing pin connector assembly in the X-axis direction will be reduced.

[0351] On the other hand, work is the product of force and displacement, so when assuming the work done to rotate the sewing pin pulley is the same, displacement and force are inversely proportional. Therefore, when displacement decreases, force increases inversely proportionally.

[0352] Finally, in the first embodiment of the present invention, the first suture pin pulley 2181 and the second suture pin pulley 2191 are respectively engaged with the suture pin connector assembly 2170 in the form of a cam / groove, and the displacement of the suture pin connector assembly 2170 in the X-axis direction is relatively reduced compared with other embodiments due to the rotation of the first suture pin pulley 2181 and the second suture pin pulley 2191. Therefore, the force on the suture pin connector assembly 2170 in the X-axis direction is relatively increased compared with the simple connector structure.

[0353] Through the first embodiment of the present invention as described above, the force of the suture staple connector assembly 2170 and the reciprocating moving assembly 550 connected thereto is amplified, thereby achieving the effect of more powerfully executing the staple stitching action.

[0354] In particular, in the first embodiment of the invention, two suture pin pulleys (i.e., the first suture pin pulley 2181 and the second suture pin pulley 2191) are provided symmetrically to each other, so the force of the suture pin pulley assembly 2160 pushing the suture pin connector assembly 2170 can be amplified by about two times compared to when only one suture pin pulley is provided.

[0355] Furthermore, since the first staple pulley 2181 and the second staple pulley 2191 are configured to be symmetrical about each other with the XZ plane as a reference, they are balanced left and right when performing the staple sewing action. This allows the end tool 2100 to maintain a stable position relative to the rotation axis 2141, which serves as the deflection rotation axis, without swaying left and right. Moreover, regarding the rotation axis 2143, which serves as the pitch rotation axis, by making the winding directions of the wires 307 / 308 (serving as the first staple guide) and 309 / 310 (serving as the second staple guide) opposite to each other, an effect can be achieved that cancels out the swaying relative to the rotation axis 2143.

[0356] The rotation directions of the first suture pin pulley 2181 and the second suture pin pulley 2191 are described below.

[0357] Reference Figure 17 , Figure 18 , Figure 19 as well as Figure 20 The first suture pin pulley 2181 is in the direction Figure 20 When rotated in the direction of arrow A (i.e., clockwise), the staple connector assembly 2170 is advanced, and the second staple pulley 2191 moves towards... Figure 20 When rotated in the direction of arrow D (i.e., counterclockwise), the staple connector assembly 2170 is advanced.

[0358] Conversely, when the first suture pin pulley 2181 rotates counterclockwise, it causes the suture pin connector assembly 2170 to retract; when the second suture pin pulley 2191 rotates clockwise, it causes the suture pin connector assembly 2170 to retract.

[0359] Ultimately, the staple connector assembly 2170 moves (forward or backward) when the first staple pulley 2181 and the second staple pulley 2191 rotate in opposite directions. Conversely, when the first staple pulley 2181 and the second staple pulley 2191 rotate in the same direction, the staple connector assembly 2170 does not move because the rotation of the two pulleys cancels each other out.

[0360] Ultimately, in such Figure 19 In the state shown, when the first suture pin pulley 2181 rotates clockwise while the second suture pin pulley 2191 rotates counterclockwise, the connecting member 2171 connected to the first suture pin pulley 2181 and the second suture pin pulley 2191 can generally move towards the distal end of the first jaw 2101 (refer to...). Figure 13 Move in the direction of 2101f).

[0361] Conversely, when the first suture pin pulley 2181 rotates counterclockwise while the second suture pin pulley 2191 rotates clockwise, the connecting member 2171 connected to the first suture pin pulley 2181 and the second suture pin pulley 2191 can generally move towards the proximal end of the first jaw 2101 (see reference). Figure 13 It moves in the direction of 101g.

[0362] Therefore, the bidirectional rotational motion of the staple pulley assembly 2160 can cause the reciprocating linear motion of the staple cartridge 500's reciprocating movement assembly 550 through the staple connector assembly 2170. This will be described in further detail later.

[0363] (First jaws, second jaws, and actuation action)

[0364] The following is a further detailed description. Figure 2 The combination structure of the first jaw 2101 and the second jaw 2102 of the end tool 2100 of the surgical instrument 2000.

[0365] Figure 13 To show Figure 2 A plan view of the first jaw of a surgical instrument. Figure 14 To show Figure 2 A plan view of the second jaw of a surgical instrument. Figure 21 and Figure 22 To show Figure 2 A plan view of the opening and closing action of the first and second jaws of a surgical instrument. Figure 23 and Figure 24 To show Figure 2 A plan view of the opening and closing action of the first and second jaws of a surgical instrument. Figure 25 and Figure 26 To show Figure 2 A perspective view of the opening and closing action of the end effector of a surgical instrument.

[0366] Reference Figures 9 to 26 The first jaw 2101 includes a staple cartridge receiving portion 2101a, a guide groove 2101b, a movable engagement hole 2101c, a jaw pulley engagement hole 2101d, and a shaft through portion 2101e.

[0367] The first jaw 2101 is generally formed in the shape of a slender rod, with the distal end 2101f accommodating the staple cartridge 500 and the proximal end 2101g connected to a pulley 2111, thereby enabling it to rotate about the rotation axis 2141. In other words, the first jaw 2101 is generally formed with one side (top surface) of a hollow box removed, thus allowing the interior of the first jaw 2101 to form a staple cartridge receiving portion 2101a capable of accommodating the staple cartridge 500. That is, the cross-section of the first jaw 2101 can be roughly formed in a "U" shape.

[0368] A guide groove 2101b can be formed on one side of the staple cartridge receiving portion 2101a of the first jaw 2101, for example, on the proximal end portion 2101g side. This guide groove 2101b guides the movement of the staple connector assembly 2170, which will be described later. The guide groove 2101b can be formed in the shape of a groove along the movement path of the staple connector assembly 2170. Furthermore, when the first protrusion 2171a and the second protrusion 2171b of the connector member 2171, which is formed in a protruding shape, are inserted into the groove-shaped guide groove 2101b, the first protrusion 2171a and the second protrusion 2171b move with the guide groove 2101b, thereby moving the staple connector assembly 2170 relative to the first jaw 2101 (and the staple cartridge 500 inside it). That is, the staple connector assembly 2170 can move along the guide groove 2101b of the first jaw 2101.

[0369] On the other hand, a movable engagement hole 2101c, a jaw pulley engagement hole 2101d, and a shaft through portion 2101e may be formed on the proximal end side of the first jaw 2101.

[0370] The movable engagement hole 2101c can be formed with a predetermined curvature and is generally elliptical. The shaft engagement portion 2111a of the pulley 2111 (described later) can be inserted into the movable engagement hole 2101c. The minor radius of the movable engagement hole 2101c can be formed to be substantially the same as or slightly larger than the radius of the shaft engagement portion 2111a. On the other hand, the major radius of the movable engagement hole 2101c can be formed to be larger than the radius of the shaft engagement portion 2111a. Therefore, when the shaft engagement portion 2111a of the pulley 2111 is inserted into the movable engagement hole 2101c of the first jaw 2101, the shaft engagement portion 2111a can be configured to move a certain degree within the movable engagement hole 2101c. This will be described in further detail later.

[0371] On the other hand, the jaw pulley engagement hole 2101d is formed in a cylindrical hole shape, into which the jaw engagement portion 2111b of the pulley 2111 (described later) can be inserted. The radius of the jaw pulley engagement hole 2101d can be formed to be substantially the same as or slightly larger than the radius of the jaw engagement portion 2111b. Therefore, the jaw engagement portion 2111b of the pulley 2111 can be formed to rotatably engage with the jaw pulley engagement hole 2101d of the first jaw 2101. This will be described in further detail later.

[0372] Compared to the movable engagement hole 2101c and the jaw pulley engagement hole 2101d, the shaft through portion 2101e can be formed on the distal end 2101f side of the first jaw 2101. The shaft through portion 2101e is formed in the shape of a hole, and the rotating shaft 2145, which serves as the jaw rotation axis, can be inserted through the shaft through portion 2101e.

[0373] The second jaw 2102 includes an anvil 2102a, a movable engagement hole 2102c, a jaw pulley engagement hole 2102d, and a shaft through part 2102e.

[0374] The second jaw 2102 is generally formed in the shape of a slender rod, with an anvil 2102a formed on the distal end 2102f side and a pulley 2112 attached to the proximal end 2102g side, thereby forming a structure capable of rotating about the rotation axis 2141.

[0375] Specifically, the anvil 2102a can be formed as a flat planar shape, and one side of it has a shape corresponding to the shape of the suture staple 530, which will be described later. When the working member 540 pushes the suture staple 530 during the suturing operation, the anvil 2102a, as described above, supports the opposite side of the working member 540, thereby enabling it to perform a support function that bends the suture staple 530.

[0376] On the other hand, a movable engagement hole 2102c, a jaw pulley engagement hole 2102d, and a shaft through portion 2102e may be formed on the proximal end side of the second jaw 2102.

[0377] The movable engagement hole 2102c can be formed with a predetermined curvature and is generally elliptical. The shaft engagement portion 2121a of the pulley 2121 (described later) can be inserted into the movable engagement hole 2102c. The minor radius of the movable engagement hole 2102c can be formed to be substantially the same as or slightly larger than the radius of the shaft engagement portion 2121a. On the other hand, the major radius of the movable engagement hole 2102c can be formed to be larger than the radius of the shaft engagement portion 2121a. Therefore, when the shaft engagement portion 2121a of the pulley 2121 is inserted into the movable engagement hole 2102c of the second jaw 2102, the shaft engagement portion 2121a can be configured to move a certain degree within the movable engagement hole 2102c. This will be described in further detail later.

[0378] On the other hand, the jaw pulley engagement hole 2102d is formed in a cylindrical hole shape, into which the jaw engagement portion 2121b of the pulley 2121 (described later) can be inserted. The radius of the jaw pulley engagement hole 2102d can be formed to be substantially the same as or slightly larger than the radius of the jaw engagement portion 2121b. Therefore, the jaw engagement portion 2121b of the pulley 2121 can be formed to rotatably engage with the jaw pulley engagement hole 2102d of the second jaw 2102. This will be described in further detail later.

[0379] On the other hand, compared to the movable engagement hole 2102c and the jaw pulley engagement hole 2102d, the shaft penetration portion 2102e can be formed on the distal end 2102g side of the second jaw 2102. The shaft penetration portion 2102e is formed in the shape of a hole, and the rotating shaft 2145, which serves as the jaw rotation axis, can be inserted through the shaft penetration portion 2102e.

[0380] The pulley 2111, serving as the first jaw pulley, may include a shaft engagement portion 2111a and a jaw engagement portion 2111b. The pulley 2111 is generally formed in a rotatable disc shape, and the shaft engagement portion 2111a and the jaw engagement portion 2111b may protrude to a certain extent from one side of its surface. As described above, the shaft engagement portion 2111a of the pulley 2111 can be inserted into the movable engagement hole 2101c of the first jaw 2101, and the jaw engagement portion 2111b of the pulley 2111 can be inserted into the jaw pulley engagement hole 2101d of the first jaw 2101. The pulley 2111 may be configured to rotate around a rotation axis 2141, which serves as the end-tool jaw pulley.

[0381] On the other hand, the pulley 2121, which serves as the second jaw pulley, may also include a shaft engagement portion 2121a and a jaw engagement portion 2121b. The pulley 2121 is generally formed in the shape of a rotatable disc, and the shaft engagement portion 2121a and the jaw engagement portion 2121b may be formed to a certain extent protruding from one side of it. As described above, the shaft engagement portion 2112a of the pulley 2121 can be inserted into the movable engagement hole 2102c of the second jaw 2102, and the jaw engagement portion 2112b of the pulley 2121 can be inserted into the jaw pulley engagement hole 2102d of the second jaw 2102. The pulley 2121 may be formed to be rotatable about the rotation axis 2141, which serves as the end-tool jaw pulley.

[0382] The connection relationships between the various components mentioned above are as follows.

[0383] The rotating shaft 2141, which serves as the rotating shaft of the end tool jaw pulley, is sequentially inserted into the shaft connection portion 2111a of the pulley 2111, the movable connection hole 2101c of the first jaw 2101, the shaft through portion 2181c of the first suture pin pulley 2181, the movable connection hole 2102c of the second jaw 2102, and the shaft connection portion 2121a of the pulley 2121.

[0384] The rotating shaft 2145, which serves as the rotating shaft of the jaws, is sequentially inserted into the shaft through-part 2101e of the first jaw 2101 and the shaft through-part 2102e of the second jaw 2102.

[0385] The shaft engagement portion 2111a of pulley 2111 is inserted into the movable engagement hole 2101c of first jaw 2101, and the jaw engagement portion 2111b of pulley 2111 is inserted into the jaw pulley engagement hole 2101d of first jaw 2101.

[0386] At this time, the jaw pulley engagement hole 2101d of the first jaw 2101 and the jaw engagement part 2111b of the pulley 2111 are rotatably shaft engaged, and the movable engagement hole 2101c of the first jaw 2101 and the shaft engagement part 2111a of the pulley 2111 are fluidly engaged.

[0387] The shaft engagement portion 2121a of pulley 2121 is inserted into the movable engagement hole 2102c of second jaw 2102, and the jaw engagement portion 2121b of pulley 2121 is inserted into the jaw pulley engagement hole 2102d of second jaw 2102.

[0388] At this time, the jaw pulley engagement hole 2102d of the second jaw 2101 and the jaw engagement part 2121b of the pulley 2121 are rotatably shaft engaged, and the movable engagement hole 2102c of the second jaw 2102 and the shaft engagement part 2121a of the pulley 2121 are fluidly engaged.

[0389] Pulleys 2111 and 2121 rotate around a rotation axis 2141, which serves as the rotation axis of the end-tool jaws. The first jaw 2101 and the second jaw 2102 rotate around a rotation axis 2145, which serves as the jaw rotation axis. That is, the rotation axes of pulleys 2111 and the first jaw 2101 are different from each other. Similarly, the rotation axes of pulleys 2121 and the second jaw 2102 are different from each other.

[0390] That is, the rotation angle of the first jaw 2101 is limited to a certain extent by the movable engagement hole 2101c, but it rotates basically around the rotation axis 2145, which serves as the jaw rotation axis. Similarly, the rotation angle of the second jaw 2102 is limited to a certain extent by the movable engagement hole 2102c, but it rotates basically around the rotation axis 2145, which serves as the jaw rotation axis.

[0391] The amplification of the gripping force caused by the connection relationship between the above-mentioned components is described.

[0392] The surgical instrument 2000 according to an embodiment of the present invention is characterized in that an X-shaped structure is formed by the combination structure of the first jaw 2101 and the second jaw 2102, and the gripping force in the closing direction of the first jaw 2101 and the second jaw 2102 is further increased when the first jaw 2101 and the second jaw 2102 rotate in a direction closer to each other (i.e., when the first jaw 2101 and the second jaw 2102 close). This will be described in detail below.

[0393] As described above, in the opening and closing actions of the first jaw 2101 and the second jaw 2102, there are two axes that serve as their centers of rotation. That is, the first jaw 2101 and the second jaw 2102 perform opening and closing actions with the two axes 2141 and 2145 as centers. At this time, the center of rotation of the first jaw 2101 and the second jaw 2102 becomes the axis of rotation 2145, and the center of rotation of pulleys 2111 and 2121 becomes the axis of rotation 2141. At this time, the axis of rotation 2141 becomes an axis with a relatively fixed position, and the axis of rotation 2145 becomes an axis with a relatively linearly moving position. In other words, with the axis of rotation 2141 in a fixed position, when pulleys 2111 and 2121 rotate, the axis of rotation 2145, which serves as the axis of rotation of the first jaw 2101 and the second jaw 2102, moves back and forth, thereby causing the first jaw 2101 and the second jaw 2102 to open / close.

[0394] With the configuration described above, the gripping force is further enhanced when the first jaw 2101 and the second jaw 2102 are closed, thereby achieving the effect of enabling the surgical operator to perform actuation actions powerfully with less force.

[0395] (Ding)

[0396] The following is a further detailed description. Figure 2 The staple cartridge of the 2000 surgical instruments is 500.

[0397] Figure 27 To show Figure 2 A perspective view of the first jaw and staple cartridge of a surgical instrument. Figure 28 To show Figure 27 Exploded perspective view of the central nail chamber. Figure 29 To show Figure 27 Perspective view of the central nail chamber. Figure 30 To show Figure 27 Side view of the nail chamber. Figure 31 To show Figure 27 A perspective cross-sectional view of the central nail magazine. Figure 32 To show Figure 27 Side sectional view of the central nail magazine. Figure 33 and Figure 34 To show Figure 27 Perspective view of the working components of the central nail magazine. Figure 35 To show Figure 2 A side sectional view of the stapled suture-related structures of the end-effector of a surgical instrument. Figure 36 and Figure 37 To show Figure 2 A perspective cross-sectional view of the stapled suture structure of the end tool of a surgical instrument. Figures 38 to 41 To show Figure 30 Perspective view of the ratchet-driven action of the mid-end tool. Figure 42 and Figure 43 To show Figure 36 A plan view of the ratchet-driven action of the mid-end tool. Figure 44 To show the whole Figure 36 Perspective view of the ratchet-driven action of the mid-end tool. Figure 45 and Figure 46 To show the whole Figure 36 A perspective view of the stitching action of the mid-end tool.

[0398] Reference Figures 27 to 46The staple cartridge 500 is configured to be mounted to or detached from the first jaw 2101, and internally includes a plurality of staples 530 and blades 542 to perform suturing and cutting of tissue. The staple cartridge 500 may include a cover 510, a housing 520, staples 530, an extraction member 535, a working member 540, and a reciprocating motion assembly 550.

[0399] The housing 520 forms the shape of the staple cartridge 500 and is generally shaped as if one side (top surface) of the box has been removed, so that its interior can accommodate the reciprocating motion assembly 550, the working member 540, and the staples 530. Here, the cross-section of the housing 520 is approximately U-shaped.

[0400] The cover 510 is formed to cover the top of the housing 520. A staple hole 511 may be formed on the cover 510 to allow a plurality of staples 530 to be discharged to the outside. Prior to staple stitching, the staples 530 are originally housed inside the housing 520, but during the staple stitching operation, they are pushed upward by the working member 540 and then led out through the staple hole 511 of the cover 510 to the outside of the staple cartridge 500 while staple stitching is being performed.

[0401] On one hand, the slit 512 can be formed on the cover 510 along the longitudinal direction of the cover 510. The blade 542 of the working member 540 can protrude to the outside of the staple cartridge 500 through the slit 512. When the blade 542 of the working member 540 passes along the slit 512, it can cut the stapled tissue.

[0402] A plurality of suture pins 530 may be disposed inside the housing 520. As the working member 540, described later, moves linearly in one direction, the plurality of suture pins 530 are sequentially pushed upward from the inside of the housing 520 to the outside while suturing, i.e., suturing is performed. Here, the material of the suture pins 530 may include titanium, stainless steel, etc.

[0403] On one hand, a lead-out member 535 may be further provided between the housing 520 and the suture pins 530. In other words, the suture pins 530 can be described as being positioned on top of the lead-out member 535. In this case, the working member 540 pushes the lead-out member 535 upward while moving linearly in one direction, and the lead-out member 535 can push each suture pin 530 upward.

[0404] As described above, both the case where the working member 540 directly pushes each suture staple 530 upward and the case where the working member 540 pushes the lead-out member 535 upward so that the lead-out member 535 pushes each suture staple 530 upward (i.e., the working member 540 indirectly pushes the suture staple 530 upward) can be described as the working member 540 pushing each suture staple 530 upward.

[0405] The reciprocating motion assembly 550 may be disposed inside the lower part of the housing 520. The reciprocating motion assembly 550 may include one or more reciprocating motion members 551. In this embodiment, although shown as having one reciprocating motion member 551, in embodiments described later, there may be a plurality of reciprocating motion members 551.

[0406] In this embodiment, the reciprocating member 551 may be a rack. The reciprocating member 551 may include protrusions and recesses 551b and fastening portions 551a. Specifically, the reciprocating member 551 may be formed in the shape of a bar, and a plurality of serrated protrusions and recesses 551b may be formed on one of its surfaces. These protrusions and recesses 551b may be configured to contact the working member 540, described later, particularly the ratchet member 543 of the working member 540. In other words, the reciprocating member 551 may include a plurality of protrusions and recesses 551b having a shape that engages with the respective ratchet 543a of the ratchet member 543.

[0407] On the one hand, although not shown in the accompanying drawings, apart from the rack form, the reciprocating member 551 can be configured to be directly or indirectly connected to the stitching pin pulley assembly 2160 to perform linear reciprocating motion according to the rotational motion of the stitching pin pulley assembly 2160, and can be of various shapes. For example, the reciprocating member 551 can be in the form of a clutch without protrusions or recesses.

[0408] Here, the reciprocating moving member 551 is not fixedly connected to the other components of the staple cartridge 500, and can be configured to be relatively movable relative to the other components of the staple cartridge 500. That is, the reciprocating moving member 551 can perform reciprocating linear motion relative to the housing 520 and the cover 510 connected to the housing 520.

[0409] On one hand, a fastening portion 551a can be formed on the reciprocating moving member 551 at the proximal end 501 adjacent to the pulley 2111. This fastening portion 551a can be fastened to the suture fastener assembly 2170 of the end tool 2100. Therefore, when the suture fastener assembly 2170 reciprocates linearly along the extension direction of the connecting portion 400 (i.e., the Y-axis direction), the reciprocating moving member 551 fastened to it also reciprocates linearly along the extension direction of the connecting portion 400 (i.e., the Y-axis direction). This will be described in more detail later.

[0410] The working member 540 may be disposed inside the housing 520. The working member 540 is configured to contact the reciprocating member 551, thereby performing linear motion in one direction according to the reciprocating linear motion of the reciprocating member 551. In other words, the working member 540 interacts with the reciprocating member 551, thereby performing stitching and cutting while moving along the extension direction of the connecting portion 400.

[0411] The working component 540 may include a wedge 541, a blade 542, a ratchet component 543, an elastic component 544, and a body 545.

[0412] The main body 545 can be formed into a rectangular column shape and form the base part of the working component 540.

[0413] A wedge-shaped member 541 is formed on at least one side of the main body 545 and can be formed to have a predetermined inclined surface. That is, the wedge-shaped member 541 can be formed to be inclined to a certain degree in the extending direction of the connecting portion 400. In other words, the height of the proximal end 501 side of the staple cartridge 500 can be higher than the height of the distal end 502 side. Although the figures show two wedge-shaped members 541 formed on each side of the main body 545, the spirit of the invention is not limited to this, and they can be formed in multiple numbers and shapes depending on the shape of the suture staple 530 or the lead-out member 535 that contacts the wedge-shaped member 541.

[0414] The wedge-shaped member 541, as described above, is configured to sequentially contact the lead-out member 535 or a plurality of suture pins 530, thereby sequentially pushing the suture pins 530 upward. (As described later...) Figure 40 As shown, when the working member 540 moves toward the distal end 502, it can be used to push the suture staples 530 upward in sequence to lead them out to the outside of the staple cartridge 500.

[0415] The blade 542 may be formed on one side of the wedge 541, more specifically, on the proximal end 501 side of the wedge 541. In one region of the blade 542, a sharp, tissue-cutting edge 542a is formed. At least a portion of this edge 542a is extended to the outside of the first jaw 2101 and the staple cartridge 500, while simultaneously cutting tissue positioned between the first jaw 2101 and the second jaw 2102. The edge 542a of the blade 542 may always be extended to the outside of the first jaw 2101. Alternatively, the edge 542a of the blade 542 may normally be housed inside the first jaw 2101 or the staple cartridge 500, and only extended to the outside of the first jaw 2101 when the working member 540 moves longitudinally.

[0416] A ratchet member 543 is formed on one side of the wedge-shaped member 541, more specifically, below the wedge-shaped member 541, and may be configured to face the reciprocating member 551, which will be described later. The ratchet member 543 may be formed in the shape of a bar and may include a plurality of ratches 543a on one surface. The working member 540 moves relative to the reciprocating member 551 in only one direction (i.e., the distal direction) via the ratchet member 543. The ratches 543a of the ratchet member 543 may be configured to contact the protrusions 551b of the reciprocating member 551.

[0417] An elastic member 544 is formed on either side of the body 545 or the wedge 541 to apply a predetermined elastic force to the ratchet member 543. As an example, one region of the elastic member 544 is connected to the wedge 541 or the body 545, while another region of the elastic member 544 is connected to the ratchet member 543, so that the elastic member 544 connects the wedge 541 or the body 545 to the ratchet member 543. Here, the elastic member 544 can apply the elastic force in a direction that brings the ratchet member 543 into close contact with the reciprocating member 551. For this purpose, the elastic member 544 can be formed in the form of a leaf spring; furthermore, it can be provided in various forms to provide a predetermined elastic force to the ratchet member 543, such as a coil spring or a disc spring.

[0418] Here, the first surface 543a1 of the ratchet 543a of the ratchet member 543 (specifically the surface on the distal end 502 side) is formed with a predetermined angle and a gentle inclination, and the second surface 543a2 (specifically the surface on the proximal end 501 side) can be formed as vertical or nearly vertical.

[0419] In addition, the first surface 551b1 (specifically the surface on the proximal end 501 side) of the reciprocating moving member 551 is also formed with a predetermined angle and a gentle inclination, and the second surface 551b2 (specifically the surface on the distal end 502 side) can be formed to be vertical or nearly vertical, so as to engage with the ratchet 543a of the ratchet member 543.

[0420] With the reciprocating member 551 and the ratchet member 543 fastened (or engaged, or in close contact) to each other, the inclined first surface 543a1 in the ratchet 543a and the inclined first surface 551b1 in the protrusion 551b can be configured to face each other (i.e., be connected to each other). Furthermore, the vertical second surface 543a2 in the ratchet 543a and the vertical second surface 551b2 in the protrusion 551b can be configured to face each other (i.e., be connected to each other).

[0421] With the configuration described above, the ratchet 543a and the concave-convex portion 551b are fastened (or engaged) to each other, and can be used as a ratchet, so that it can move in only one direction.

[0422] As an example, assuming the reciprocating moving member 551 is in a fixed state, the working member 540 can move away from each other along the direction of the perpendicularly formed second surface 543a2 and the second surface 551b2, but the second surface 543a2 and the second surface 551b2 cannot move towards each other when they are in contact.

[0423] To describe this from another perspective, when the reciprocating member 551 and the ratchet member 543 are fastened (or engaged, or in close contact) to each other, when the reciprocating member 551 moves towards the distal end 502, the ratchet member 543 also moves towards the distal end 502 via the reciprocating member 551. That is, the vertical second surface 551b2 of the reciprocating member 551 pushes the vertical second surface 543a2 of the working member 540, thereby causing the ratchet member 543 to move towards the distal end 502 via the reciprocating member 551.

[0424] Conversely, when the reciprocating member 551 and the ratchet member 543 are fastened (or engaged, or in close contact) to each other, when the reciprocating member 551 moves towards the proximal end 501, when the ratchet member 543 is fixed, only the reciprocating member 551 moves towards the proximal end 501 alone. That is, when the working member 540 is fixed, the inclined first surface 551b1 of the reciprocating member 551 moves along the inclined first surface 543a1 of the working member 540, so that only the reciprocating member 551 moves towards the proximal end 501 alone.

[0425] See Figures 34 to 37 ,exist Figure 34 and Figure 36 In the state shown, when the reciprocating moving member 551 moves towards the proximal end 501 ( Figure 35 and Figure 37 (In the direction of arrow K1), the inclined first surface 551b1 of the reciprocating moving member 551 moves along the inclined first surface 543a1 of the working member 540, while the ratchet member 543 moves as a whole towards... Figure 35 The arrow K2 in the diagram is pressed and pushed simultaneously. Additionally, at this time, the elastic member 544 also undergoes a certain degree of elastic deformation.

[0426] In this state, when the reciprocating member 551 moves further towards the proximal end 501, such that the inclined first surface 551b1 of the reciprocating member 551 passes the end of the inclined first surface 543a1 of the working member 540, the protrusion 551b of the reciprocating member 551 meets the next ratchet 543a of the ratchet member 543. At this time, since the elastic member 544 applies elastic force along the direction of close contact between the ratchet member 543 and the reciprocating member 551, the reciprocating member 551 and the ratchet member 543 are once again in close contact at their front surfaces.

[0427] As a result, the staple cartridge 500 is housed in the staple cartridge receiving portion 2101a of the first jaw 2101, at which point the reciprocating movement member 551 of the staple cartridge 500 engages with the suture connector assembly 2170 of the end tool 2100. Therefore, the rotational motion of the first suture pulley 2181 of the end tool 2100 is converted into linear motion of the reciprocating movement member 551 by the suture connector assembly 2170.

[0428] At this time, since the fastening part 551a of the reciprocating moving member 551 is connected to the suture pin pulley assembly 2160 through the suture pin connector assembly 2170, the reciprocating moving member 551 can repeatedly move forward and backward when the suture pin pulley assembly 2160 rotates alternately in a clockwise / counterclockwise direction. Furthermore, when the reciprocating moving member 551 moves forward, the working member 540 moves forward together with the reciprocating moving member 551, and when the reciprocating moving member 551 moves backward, only the reciprocating moving member 551 moves backward while the working member 540 remains stationary in its original position. When this process is repeated, the working member 540 moves forward, and while the suture pin 530 is sutured by the wedge member 541, the blade 542 can cut the sutured tissue.

[0429] A more detailed description of this is as follows.

[0430] (Suturing and cutting actions)

[0431] Reference Figure 44 The method for driving a surgical instrument according to an embodiment of the present invention is as follows.

[0432] First, when the first staple pulley 2181 rotates clockwise and the second staple pulley 2191 rotates counterclockwise, the staple connector assembly 2170 connected to the staple pulley assembly 2160 and the reciprocating movement assembly 550 of the staple cartridge 500 connected to the staple connector assembly 2170 move toward the distal end 502 of the staple cartridge 500.

[0433] Then, when the reciprocating motion assembly 550 moves toward the distal end 502 of the staple cartridge 500, the working member 540 in contact with the reciprocating motion assembly 550 moves together with the reciprocating motion assembly 550 toward the distal end 502 of the staple cartridge 500.

[0434] Then, the working member 540 moves toward the distal end 502 of the staple cartridge 500, thereby discharging the suture staples 530 toward the outside of the staple cartridge 500 while the blade 542 of the working member 540 moves toward the distal end 502 of the staple cartridge 500.

[0435] On the other hand, when the first suture pin pulley 2181 rotates counterclockwise and the second suture pin pulley 2191 rotates clockwise, the suture pin connector assembly 2170 connected to the suture pin pulley assembly 2160 and the reciprocating movement assembly 550 of the staple cartridge 500 connected to the suture pin connector assembly 2170 move toward the proximal end 501 of the staple cartridge 500, at which time the working member 540 stops.

[0436] Furthermore, as the steps described above are repeated, the nail-stitching action caused by the wedge 541 and the cutting action caused by the blade 542 are performed simultaneously.

[0437] The following is a detailed description of this.

[0438] First, in such Figure 44 In the state shown in (a), when the first suture pin pulley 2181 is as follows Figure 44 (b) When the second staple pulley 2191 rotates in the direction of arrow A1 (i.e., clockwise) and in the direction of arrow B1 (i.e., counterclockwise), the staple connector assembly 2170 connected to it and the reciprocating moving member 551 fastened to the staple connector assembly 2170 move in the direction of arrow C1 (i.e., distal end direction). In this state, the reciprocating moving member 551 and the working member 540 move due to the elastic member (refer to...) Figure 43 The working member 540 is in close contact with the reciprocating member 551, so when the reciprocating member 551 moves in the direction of arrow C1, the working member 540 also moves in the direction of arrow C1 together with the reciprocating member 551.

[0439] On the other hand, such as Figure 44As shown in (c), when the first suture pin pulley 2181 rotates in the direction of arrow A2 (i.e., counterclockwise) and the second suture pin pulley 2191 rotates in the direction of arrow B2 (i.e., clockwise), the suture pin connector assembly 2170 connected thereto and the reciprocating moving member 551 fastened to the suture pin connector assembly 2170 move in the direction of arrow C2 (i.e., proximal direction). In this state, while the overall position of the reciprocating moving member 551 remains unchanged as it moves in the C2 direction due to the ratchet member 543 and the fastening structure of the reciprocating moving member 551, the elastic member 544 repeatedly undergoes elastic deformation and recovery, and only the ratchet member 543 repeatedly maintains a predetermined distance from and contact with the reciprocating moving member 551 (see reference). Figure 41 and Figure 43 That is, even if the reciprocating moving component 551 moves in the direction of arrow C2, the working component 540 remains in its original position when viewed from the X-axis direction.

[0440] like Figure 44 As shown in (d), when the first suture pin pulley 2181 rotates further in the direction of arrow A3 and the second suture pin pulley 2191 rotates further in the direction of arrow B3, only the suture pin connector assembly 2170 and the reciprocating moving member 551 connected to them move further in the direction of arrow C3.

[0441] In this state, when the first suture pin pulley 2181 stops rotating, as Figure 44 As shown in (a), the suture staple connector assembly 2170, the reciprocating moving member 551, and the working member 540 will also stop.

[0442] During the process described above, as the first staple pulley 2181 and the second staple pulley 2191 rotate alternately in a clockwise / counterclockwise direction, the reciprocating member 551 repeatedly moves forward and backward, and the working member 540 repeatedly moves forward and stops, ultimately causing the working member 540 to move towards the distal end 502. Furthermore, as the working member 540 moves towards the distal end 502, the staple-sewing action caused by the wedge 541 and the cutting action caused by the blade 542 are performed simultaneously.

[0443] The following describes the stapled suturing action of a surgical instrument according to an embodiment of the present invention.

[0444] Figure 45 To show by each interval Figure 36 A perspective view of the stitching action of the mid-end tool. Figure 46 To show the whole Figure 36 A perspective view of the stitching action of the mid-end tool.

[0445] Reference Figure 45 and Figure 46 In such Figure 45In the state shown in (a), when the working component 540 is facing... Figure 45 When the movement is in the direction of arrow A1 in (b), the wedge 541 of the working member 540 pushes the lead-out member 535, and the lead-out member 535 pushes the suture staple 530 to one side below. Furthermore, the suture staple 530 is thus discharged to the outside of the first jaw 2101 and the staple cartridge 500.

[0446] In this state, when the working component 540 faces... Figure 45 When the arrow A2 in (c) moves further, the ejected suture staple 530 is pushed by the working member 540 while in contact with the anvil 2102a of the second jaw 2102, so that the two ends of the suture staple 530 bend and suture is performed.

[0447] As the actions described above are performed continuously, such as Figure 46 As shown, among the plurality of suture staples 530, staple suturing is performed sequentially from the proximal end 501 side suture staple 530 to the proximal end 502 side suture staple 530.

[0448] (Operations Department)

[0449] Figure 47 and Figure 48 It is shown Figure 2 A perspective view of the operating section of a surgical instrument. Figure 49 It is only schematically shown that the composition is... Figure 2 A diagram showing the arrangement of pulleys and wires in the joints of the surgical instrument.

[0450] See Figures 2 to 49 The operating section 200 of the surgical instrument 2000 according to a first embodiment of the present invention includes a first handle 204 that can be gripped by a user, an actuation operating section 203 for controlling the actuation movement of the end-effector 2100, a deflection operating section 202 for controlling the deflection movement of the end-effector 2100, and a pitch operating section 201 for controlling the pitch movement of the end-effector 2100. Here, it can be understood that in Figure 47 and Figure 48 Only the components related to the pitch / yaw / actuation motion of the surgical instrument 2000 are shown.

[0451] Furthermore, the operating part 200 of the surgical instrument 2000 may further include a staple operating part 260, which controls the movement of the staple pulley assembly 2160 of the end tool 2100 to perform staple suturing and cutting.

[0452] The operating unit 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217, and 218 associated with the rotational movement of the first jaw 2101. Furthermore, the operating unit 200 may include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 associated with the rotational movement of the second jaw 2102. Additionally, the operating unit 200 may include pulleys 231, 232, 233, and 234 associated with pitch movement. Furthermore, the operating unit 200 may include pulley 235, which is an intermediate pulley provided at intervals in the curved portion 402 of the connecting portion 400.

[0453] Here, although each of the pulleys facing each other shown in the accompanying drawings is formed parallel to each other, the spirit of the invention is not limited thereto, and each pulley can be formed in various positions suitable for the configuration of the operating part, and can also be formed in various sizes suitable for the configuration of the operating part.

[0454] Furthermore, the operating unit 200 of the first embodiment of the present invention may include a rotation shaft 241, a rotation shaft 242, a rotation shaft 243, a rotation shaft 244, a rotation shaft 245, and a rotation shaft 246. Here, the rotation shaft 241 serves as the first jaw actuation rotation shaft of the operating unit, and the rotation shaft 242 can serve as the second jaw actuation rotation shaft of the operating unit. In addition, the rotation shaft 243 serves as the main deflection rotation shaft of the operating unit, and the rotation shaft 244 can serve as the secondary deflection rotation shaft of the operating unit. In addition, the rotation shaft 245 serves as the secondary pitch rotation shaft of the operating unit, and the rotation shaft 246 can serve as the main pitch rotation shaft of the operating unit.

[0455] Rotary shafts 241, 242, 243, 244, 245, and 246 can be sequentially arranged from the distal end 205 to the proximal end 206 of the operating unit 200.

[0456] One or more pulleys may be inserted into rotating shafts 241, 242, 243, 244, 245 and 246, as will be described in detail below.

[0457] Pulley 210 is used as the first jaw actuation pulley of the operating part, and pulley 220 is used as the second jaw actuation pulley of the operating part. These two components can be collectively referred to as the operating part actuation pulley.

[0458] Pulleys 211 and 212 are used as main pulleys for deflecting the first jaw of the operating part, and pulleys 221 and 222 are used as main pulleys for deflecting the second jaw of the operating part. These components can be collectively referred to as the main deflection pulleys of the operating part.

[0459] Pulleys 213 and 214 are used as the first jaw deflection pulleys of the operating part, and pulleys 223 and 224 are used as the second jaw deflection pulleys of the operating part. These components can be collectively referred to as the operating part deflection pulleys.

[0460] Pulleys 215 and 216 are used as the first jaw pitch pulleys of the operating part, and pulleys 225 and 226 are used as the second jaw pitch pulleys of the operating part. These components can be collectively referred to as the operating part pitch pulleys.

[0461] Pulleys 217 and 218 are used as the main pitch pulleys for the first jaw of the operating unit, and pulleys 227 and 228 are used as the main pitch pulleys for the second jaw of the operating unit. These components can be collectively referred to as the main pitch pulleys for the operating unit.

[0462] Pulleys 231 and 232 are used as main pulleys for the pitch guide of the operating unit, and pulleys 233 and 234 are used as auxiliary pulleys for the pitch guide of the operating unit.

[0463] From the perspective of the operating unit for each motion (pitch / yaw / actuation), the above-mentioned components are classified as follows.

[0464] The pitch control unit 201 for controlling the pitch movement of the end effector 2100 may include pulleys 215, 216, 217, 218, 225, 226, 227, 228, 231, 232, and 234. Furthermore, the pitch control unit 201 may include a rotation shaft 245 and a rotation shaft 246. Additionally, the pitch control unit 201 may further include a pitch frame 208.

[0465] The deflection operation unit 202 for controlling the deflection movement of the end tool 2100 may include pulleys 211, 212, 213, 214, 221, 222, 223, and 224. Furthermore, the deflection operation unit 202 may include a rotation shaft 243 and a rotation shaft 244. Additionally, the deflection operation unit 202 may further include a deflection frame 207.

[0466] The actuation unit 203 for controlling the actuation motion of the end tool 2100 may include pulley 210, pulley 220, rotating shaft 241, and rotating shaft 242. Furthermore, the actuation unit 203 may further include a first actuation unit 251 and a second actuation unit 256.

[0467] Each component of the operating unit 200 will be described in more detail below.

[0468] The first handle 204 is configured to be gripped by a user, and more particularly, it is configured to allow the user to hold the first handle 204 by wrapping it in their palm. Furthermore, an actuation operation unit 203 and a deflection operation unit 202 are formed on the first handle 204, and a pitch operation unit 201 is formed on one side of the deflection operation unit 202. Additionally, the other end of the pitch operation unit 201 is connected to the bend 402 of the connecting portion 400.

[0469] The actuation unit 203 includes a first actuation unit 251 and a second actuation unit 256. The first actuation unit 251 includes a rotating shaft 241, a pulley 210, a first actuation extension 252, and a first actuation gear 253. The second actuation unit 256 includes a rotating shaft 242, a pulley 220, a second actuation extension 257, and a second actuation gear 258. Here, the ends of the first actuation extension 252 and the second actuation extension 257 are formed in the shape of finger rings to act as a second handle.

[0470] Here, the rotation axes 241 and 242, which serve as actuation rotation axes, can be formed at a predetermined angle to the XY plane where the connecting portion 400 is formed. For example, the rotation axes 241 and 242 can be formed in a direction parallel to the Z-axis. In this state, when the pitch operation portion 201 or the yaw operation portion 202 rotates, the coordinate system of the actuation operation portion 203 can change relatively. Of course, the spirit of the present invention is not limited to this. According to ergonomic design, the rotation axes 241 and 242 can be formed in multiple directions to accommodate the structure of the user's hand gripping the actuation operation portion 203.

[0471] On one hand, the pulley 210, the first actuation extension 252, and the first actuation gear 253 can be fixedly connected to each other, so that they can rotate together around the rotation axis 241. Here, the pulley 210 can consist of a single pulley or two pulleys fixedly connected to each other.

[0472] Similarly, the pulley 220, the second actuation extension 257, and the second actuation gear 258 can be fixedly connected to each other, so that they can rotate together around the rotation axis 242. Here, the pulley 220 can consist of a single pulley or two pulleys fixedly connected to each other.

[0473] Here, the first actuating gear 253 and the second actuating gear 258 are configured to mesh with each other, so that when either side rotates, they can be configured to rotate together in opposite directions.

[0474] The deflection operation unit 202 may include a rotation shaft 243, pulleys 211 and 212 serving as primary deflection pulleys for the first jaw of the operation unit, pulleys 221 and 222 serving as primary deflection pulleys for the second jaw of the operation unit, and a deflection frame 207. Furthermore, the deflection operation unit 202 may further include: pulleys 213 and 214, which are secondary deflection pulleys for the first jaw of the operation unit formed on one side of pulleys 211 and 212; and pulleys 223 and 224, which are secondary deflection pulleys for the second jaw of the operation unit formed on one side of pulleys 221 and 222. Here, pulleys 213 and 214, and pulleys 223 and 224, can be integrated into the pitch frame 208, which will be described later.

[0475] Here, although the deflection operation unit 202 is shown in the figure as including pulleys 211 and 212, and pulleys 221 and 222, and each of pulleys 211 and 212 and pulleys 221 and 222 has two pulleys facing each other and capable of independent rotation, the spirit of the invention is not limited thereto. That is, the deflection operation unit 202 may have one or more pulleys of the same or different diameters, depending on the configuration.

[0476] Specifically, a rotation axis 243, serving as the main rotation axis for deflection of the operation section 203, is formed on one side of the first handle 204. At this time, the first handle 204 is configured to rotate around the rotation axis 243.

[0477] Here, the rotation axis 243 can be formed at a predetermined angle to the XY plane where the connecting portion 400 is formed. For example, the rotation axis 243 can be formed in a direction parallel to the Z-axis, and in this state, when the pitch operation unit 201 rotates, as described above, the coordinate system of the rotation axis 243 can be relatively changed. Of course, the spirit of the present invention is not limited thereto; according to ergonomic design, the rotation axis 243 can be formed in multiple directions to accommodate the structure of the user's hand gripping the operation unit 200.

[0478] On one hand, pulleys 211 and 212, and pulleys 221 and 222 are coupled to the rotating shaft 243 so that they can rotate around the rotating shaft 243. On the other hand, wire 301 or wire 305, serving as the first clamping wire, is wound around pulleys 211 and 212, and wire 302 or wire 306, serving as the second clamping wire, is wound around pulleys 221 and 222. In this case, pulleys 211 and 212, and pulleys 221 and 222, can each be composed of two pulleys formed facing each other and capable of independent rotation. Therefore, the wound wire and the unwound wire can be wound separately on separate pulleys, allowing them to operate without interference.

[0479] The deflection frame 207 rigidly connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, so that the first handle 204, the deflection operation part 202, and the actuation operation part 203 deflect and rotate as a whole around the rotation shaft 243.

[0480] The pitch control unit 201 may include a rotating shaft 246, pulleys 217 and 218 serving as the main pitch pulleys for the first jaw of the control unit, pulleys 227 and 228 serving as the main pitch pulleys for the second jaw of the control unit, and a pitch frame 208. Furthermore, the pitch control unit 201 may further include a rotating shaft 245, pulleys 215 and 216, and pulleys 225 and 226, wherein pulleys 215 and 216 are formed on one side of pulleys 217 and 218 as auxiliary pitch pulleys for the first jaw of the control unit, and pulleys 225 and 226 are formed on one side of pulleys 227 and 228 as auxiliary pitch pulleys for the second jaw of the control unit. The pitch control unit 201 can be connected to the curved portion 402 of the connecting portion 400 via the rotating shaft 246.

[0481] In detail, the pitch frame 208 serves as the base of the pitch operation unit 201, and the rotation shaft 243 is rotatably coupled to one end of it. That is, the deflection frame 207 is configured to rotate relative to the pitch frame 208 about the rotation shaft 243.

[0482] As described above, since the deflection frame 207 connects to the first handle 204, rotation axis 243, rotation axis 241, and rotation axis 242, and the deflection frame 207 is axially coupled to the pitch frame 208, when the pitch frame 208 pitches around the rotation axis 246, the deflection frame 207, the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243 connected to the pitch frame 208 pitch together. That is, when the pitch operation unit 201 rotates around the rotation axis 246, the actuation operation unit 203 and the deflection operation unit 202 rotate together with the pitch operation unit 201. In other words, when the user rotates the first handle 204 around the rotation axis 246 to pitch, the actuation operation unit 203, the deflection operation unit 202, and the pitch operation unit 201 move together.

[0483] Pulleys 217 and 218 are coupled to pulleys 227 and 228 to the rotation axis 246 so that they can rotate about the rotation axis 246 of the pitch frame 208.

[0484] Here, pulleys 217 and 218 can be configured to face each other and rotate independently. Therefore, the wound-in wire and the unwound wire can be wound onto separate pulleys, allowing them to operate without interference. Similarly, pulleys 227 and 228 can be configured to face each other and rotate independently. Therefore, the wound-in wire and the unwound wire can be wound onto separate pulleys, allowing them to operate without interference.

[0485] Next, the actions of conductors 303 and 304, which serve as elevation conductors, are as follows.

[0486] In the end-effector 2100, pulley 2131, serving as the end-effector pitch pulley, is fixedly connected to the end-effector center 2106. In the operating unit 200, pulleys 231 and 232, serving as the operating unit pitch pulleys, are fixedly connected to the pitch frame 208. Furthermore, these pulleys are interconnected via guide wires 303 and 304, which serve as pitch guides, making it easier to perform the pitch operation of the end-effector 2100 based on the pitch operation of the operating unit 200. Here, guide wire 303 is fixedly connected to the pitch frame 208 via pulleys 231 and 233, while guide wire 304 is fixedly connected to the pitch frame 208 via pulleys 232 and 234. That is, the pitch frame 208, pulley 231 and pulley 232 rotate together around the rotation axis 246 by the pitch rotation of the operating part 200. As a result, the wires 303 and 304 also move, thereby transmitting additional pitch rotation power, which is different from the pitch action of the end tool performed by the wires 301, 302, 305 and 306, which are jaw wires.

[0487] The connection relationships between the first handle 204 and the pitch control unit 201, yaw control unit 202, and actuation control unit 203 are summarized as follows. The first handle 204 may have rotation shafts 241, 242, 243, 244, 245, and 246 formed on it. Since rotation shafts 241 and 242 are directly formed on the first handle 204, the first handle 204 and actuation control unit 203 can be directly connected. On the other hand, since rotation shaft 243 is directly formed on the first handle 204, the first handle 204 and yaw control unit 202 can be directly connected. Conversely, since the pitch control unit 201 is formed to connect to the yaw control unit 202 on one side, the pitch control unit 201 is not directly connected to the first handle 204, but can be indirectly connected to the first handle 204 through the yaw control unit 202.

[0488] Referring again to the accompanying drawings, in the surgical instrument 2000 according to the first embodiment of the present invention, the pitch operation section 201 and the end tool 2100 may be formed on the same or parallel axis (X-axis). That is, the rotation axis 246 of the pitch operation section 201 is formed at one end of the bend 402 of the connecting section 400, and the end tool 2100 is formed at the other end of the connecting section 400.

[0489] Additionally, one or more intermediate pulleys 235 may be provided at intervals in the connecting portion 400, particularly in the bending portion 402, for changing or guiding the path of each wire. At least a portion of each wire is wound around each of the aforementioned intermediate pulleys 235 to guide the path of each wire, so that the wire can be positioned along the bending shape of the bending portion 402.

[0490] Here, although the accompanying drawings show the connecting portion 400 having a bent portion 402 bent into a shape with a predetermined curvature, the spirit of the invention is not limited thereto. The connecting portion 400 can be formed as a straight line or bent once or multiple times as needed, and even in this case, it can be considered that the pitch operation portion 201 and the end tool 2100 are formed on substantially the same or parallel axes. Furthermore, although in Figure 3 The pitch control unit 201 and the end tool 2100 are shown to be formed on axes parallel to the X-axis, but the spirit of the present invention is not limited thereto, and the pitch control unit 201 and the end tool 2100 may be formed on different axes.

[0491] The staple operating unit 260 is connected to the first staple pulley 2181 of the end tool 2100 via wires 307 and 308, which serve as staple guides, thereby allowing the first staple pulley 2181 to be rotated alternately in a clockwise or counterclockwise direction. The staple operating unit 260 is connected to the second staple pulley 2191 of the end tool 2100 via wires 309 and 310, which also serve as staple guides, thereby allowing the second staple pulley 2191 to be rotated alternately in a clockwise or counterclockwise direction.

[0492] Therefore, although not shown in the accompanying drawings, the suture button operation unit 260 may include a motor (not shown). That is, when the user presses the suture button operation unit 260, which is formed in the form of a button, the motor (not shown) is driven to alternately rotate the suture button pulley in a clockwise or counterclockwise direction (see [link to figure]). Figure 47 (269 in the text). Furthermore, as a result, the first suture pin pulley 2181 and the second suture pin pulley 2191 of the end tool 2100 can rotate alternately in a clockwise or counterclockwise direction.

[0493] (Actuation, yaw, pitch)

[0494] The actuation, yaw, and pitch actions in this embodiment are described below.

[0495] First, the actuation action is as follows.

[0496] With the user placing their index finger in the finger ring formed on the first actuation extension 252 and their thumb in the finger ring formed on the second actuation extension 257, when the actuation extension 252 and actuation extension 257 are rotated with any one or two fingers, the pulley 210 and the first actuation gear 253, which are fixedly connected to the first actuation extension 252, rotate around the rotation axis 241, while the pulley 220 and the second actuation gear 258, which are fixedly connected to the second actuation extension 257, rotate around the rotation axis 242. At this time, the pulleys 210 and 220 rotate in opposite directions to each other, thereby causing the wires 301 and 305 and the wires 302 and 306 to move in opposite directions to each other. One end of the wires 301 and 305 is fixedly connected to the pulley 210 to be wound around it, and one end of the wires 302 and 306 is fixedly connected to the pulley 220 to be wound around it. In addition, the aforementioned rotational force is transmitted to the end tool 2100 via the power transmission unit 300, thereby actuating the two jaws 2103 of the end tool 2100.

[0497] Here, the actuation action, as described above, refers to the opening or closing of the two jaws, namely jaws 2101 and 2102, while they rotate in opposite directions. Specifically, when the actuation extensions 252 and 257 of the actuation operation unit 203 are rotated towards each other, the first jaw 2101 rotates counterclockwise, and the second jaw 2102 rotates clockwise while simultaneously closing the end tool 2100. Conversely, when the actuation extensions 252 and 257 of the actuation operation unit 203 are rotated away from each other, the first jaw 2101 rotates clockwise, and the second jaw 2102 rotates counterclockwise while simultaneously opening the end tool 2100.

[0498] In this embodiment, a second handle is formed by having a first actuation extension 252 and a second actuation extension 257 for performing the aforementioned actuation operation, and can be operated by gripping with two fingers. However, the configuration of the actuation operation part 203 for performing the actuation operation of opening and closing the two jaws of the end tool 2100 can also fully realize other variations different from the above, such as a configuration in which two actuation pulleys (pulley 210 and pulley 220) move in opposite directions with an actuation rotation part.

[0499] Next, the deflection action is as follows.

[0500] When the user grips the first handle 204 and rotates it around the rotation axis 243, the actuation operation unit 203 and the deflection operation unit 202 deflect and rotate around the rotation axis 243. That is, when the pulley 210 of the first actuation operation unit 251, which is fixedly connected to the wires 301 and 305, rotates around the rotation axis 243, the wires 301 and 305 wound on the pulleys 211 and 212 move. Similarly, when the pulley 220 of the second actuation operation unit 256, which is fixedly connected to the wires 302 and 306, rotates around the rotation axis 243, the wires 302 and 306 wound on the pulleys 221 and 222 move. At this time, wires 301 and 305 connected to the first jaw 2101 and wires 302 and 306 connected to the second jaw 2102 are wound around pulleys 211 and 212 and pulleys 221 and 222, so that when deflecting rotation is performed, the first jaw 2101 and the second jaw 2102 rotate in the same direction. In addition, the aforementioned rotational force is transmitted to the end tool 2100 through the power transmission unit 300, thereby causing the two jaws 2103 of the end tool 2100 to perform a deflecting action that rotates in the same direction.

[0501] At this time, since the deflection frame 207 connects the first handle 204, the rotation shaft 241, the rotation shaft 242 and the rotation shaft 243, the first handle 204, the deflection operation unit 202 and the actuation operation unit 203 also rotate around the rotation shaft 243.

[0502] Next, the pitching motion is described below.

[0503] When the user grips the first handle 204 and rotates it around the rotation axis 246, the actuation unit 203, the yaw unit 202, and the pitch unit 201 pitch around the rotation axis 246. That is, when the pulley 210 of the first actuation unit 251, which is fixedly connected to the wires 301 and 305, rotates around the rotation axis 246, the wires 301 and 305 wound on pulleys 217 and 218 move. Similarly, when the pulley 220 of the second actuation unit 256, which is fixedly connected to the wires 302 and 306, rotates around the rotation axis 246, the wires 302 and 306 wound on pulleys 227 and 228 move. At this time, see [link to previous text]. Figure 5 The wires 301 and 305, serving as the first jaw guides, move in the same direction, and the wires 302 and 306, serving as the second jaw guides, move in the same direction, causing the wires 301, 305, 302, and 306 to wrap around the pulleys 217, 218, 227, and 228, which serve as the deflection pulleys of the operating part, respectively. This causes the first jaw 2101 and the second jaw 2102 to pitch and rotate. Furthermore, the aforementioned rotational force is transmitted to the end tool 2100 via the power transmission unit 300, causing the two jaws 2103 of the end tool 2100 to pitch.

[0504] At this time, the pitch frame 208 is connected to the yaw frame 207. Since the yaw frame 207 is connected to the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243, when the pitch frame 208 rotates around the rotation axis 246, the yaw frame 207, the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243 connected to the pitch frame 208 also rotate together. That is, when the pitch operation unit 201 rotates around the rotation axis 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201.

[0505] In summary, the surgical instrument 2000 according to an embodiment of the present invention is characterized by pulleys formed at various joint points (actuating joints, lateral joints, and pitch joints), and wires (first jaw wires or second jaw wires) wound on these pulleys. Rotational operation of the operating part (actuating rotation, lateral rotation, pitch rotation) causes each wire to move, thereby ultimately guiding the end effector 2100 to perform the desired action. Furthermore, auxiliary pulleys can be formed on one side of each pulley, and these auxiliary pulleys prevent the wires from being wound multiple times on a single pulley.

[0506] Figure 49 It is only schematically shown that the composition is... Figure 2The diagram shows the arrangement of pulleys and wires in the joint of a surgical instrument 2000 according to an embodiment of the present invention. Figure 49 In this paper, the intermediate pulleys used to change the path of the guide wires, which are unrelated to joint movements, are omitted.

[0507] See Figure 49 The operating unit 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217 and 218 associated with the rotational movement of the first jaw 2101.

[0508] In addition, the operating unit 200 may include pulleys 220, 221, 222, 223, 224, 225, 226, 227 and 228 associated with the rotational movement of the second jaw 2102.

[0509] (Since the arrangement and configuration of each pulley in the operating section 200 are in principle the same as the arrangement and configuration of each pulley in the end tool 2100, the specific markings of the figures in the accompanying drawings are partially omitted.)

[0510] Pulleys 211 and 212, and pulleys 221 and 222, can be configured to rotate independently about a common axis of rotation 243. In this case, pulleys 211 and 212, and pulleys 221 and 222, can each be formed by two pulleys that face each other and can rotate independently.

[0511] Pulleys 213 and 214, and pulleys 223 and 224, can be configured to rotate independently about a common axis of rotation 244. In this case, pulleys 213 and 214 can be formed by two pulleys facing each other and capable of independent rotation; these two pulleys can have different diameters. Similarly, pulleys 223 and 224 can be formed by two pulleys facing each other and capable of independent rotation; these two pulleys can also have different diameters.

[0512] Pulleys 215 and 216, and pulleys 225 and 226, can be configured to rotate independently about a common axis of rotation 245. In this case, pulleys 215 and 216 can have different diameters. Furthermore, pulleys 225 and 226 can also have different diameters.

[0513] Pulleys 217 and 218, and pulleys 227 and 228, can be configured to rotate independently of each other about a rotation axis 246 that is the same axis.

[0514] The wire 301 passes sequentially through pulleys 217, 215, 213, and 211 of the operating part 200 and wraps around pulley 210, then is fastened to pulley 210 by fastener 324. Meanwhile, the wire 305 passes sequentially through pulleys 218, 216, 214, and 212 of the operating part 200 and is fastened to pulley 210 by fastener 324. Therefore, when pulley 210 rotates, wires 301 and 305 are either wrapped around or unwound from pulley 210, thereby causing the first jaw 2101 to rotate.

[0515] The wire 306 passes sequentially through pulleys 227, 225, 223, and 221 of the operating part 200 and wraps around pulley 220, then is fastened to pulley 220 by fastener 327. Meanwhile, the wire 302 passes sequentially through pulleys 228, 226, 224, and 222 of the operating part 200 and is fastened to pulley 220 by fastener 327. Therefore, when pulley 220 rotates, wires 302 and 306 also wrap around or unwrap from pulley 220, thereby causing the second jaw 2102 to rotate.

[0516] (Conceptual diagram of pulleys and guide wires)

[0517] Figure 51 and Figure 52 It is shown by disassembling the first jaw and the second jaw respectively. Figure 2 The diagram shows the arrangement of pulleys and wires related to the actuation and deflection actions of a surgical instrument 2000 according to an embodiment of the present invention. Figure 51 This diagram only shows the pulley and wires associated with the second jaw. Figure 52 This diagram only shows the pulley and wires associated with the first jaw. Additionally, Figure 50 It is shown Figure 2 A perspective view of the deflection motion of surgical instruments. Here, in Figure 50 The components related to nailing and cutting actions are omitted.

[0518] First, the action of the actuating wire will be described.

[0519] See Figure 52 When the first actuation extension 252 rotates around the rotation axis 241 in the direction of arrow OPA1, the pulley 210 connected to the first actuation extension 252 rotates, and the wires 301 and 305 wound on the pulley 210 move in the directions of W1a and W1b respectively. As a result, the first jaw 2101 of the end tool 2100 rotates in the direction of arrow EPA1.

[0520] See Figure 51When the second actuation extension 257 rotates around the rotation axis 242 in the direction of arrow OPA2, the pulley 220 connected to the second actuation extension 257 rotates, and the two branches of the wires 302 and 306 wound on the pulley 220 move in the directions W2a and W2b, respectively. As a result, the second jaw 2102 of the end tool 2100 rotates in the direction of arrow EPA2. Therefore, when the user operates the first actuation extension 252 and the second actuation extension 257 to move closer to each other, the first jaw 2101 and the second jaw 2102 of the end tool move closer to each other.

[0521] Next, the action of the deflection wire will be described.

[0522] First, since rotation shafts 243, 241, and 242 pass through the deflection frame (see...) Figure 30 The 207) connection in the middle, so the rotation shaft 243, rotation shaft 241 and rotation shaft 242 rotate together as a whole.

[0523] See Figure 52 When the first handle 204 rotates around the rotation axis 243 in the direction of arrow OPY1, pulleys 210, 211, 212 and wires 301 and 305 wound around them rotate around the rotation axis 243 as a whole. As a result, wires 301 and 305 wound around pulleys 211 and 212 move in the directions W1a and W1b respectively, thereby ultimately causing the first jaw 2101 of the end tool 2100 to rotate in the direction of arrow EPY1.

[0524] See Figure 51 When the first handle 204 rotates around the rotation axis 243 in the direction of arrow OPY2, pulleys 220, 221, 222 and wires 302 and 306 wound around them rotate around the rotation axis 243 as a whole. As a result, wires 302 and 306 wound around pulleys 221 and 222 move in the opposite direction of W1a and W1b, respectively, thereby ultimately causing the first jaw 2101 of the end tool 2100 to rotate in the direction of arrow EPY2.

[0525] Figure 53 , Figure 54 Figure 55 shows the jaws of the first and second jaws respectively in exploded view. Figure 2 The diagram shows the configuration of pulleys and guide wires related to the staple suturing and cutting actions of a surgical instrument 2000 according to an embodiment of the present invention.

[0526] Here, Figures 53 to 5 Figure 5 is a diagram that mainly shows the pulley and wires associated with the second jaw.

[0527] Here, Figures 53 to 54 This illustrates the actuation process of closing the two jaws. Figures 54 to 5 5 illustrates the process of suturing and cutting tissue between two jaws.

[0528] First, the action of the actuating wire will be described.

[0529] See Figure 53 and Figure 54 When the first actuation extension 252 of the first actuation unit 251 rotates about the rotation axis 241 in the direction of arrow OPA1, the pulley 210 connected to the first actuation extension 252 rotates, and the wire wound on the pulley 210 (see...) Figure 49 301 in the middle) and wires (see Figure 49 The 305 in the middle moves respectively, so that the first jaw 2101 of the end tool 2100 rotates in the direction of arrow EPA1.

[0530] At this time, the suture pin operation part 260's suture pin pulley 269 is configured to rotate together with the first actuation operation part 251 around the rotation axis 241. Therefore, when the first actuation extension part 252 rotates around the rotation axis 241, the suture pin operation part 260 also rotates together with the first actuation operation part 251 around the rotation axis 241.

[0531] As a result, during the actuation action, when the pulley 2111 of the end tool 2100 rotates, the first stitching pin pulley 2181 also rotates together with the pulley 2111.

[0532] The following describes the wire action of stitching and cutting.

[0533] Referring to FIG55(a), when the suture pin operating part 260 is rotated in the direction of arrow OPC1 with the rotation axis 247, which serves as the cutting rotation axis of the operating part, the suture pin pulley 269 of the operating part and the wires 307 and 308, which serve as the first suture pin wires, wound around it, rotate with the rotation axis 247 as the center. Finally, the wires 307 and 308 wound around the suture pin pulley 269 of the operating part move respectively, and finally the first suture pin pulley 2181 of the end tool 2100 rotates in the direction of arrow EPC1.

[0534] Referring to FIG55(b), when the suture pin operating part 260 is rotated in the direction of arrow OPC1 with the rotation axis 247, which serves as the cutting rotation axis of the operating part, the suture pin pulley 269 of the operating part and the wires 309 and 310, which serve as the second suture pin wires, wound around it, rotate with the rotation axis 247 as the center. Finally, the wires 309 and 310 wound around the suture pin pulley 269 of the operating part move respectively, and finally the second suture pin pulley 2191 of the end tool 2100 rotates in the direction of arrow EPC1.

[0535] On the other hand, when the suture staple operating part 260 rotates, the suture staple pulley 269 of the operating part rotates around the rotation axis 247. At this time, the rotation of the suture staple operating part 260 does not affect the first actuation operating part 251.

[0536] Finally, when the suture pin pulley 269 of the operating part rotates, the first suture pin pulley 2181 and the second suture pin pulley 2191 of the end tool 2100 rotate independently without being affected by the first jaw 2101. Furthermore, when the first suture pin pulley 2181 and the second suture pin pulley 2191 rotate alternately in a clockwise / counterclockwise direction, the suture pin connector assembly 2170 connected to the first suture pin pulley 2181 and the second suture pin pulley 2191, and the reciprocating motion assembly 550 of the suture cartridge 500 connected thereto, perform reciprocating linear motion. This causes the working member 540 of the suture cartridge 500 to move towards the distal end 502 while simultaneously performing suture stitching and cutting actions.

[0537] At this time, as described above, the first suture pin pulley 2181 and the second suture pin pulley 2191 can rotate in opposite directions. For example, when the suture pin operating part 260 rotates in either direction, the first suture pin pulley 2181 rotates clockwise and the second suture pin pulley 2191 rotates counterclockwise, while the suture pin connector assembly 2170 can move toward the distal end 2104 of the end tool 2100. On the other hand, when the suture pin operating part 260 rotates in the opposite direction, the first suture pin pulley 2181 rotates counterclockwise and the second suture pin pulley 2191 rotates clockwise, while the suture pin connector assembly 2170 can move toward the proximal end 2105 of the end tool 2100.

[0538] In the accompanying drawings, the suture pin operation section 260 is formed in the shape of a bar, allowing the user to manually rotate it. However, the invention is not limited to this. That is, as described above, the suture pin operation section 260 may include a motor (not shown), which is driven when the user presses the button-shaped suture pin operation section 260, causing the suture pin pulley 269 to rotate alternately clockwise or counterclockwise. Furthermore, the first suture pin pulley 2181 and the second suture pin pulley 2191 of the end tool 2100 can thus rotate alternately clockwise or counterclockwise.

[0539] Figure 57 , Figure 58 and Figure 59 It is shown by disassembling the first jaw and the second jaw respectively. Figure 2 The diagram shows the arrangement of pulleys and guide wires related to the pitching motion of a surgical instrument 2000 according to an embodiment of the present invention. Figure 57 This diagram only shows the pulley and wires associated with the second jaw. Figure 58 This diagram only shows the pulley and wires associated with the first jaw. Figure 59 This diagram only shows the pulleys and guide wires associated with the stitching pin pulley. (See diagram for example.) Figure 9 As shown, since there are two pulleys related to the pitching motion, and the two branches of each conductor are wound along the same path, therefore in Figure 57 and Figure 59 In the middle, it is represented by a line. Additionally, Figure 56 It is shown Figure 2 A perspective view of the pitching motion of surgical instruments. Here, in Figure 56 The components related to nailing and cutting actions are omitted.

[0540] See Figure 57 When the first handle 204 rotates around the rotation axis 246 in the direction of arrow OPP1, pulleys 210, 215, 217, etc., and the wire 301 wound around them, etc., rotate as a whole around the rotation axis 246. At this time, as Figure 57 As shown, since wires 301 and 305, which serve as the first clamping wires, are wound above pulleys 217 and 218, wires 301 and 305 will move in the direction of arrow W1. The result is as follows, see [reference needed]. Figure 5 The first jaw 2101 of the end tool 2100 rotates in the direction of arrow EPP1.

[0541] See Figure 58When the first handle 204 rotates around the rotation axis 246 in the direction of arrow OPP2, pulleys 220, 225, 227, etc., and the wire 302 wound around them, etc., rotate as a whole around the rotation axis 246. At this time, as Figure 58 As shown, wires 302 and 306, serving as the second clamping wires, are wound below pulleys 227 and 228. Therefore, wires 302 and 306 will move in the direction of arrow W2. The result is as follows: [See attached diagram]. Figure 5 The second jaw 2102 of the end tool 2100 rotates in the direction of arrow EPP2.

[0542] See Figure 59 When the first handle 204 rotates around the rotation axis 246 in the direction of arrow OPC1, the operating part's suture pin pulleys 269, 265, 267, etc., and the wires 307 and 308 wound around them, rotate as a whole around the rotation axis 246. At this time, since the wires 307 and 308, which serve as suture pin wires, are wound below pulleys 267 and 268, the wires 307 and 308 move in the direction of arrow W3. As a result, see [reference needed]. Figure 5 The first suture pin pulley 2181 of the end tool 2100 rotates in the direction of arrow EPC1.

[0543] As a result, during the pitching motion, when the pulley 2111 of the end tool 2100 rotates around the rotation axis 2143, the first stitching pin pulley 2181 also rotates around the rotation axis 2143 together with the pulley 2111.

[0544] Therefore, actuation, yaw, and pitch operations can be performed independently of each other.

[0545] See also Figure 1 The rotation axes of the actuation operation unit 203, the deflection operation unit 202, and the pitch operation unit 201 are located behind each operation unit. Therefore, their configuration is the same as the joint configuration of the end effector, so that the user can perform intuitive and consistent operation.

[0546] Specifically, the surgical instrument 2000 according to an embodiment of the present invention is characterized in that pulleys are formed at various joint points (actuation joints, yaw joints, pitch joints), and wires (first jaw wires or second jaw wires) are wound on these pulleys. Rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes each wire to move, thereby ultimately guiding the end effector 2100 to perform the desired action. Furthermore, auxiliary pulleys can be formed on one side of each pulley, and these auxiliary pulleys prevent the wires from being wound multiple times on a single pulley. Therefore, the wires wound on the pulleys do not contact each other, and a safe path is formed for the wires wound into and unwound from the pulleys, thereby improving the safety and efficiency of wire power transmission.

[0547] On the one hand, as described above, the deflection operation unit 202 and the actuation operation unit 203 are directly formed on the first handle 204. Therefore, when the first handle 204 rotates around the rotation axis 246, the deflection operation unit 202 and the actuation operation unit 203 also rotate with the first handle 204. Consequently, the coordinate system of the deflection operation unit 202 and the actuation operation unit 203 is not fixed, but continuously changes relative to each other as the first handle 204 rotates. That is, in Figure 2 In the diagram, the deflection operation unit 202 and the actuation operation unit 203 are shown parallel to the Z-axis. However, when the first handle 204 is rotated, the deflection operation unit 202 and the actuation operation unit 203 are no longer parallel to the Z-axis. That is, the coordinate system of the deflection operation unit 202 and the actuation operation unit 203 changes with the rotation of the first handle 204. However, in this specification, unless otherwise stated, for ease of description, the coordinates are as follows: Figure 2 The coordinate systems of the deflection operation unit 202 and the actuation operation unit 203 are described with reference to the position of the first handle 204 perpendicular to the connecting part 400.

[0548] (Correlation between suturing, cutting, and other actions)

[0549] The following describes the correlation between the stitching action, the cutting action, and other actions (pitching action, yaw action, and actuation action).

[0550] First, when the end tool 2100 performs a pitching motion, the first staple pulley 2181 and the second staple pulley 2191 also perform a pitching motion. That is, when pulleys 2111 and 2121 perform a pitching motion rotating in the same direction around the axis of rotation 2143, the first staple pulley 2181 and the second staple pulley 2191 should also rotate in the same direction along with pulleys 2111 and 2121. If the first staple pulley 2181 and the second staple pulley 2191 do not rotate with the pulleys 2111 and 2121 when they rotate around the axis of rotation 2143, the staple cartridge 500 connected to the first staple pulleys 2181 and 2191 will move relative to the first jaw 2101, thus posing a risk of separation from the first jaw 2101. Furthermore, the rotation of the first stitching pin pulley 2181 and the second stitching pin pulley 2191, which are out of sync with the pulley 2111, may cause unexpected forward movement of the reciprocating motion member 551, which may ultimately lead to unexpected stitching action.

[0551] Then, when the end tool 2100 performs a deflection action, the first staple pulley 2181 and the second staple pulley 2191 also perform a deflection action. That is, when pulleys 2111 and 2121 perform a deflection motion rotating in the same direction around the axis of rotation 2141, the first staple pulley 2181 and the second staple pulley 2191 should also rotate in the same direction along with pulleys 2111 and 2121. If the first staple pulley 2181 and the second staple pulley 2191 do not rotate with the pulleys 2111 and 2121 when they rotate around the axis of rotation 2141, the staple cartridge 500 connected to the first staple pulley 2181 and the second staple pulley 2191 will move relative to the first jaw 2101, thus posing a risk of separation from the first jaw 2101. Furthermore, the rotation of the first stitching pin pulley 2181 and the second stitching pin pulley 2191, which are out of sync with the pulley 2111, may cause unexpected forward movement of the reciprocating motion member 551, which may ultimately lead to unexpected stitching action.

[0552] Then, when the end tool 2100 performs the actuation action, the first staple pulley 2181 and the second staple pulley 2191 rotate together with pulley 2111. That is, when pulleys 2111 and 2121 perform an actuation motion rotating in the opposite direction around axis 2141, the first staple pulley 2181 and the second staple pulley 2191 should also rotate together with pulley 2111. If the first staple pulley 2181 and the second staple pulley 2191 do not rotate together with pulley 2111 when it rotates around axis 2143, the staple cartridge 500 connected to the first staple pulley 2181 and the second staple pulley 2191 will move relative to the first jaw 2101, thus posing a risk of separation from the first jaw 2101. Furthermore, the rotation of the first stitching pin pulley 2181 and the second stitching pin pulley 2191, which are out of sync with the pulley 2111, may cause unexpected forward movement of the reciprocating motion member 551, which may ultimately lead to unexpected stitching action.

[0553] On the other hand, pulleys 2111 and 2121 do not rotate when the end tool 2100 performs the stitching and cutting actions. That is, when the first stitching pulley 2181 and the second stitching pulley 2191 rotate around the rotation axis 2141, and the connecting member 2171 and the reciprocating moving member 551 of the staple cartridge 500 connected thereto perform linear reciprocating motion, pulleys 2111 and 2121 should not rotate. Otherwise, the first jaw 2101 or the second jaw will rotate during the stitching and cutting actions, thus preventing the stitching and cutting actions from being performed normally.

[0554] Ultimately, when pulley 2111, which serves as the first jaw pulley, rotates, the first staple pulley 2181 and the second staple pulley 2191, housed within the first jaw 2101, should also rotate together with pulley 2111. Conversely, when the first staple pulley 2181 and the second staple pulley 2191 rotate to perform staple stitching and cutting, pulleys 2111 and 2121 should be configured to remain stationary and not rotate. The correlation between the staple stitching action, the cutting action, and other actions (deflection action and actuation action) is as described above.

[0555] From another perspective, pulleys 2111 and 2121 can be represented as independent of the rotation of the first suture pin pulley 2181 and the second suture pin pulley 2191. That is, even if the first suture pin pulley 2181 and the second suture pin pulley 2191 rotate due to the suture pin guide, pulleys 2111 and 2121 can remain stationary. Conversely, the first suture pin pulley 2181 and the second suture pin pulley 2191 can be represented as dependent on the rotation of pulley 2111. That is, the first suture pin pulley 2181 and the second suture pin pulley 2191 can also be configured to rotate together with pulley 2111 when pulley 2111 rotates due to the jaw guide.

[0556] Figure 60 and Figure 62 A diagram illustrating the state of the jaws deflected by -90°. Figure 61 and Figure 63 This diagram illustrates the process of the jaws performing an actuation action when deflected by -90°. Figure 60 and Figure 61 To show a diagram of pulley 2111, Figure 62 and Figure 63 The diagram is for omitting pulley 2111.

[0557] Figure 64 and Figure 66 A diagram illustrating the state of the jaws deflected and rotated by +90°. Figure 65 and Figure 67 This diagram illustrates the process of the jaws performing an actuation action when deflected by +90°. Figure 64 and Figure 65 To show a diagram of pulley 2111, Figure 66 and Figure 67 The diagram is for omitting pulley 2111.

[0558] like Figures 60 to 67 As shown, the end tool of the surgical instrument according to the first embodiment of the present invention is configured to perform actuation actions normally even when the jaws are deflected and rotated by +90° or -90°.

[0559] Figure 68 and Figure 69 To show Figure 2 A plan view illustrating the stapleing and cutting actions of the end effector of a surgical instrument, showing the process of the jaws performing stapleing and cutting actions with a +90° deflection rotation. Figure 68As shown, the end tool of the surgical instrument according to the first embodiment of the present invention is configured to perform staple suturing and cutting actions normally even when the jaws are deflected and rotated by +90°.

[0560] Specifically, with pulleys 2111, 2121, and the first suture pin pulley 2181 rotating +90° around the rotation axis 2141, as the first suture pin pulley 2181 rotates alternately clockwise and counterclockwise, the connecting member 2171 and the reciprocating moving member 551 connected thereto repeatedly advance and retract. Furthermore, when the reciprocating moving member 551 advances, the working member 540 advances along with it; when the reciprocating moving member 551 retracts, only the reciprocating moving member 551 retracts, while the working member 540 remains in its original position. By repeating the process described above, the working member 540 moves towards the distal end 502, thereby performing the suturing and cutting actions.

[0561] Figure 70 and Figure 71 To show Figure 2 A plan view illustrating the stapleing and cutting actions of the end effector of a surgical instrument, showing the process of the jaws performing stapleing and cutting actions with a -90° deflection rotation. Figure 70 As shown, the end tool of the surgical instrument according to the first embodiment of the present invention is configured to perform staple suturing and cutting actions normally even when the jaws are deflected and rotated by -90°.

[0562] Specifically, with pulleys 2111, 2121, and the first suture pin pulley 2181 rotating -90° around the rotation axis 2141, as the first suture pin pulley 2181 rotates alternately clockwise and counterclockwise, the connecting member 2171 and the reciprocating moving member 551 connected thereto repeatedly advance and retract. Furthermore, when the reciprocating moving member 551 advances, the working member 540 advances along with it; when the reciprocating moving member 551 retracts, only the reciprocating moving member 551 retracts, while the working member 540 remains in its original position. By repeating the process described above, the working member 540 moves towards the distal end 502, thereby performing the suturing and cutting actions.

[0563] Figure 72 A diagram illustrating the state of the jaws in pitch rotation of -90°, Figure 73 This diagram illustrates the process of the jaws performing an actuation action while in a pitch-rotation state of -90°. Figure 74 A diagram illustrating the state of the jaws pitched and rotated by +90°. Figure 75This diagram illustrates the process of the jaws performing an actuation action in a pitch rotation of +90°.

[0564] Reference Figures 72 to 75 When performing a pitch motion, the movements of the operating unit 200 and the end effector 2100 are visually synchronized. That is, when the operating unit 200 rotates in the positive direction relative to the pitch axis (Y-axis), the end effector 2100 also rotates in the positive direction relative to the pitch axis (Y-axis). Furthermore, when the operating unit 200 rotates in the negative direction relative to the pitch axis (Y-axis), the end effector 2100 also rotates in the negative direction relative to the pitch axis (Y-axis). The rotation angles of the operating unit 200 and the end effector 2100 can be set differently depending on the ratio of the pulleys.

[0565] Figure 76 A diagram illustrating the state of the jaws deflected and rotated by +90°. Figure 77 This diagram illustrates the process of the jaws performing an actuation action when they are deflected by +90°. Figure 78 A diagram illustrating the state of the jaws deflected by -90°. Figure 79 This diagram illustrates the process of the jaws performing an actuation action when they are deflected by -90°.

[0566] Reference Figures 76 to 79 When performing the deflection action, the movements of the operating unit 200 and the end tool 2100 are visually synchronized. That is, when the operating unit 200 rotates in the positive direction relative to the deflection rotation axis (Z-axis), the end tool 2100 also rotates in the positive direction relative to the deflection rotation axis (Z-axis). Furthermore, when the operating unit 200 rotates in the negative direction relative to the deflection rotation axis (Z-axis), the end tool 2100 also rotates in the negative direction relative to the deflection rotation axis (Z-axis). The rotation angles of the operating unit 200 and the end tool 2100 can be set differently depending on the ratio of the pulleys.

[0567] Figure 80 A diagram illustrating the state where the jaws pitch -90° while simultaneously yaw +90°. Figure 81 This diagram illustrates the process by which the jaws perform an actuation action while simultaneously rotating -90° in pitch and +90° in yaw. Figure 82 A diagram illustrating the state where the jaws pitch +90° while simultaneously yaw -90°. Figure 83 This diagram illustrates the process by which the jaws perform an actuation action while simultaneously rotating +90° in pitch and -90° in yaw.

[0568] Reference Figures 80 to 83When both pitch and yaw movements are performed simultaneously, the movements of the operating unit 200 and the end effector 2100 are visually consistent.

[0569] <Variation - Pin / Slot Type>

[0570] The following describes a modified surgical instrument end-effector 2200 according to a variation of the present invention. This is in contrast to the end-effector of the surgical instrument according to the first embodiment described above (see reference 2200). Figure 2 In the end-effector 2200 of a surgical instrument according to a variant of the present invention (e.g., 100), the configuration features of the staple pulley assembly 2260 and the staple connector assembly 2270 differ. Hereinafter, a configuration different from the first embodiment as described above will be described in detail.

[0571] Figure 84 and Figure 85 A perspective view showing the end tool of a surgical instrument according to a variant of the present invention. Figure 86 and Figure 87 for Figure 84 Exploded perspective view of the end effector of a surgical instrument. Figure 88 and Figure 89 To show Figure 84 Exploded perspective view of the suture pulley assembly and suture connector assembly of a surgical instrument. Figure 90 and Figure 91 To illustrate the stitching pin pulley in Figure 84 A side view of the operational state of the end effector of a surgical instrument. Figure 92 and Figure 93 To illustrate the stitching pin pulley in Figure 84 A perspective view of the operational state of the end effector of a surgical instrument. Among them, Figure 85 This shows the state where the center of the end tool has been removed.

[0572] Reference Figures 84 to 93 In a variant of the present invention, the end tool 2200 is equipped with a pair of jaws 2203 for performing a gripping action, namely a first jaw 2201 and a second jaw 2202. Each of the first jaw 2201 and the second jaw 2202, or any component including the first jaw 2201 and the second jaw 2202, may be referred to as a jaw.

[0573] On the other hand, the end-effector 2200 includes a pulley 2211 associated with the rotational movement of the first jaw 2201, and a plurality of pulleys including pulley 2212. In this embodiment, the pulley associated with the rotational movement of the first jaw 2201 is substantially the same as that in the first embodiment. Figure 8The pulleys 111, 112, 113, 114, 115, and 116 described above are the same, so detailed descriptions of them are omitted.

[0574] On the other hand, the end-effector 2200 includes a pulley 2211 associated with the rotational movement of the second jaw 2202, and a plurality of pulleys including the pulley 2222. In this embodiment, the pulley associated with the rotational movement of the second jaw 2202 is substantially the same as that in the first embodiment. Figure 8 The pulleys 121, 122, 123, 124, 125, and 126 described above are the same, so detailed descriptions of them are omitted.

[0575] Furthermore, in a variant of the present invention, the end effector 2200 may include a rotation axis 2241, a rotation axis 2242, a rotation axis 2243, and a rotation axis 2244. Rotation axes 2241 and 2242 can be inserted through the end effector center 2206, and rotation axes 2243 and 2244 can be inserted through the pitch center 2207. The rotation axes 2241, 2242, 2243, and 2244 can be sequentially arranged from the distal end 2204 to the proximal end 2205 of the end effector 2200.

[0576] Furthermore, in a variant of the present invention, the end-effector 2200 may include an end-effector center 2280-2206 and a pitch center 2207.

[0577] The rotating shaft 2241 is inserted through the end tool center 2280, and the shaft is coupled to the pulleys 2211 and 2221 of the rotating shaft 2241, and at least a portion of the first jaw 2201 and the second jaw 2202 coupled thereto can be accommodated inside the end tool center 2280.

[0578] Rotation axes 2243 and 2244 are inserted through the pitch center 2207, and the pitch center 2207 can be coupled to the end tool center 2280 via the rotation axis 2243. Therefore, the end tool center 2280 can be configured to pitch and rotate relative to the pitch center 2207 about the rotation axis 2243.

[0579] On the other hand, in order to perform the stapling and cutting actions, the end tool 2200 of a variant of the present invention may further include a stapling drive assembly comprising a stapling pulley assembly 2260 and a stapling connector assembly 2270 (see reference). Figure 15 Components such as 150).

[0580] The suture pin pulley assembly 2260 may be formed adjacent to each other between pulleys 2211 and 2221. In this embodiment, it is assumed that the suture pin pulley assembly 2260 includes a first suture pin pulley 2281 and a second suture pin pulley 2291.

[0581] In a variation of the invention, the staple pulley assembly 2260 is disposed between the pulley 2211, which serves as the first jaw pulley, and the pulley 2221, which serves as the second jaw pulley. This assembly not only enables the pitching and deflecting movements of the end tool 2200, but also enables the staple stitching and cutting movements using the staple cartridge 2210.

[0582] Hereinafter, the suture pulley assembly 2260, the suture connector assembly 2270, and the reciprocating motion assembly 2250 of the end tool 2200 of the surgical instrument according to a variant of the present invention will be described in detail.

[0583] The end-effector 2200 of the surgical instrument according to a variant of the present invention is characterized in that the staple pulley assembly 2260 and the staple connector assembly 2270 form a pin / groove structure. Furthermore, this structure amplifies the force required to advance the reciprocating motion assembly 550.

[0584] Reference Figures 84 to 93 The suture pin pulley assembly 2260 may include a first suture pin pulley 2281 and a second suture pin pulley 2291.

[0585] The first stitching pin pulley 2281 may include a main body 2281a, a protruding member 2281b, and a shaft through portion 2281c.

[0586] The main body 2281a is formed in the shape of a disk.

[0587] The central portion of the main body 2281a may form a shaft through portion 2281c. The shaft through portion 2281c is formed in the shape of a hole, and the rotating shaft 2241, which serves as the rotating shaft of the end tool jaw pulley, can be inserted through the shaft through portion 2281c.

[0588] Furthermore, a protruding member 2281b may be formed in the main body portion 2281a of the first suture pin pulley 2281. The protruding member 2281b can be engaged with the connecting member 2271 of the suture pin connector assembly 2270. The protruding member 2261b may be formed in the shape of a pin, thereby inserting into the first groove 2272d of the connecting member 2271, which will be described later.

[0589] On the other hand, the second suture pin pulley 2291 may include a body 2291a, a protruding member 2291b, and a shaft through portion 2291c.

[0590] The main body 2291a is formed in the shape of a disk.

[0591] The central portion of the main body 2291a may form a shaft through portion 2291c. The shaft through portion 2291c is formed in the shape of a hole, and the rotating shaft 2241, which serves as the rotating shaft of the end tool jaw pulley, can be inserted through the shaft through portion 2291c.

[0592] Furthermore, a protruding member 2291b may be formed in the main body 2291a of the second suture pin pulley 2291. The protruding member 2291b can be engaged with the connecting member 2271 of the suture pin connector assembly 2270. The protruding member 2291b may be formed in the shape of a pin, thereby inserting into the second groove 2272e of the connecting member 2271, which will be described later.

[0593] On the other hand, in a variant of the present invention, the end tool 2200 may further include a suture connector assembly 2270 connected to the suture pulley assembly 2260, the suture connector assembly 2270 including a connector member 2271. The suture connector assembly 2270 is capable of connecting the suture pulley assembly 2260 and the staple cartridge (see reference). Figure 28 The reciprocating moving component of 500 (refer to) Figure 28 The role of 550).

[0594] The characteristic of this embodiment is that the suture pin connector assembly 2270 includes a connector member 2271, and the connector member 2271 includes only one connector. That is, the suture pin pulley assembly 2260 and the suture pin connector assembly 2270 are connected by a pin / groove structure. Therefore, even when the suture pin connector assembly 2270 includes only one connector, the rotational motion of the suture pin pulley assembly 2260 can be converted into the linear motion of the suture pin connector assembly 2270.

[0595] Specifically, the connecting member 2271 can be formed as a single connecting member.

[0596] The connector component 2271 is formed in the shape of a combination of an elongated bar and an elliptical plate, and can be formed in a generally "L" shape. The connector component 2271 may include a first protrusion 2272a, a second protrusion 2272b, a fastening part 2272c, a first groove 2272d, and a second groove 2272e.

[0597] A first protrusion 2272a and a second protrusion 2272b may be formed in a central region of the connector component 2271. The first protrusion 2272a and the second protrusion 2272b may be inserted into the guide groove 2201b of the first jaw 2201.

[0598] As described above, with the first protrusion 2272a and the second protrusion 2272b of the connector member 2271, which is formed in a raised shape, inserted into the groove-shaped guide groove 2201b, the first protrusion 2272a and the second protrusion 2272b move with the guide groove 2201b, thereby moving the connector member 2271 relative to the first jaw 2201 (and the staple cartridge 500 inside therein). This will be described in further detail later.

[0599] On the other hand, a fastening portion 2272c may be formed at one end of the connecting member 2271. The fastening portion 2272c can be connected to the staple cartridge (see reference). Figure 28 The reciprocating moving component of 500 (refer to) Figure 28 The fastening part of 551) (refer to) Figure 28 551a) combination.

[0600] On the other hand, a first groove 2171d and a second groove 2171e may be formed on the opposite end of one end of the fastening part 2171c formed in the connecting member 2171.

[0601] Specifically, in the connecting member 2171, a first groove 2171d can be formed on the surface opposite to the first suture pulley 2181. The first groove 2171d can be formed in the shape of an elongated hole, allowing the protruding member 2181b of the first suture pulley 2181 to be inserted therein. The first groove 2171d can be formed with a predetermined curvature and is approximately elliptical. The minor radius of the first groove 2272d can be formed to be substantially the same as or slightly larger than the radius of the protruding member 2281b. On the other hand, the major radius of the first groove 2272d can be formed to be larger than the radius of the protruding member 2281b. Therefore, when the protruding member 2281b of the first suture pulley 2281 is inserted into the first groove 2272d of the connecting member 2271, the protruding member 2281b can be configured to move a certain degree within the first groove 2272d.

[0602] The first groove 2272d can be formed at an angle rather than concentrically. Therefore, when the first suture pin pulley 2281 rotates, the connecting member 2271 can be moved by pushing the first groove 2272d while the protruding member 2281b is in contact with the first groove 2272d. That is, when the first suture pin pulley 2281 rotates, the protruding member 2281b contacts and moves within the first groove 2272d, thereby allowing the connecting member 2271 to move linearly along the guide groove 2201b of the first jaw 2201.

[0603] The first groove 2271d can be formed so that it does not penetrate the entire thickness of the connector member 2271, but rather penetrates about half the entire thickness of the connector member 2271. Alternatively, the first groove 2271d can be formed with a thickness substantially the same as the thickness of the protruding member 2281b of the first stitch pulley 2281.

[0604] On the other hand, a second groove 2271e can be formed in the connecting member 2271. Specifically, a second groove 2271e can be formed on the surface of the connecting member 2271 opposite to the second stitch pulley 2291. The second groove 2271e can be formed in the shape of an elongated hole, allowing the protruding member 2291b of the second stitch pulley 2291 to be inserted therein. The second groove 2271e can be formed with a predetermined curvature and is generally elliptical.

[0605] The short radius of the second groove 2272e can be substantially the same as or slightly larger than the radius of the protruding member 2291b. Conversely, the long radius of the second groove 2272e can be larger than the radius of the protruding member 2291b. Therefore, when the protruding member 2291b of the second stitching pulley 2291 is inserted into the second groove 2272e of the connecting member 2271, the protruding member 2291b can be configured to move a certain degree within the second groove 2272e.

[0606] As described above, the second groove 2272e can be formed at an angle rather than concentrically. Therefore, when the second suture pin pulley 2291 rotates, the connecting member 2271 can be moved by pushing the second groove 2272e while the protruding member 2291b is in contact with the second groove 2272e. That is, when the second suture pin pulley 2291 rotates, the protruding member 2291b contacts and moves within the second groove 2272e, thereby allowing the connecting member 2271 to move linearly along the guide groove 2201b of the first jaw 2201.

[0607] The second groove 2271e can be formed so that it does not penetrate the entire thickness of the connector member 2271, but rather penetrates about half the entire thickness of the connector member 2271. Alternatively, the second groove 2271e can be formed with a thickness substantially the same as the thickness of the protruding member 2291b of the second stitch pulley 2291.

[0608] The first groove 2271d and the second groove 2271e may be formed to overlap at least partially. In addition, the sum of the thicknesses of the first groove 2271d and the second groove 2272e in the Y-axis direction may be formed to be approximately the same as the thickness of the connecting member 2271 in the Y-axis direction.

[0609] The first groove 2271d and the second groove 2271e can be formed symmetrically about the rotation axis 2241. As described above, by forming the first groove 2271d and the second groove 2271e symmetrically about the rotation axis 2241, the protruding members 2281b of the first stitch pulley 2281 and the second stitch pulley 2291, which are coupled to the connecting member 2271, can also be set symmetrically to each other. This will be described in more detail later.

[0610] (The staple pulley assembly is based on the displacement and movement of the staple pulley rotation)

[0611] The following describes the displacement of the staple connector assembly 2270 based on the rotation of the first staple pulley 2281 and the second staple pulley 2291.

[0612] Reference Figure 88 In a variation of the invention, the first suture pin pulley 2281 and the suture pin connector assembly 2270 are joined in a pin / groove configuration. Specifically, a pin-shaped protrusion 2281b formed on the first suture pin pulley 2281 engages with a first groove 2271d formed on the connector assembly 2271. Therefore, when the first suture pin pulley 2281 rotates in the direction of arrow A, the displacement of the protrusion 2281b along the X-axis is B. Furthermore, the displacement of the suture pin connector assembly 2270 along the X-axis is C.

[0613] Similarly, refer to Figure 89 In the first embodiment of the present invention, the second suture pin pulley 2291 and the suture pin connector assembly 2270 are coupled in a pin / groove configuration. Specifically, the pin-shaped protrusion 2291b formed on the second suture pin pulley 2291 engages with the second groove 2271e formed on the connector assembly 2271. Therefore, when the second suture pin pulley 2291 rotates in the direction of arrow D, the displacement of the protrusion 2291b along the X-axis is E. Furthermore, the displacement of the suture pin connector assembly 2270 along the X-axis is F.

[0614] In contrast, when the staple pulley and staple connector assembly are coupled by a connector / shaft rather than a pin / slot, the displacement of the staple connector assembly along the X-axis is much greater than that of a variant of the present invention.

[0615] In other words, compared to the suturing pin pulley and suturing pin connector assembly being shaft-connected, when the suturing pin pulley and suturing pin connector assembly are pin / slot-connected as shown in this embodiment, even if the suturing pin pulley rotates by the same amount, the displacement of the suturing pin connector assembly in the X-axis direction will be reduced.

[0616] On the other hand, work is the product of force and displacement, so when assuming the work required to rotate the sewing pin pulley is the same, displacement and force are inversely proportional. Therefore, when displacement decreases, force increases inversely proportionally.

[0617] Finally, in a variation of the present invention, the first suture pin pulley 2281 and the second suture pin pulley 2291 are respectively engaged with the suture pin connector assembly 2270 in the form of pins / grooves, and the displacement of the suture pin connector assembly 2270 in the X-axis direction is relatively reduced compared with other embodiments due to the rotation of the first suture pin pulley 2281 and the second suture pin pulley 2291. Therefore, the force on the suture pin connector assembly 2270 in the X-axis direction is relatively increased compared with the simple connector structure.

[0618] By means of a variation of the present invention as described above, the force of the suture staple connector assembly 2270 and the reciprocating motion assembly 550 connected thereto is amplified, thereby achieving the effect of more powerfully executing the staple stitching action.

[0619] In particular, in a variant of the invention, two symmetrical staple pulleys (i.e., the first staple pulley 2281 and the second staple pulley 2291) are provided. Therefore, compared to the case with only one staple pulley, the force by which the staple pulley assembly 2260 pushes the staple connector assembly 2270 can be amplified by approximately two times. Furthermore, since the first staple pulley 2281 and the second staple pulley 2291 are configured to be symmetrical about each other with respect to the XZ plane, they are balanced left and right when performing the staple sewing action. This results in the end tool 2200 performing the action stably without swaying left and right as a whole.

[0620] The rotation directions of the first suture pin pulley 2281 and the second suture pin pulley 2291 are described below.

[0621] Reference Figure 90 , Figure 91 , Figure 92 as well as Figure 93 Wait, when the first suture pin pulley 2281 moves towards Figure 93 When the second suture pulley 2291 rotates in the direction of arrow A (i.e., clockwise), it advances the staple connector assembly 2270; when the second suture pulley 2291 moves towards... Figure 93 When rotated in the direction of arrow D (i.e., counterclockwise), the suture staple connector assembly 2270 is advanced.

[0622] Conversely, when the first staple pulley 2281 rotates counterclockwise, it causes the staple connector assembly 2270 to retract; when the second staple pulley 2291 rotates clockwise, it causes the staple connector assembly 2270 to retract.

[0623] Ultimately, the staple connector assembly 2270 moves (forward or backward) when the first staple pulley 2281 and the second staple pulley 2291 rotate in opposite directions. Conversely, when the first staple pulley 2281 and the second staple pulley 2291 rotate in the same direction, the staple connector assembly 2270 does not move because the rotations of the two pulleys cancel each other out.

[0624] Ultimately, in such Figure 92 In the state shown, when the first suture pin pulley 2281 rotates clockwise while the second suture pin pulley 2291 rotates counterclockwise, the connecting member 2271 connected to the first suture pin pulley 2281 and the second suture pin pulley 2291 can generally move towards the distal end of the first jaw 2201 (refer to...). Figure 13 Move in the direction of 2101f).

[0625] Conversely, when the first suture pin pulley 2281 rotates counterclockwise while the second suture pin pulley 2291 rotates clockwise, the connecting member 2271 connected to the first suture pin pulley 2281 and the second suture pin pulley 2291 can generally move towards the proximal end of the first jaw 2201 (see reference). Figure 13 It moves in the direction of 2101g.

[0626] Therefore, the bidirectional rotational motion of the staple pulley assembly 2260 can cause the staple cartridge (see reference) through the staple connector assembly 2270. Figure 28 The reciprocating moving component of 500 (refer to) Figure 28 The reciprocating linear motion of 550°.

[0627] As described above, an embodiment shown in the accompanying drawings has been presented with reference to the present invention, but this is merely exemplary, and those skilled in the art will understand that various modifications and variations of the embodiments can be made based on it. Therefore, the true scope of protection of the present invention should be determined by the technical concept of the appended claims.

[0628] Industrial applicability

[0629] The present invention relates to an end-effector of a surgical instrument and a surgical instrument equipped therewith. Specifically, in a surgical instrument mounted on a robotic arm or manually operable for use in laparoscopic surgery or various other surgeries, it can be used as an end-effector of a surgical instrument equipped with an end-effector and a surgical instrument equipped therewith, wherein the end-effector is rotatable in two or more directions and moves in a manner intuitively consistent with the movement of the operating part.

Claims

1. A surgical instrument comprising: End-effector, comprising a first jaw, Second jaws First jaw pulley, Second jaw pulley and A staple driving assembly, wherein a second jaw is formed opposite to a first jaw, a first jaw pulley is coupled to the first jaw and configured to rotate about a first axis, a second jaw pulley is coupled to the second jaw and configured to rotate about an axis substantially the same as or parallel to the first axis and spaced apart from the first jaw pulley by a certain degree, the staple driving assembly includes a first staple pulley and a second staple pulley formed adjacent to the first jaw pulley or the second jaw pulley; and The staple cartridge includes a reciprocating motion assembly and a working component. The reciprocating motion assembly is connected to the staple drive assembly and moves linearly therefrom as the first and second staple pulleys rotate. The working component moves in the same direction as the reciprocating moving component when the reciprocating moving component moves in one direction, by contacting the reciprocating moving component.

2. The surgical instrument according to claim 1, characterized in that, When the first or second suture pulley rotates, the reciprocating motion assembly connected to the suture drive assembly moves toward the distal or proximal end of the staple cartridge.

3. The surgical instrument according to claim 2, characterized in that, When the first suture pin pulley or the second suture pin pulley rotates alternately in a clockwise and counterclockwise direction, the reciprocating moving assembly connected to the suture pin drive assembly moves alternately toward the distal end and proximal end of the staple cartridge.

4. The surgical instrument according to claim 3, characterized in that, As the reciprocating moving assembly moves toward the distal end of the staple cartridge, the working member moves toward the distal end of the staple cartridge due to the reciprocating moving assembly.

5. The surgical instrument according to claim 1, characterized in that, The bidirectional rotational motion of the first or second suture pin pulley is converted into the reciprocating linear motion of the reciprocating motion component connected to the suture pin drive assembly by the suture pin drive assembly.

6. The surgical instrument according to claim 1, characterized in that, As the working member moves in the direction and the wedge-shaped portion of the working member sequentially pushes a plurality of suture staples in the staple cartridge to perform a staple stitching action, a blade formed on one side of the wedge-shaped portion of the working member moves in the direction and performs a cutting action.

7. The surgical instrument according to claim 1, characterized in that, The suture pin drive assembly includes a connecting member that connects the first suture pin pulley, the second suture pin pulley, and the reciprocating motion assembly.

8. The surgical instrument according to claim 7, characterized in that, The working component includes a ratchet component, wherein a ratchet is formed in at least one side of the ratchet component. The ratchet of the ratchet member is configured to contact the reciprocating motion assembly.

9. The surgical instrument according to claim 8, characterized in that, The working member moves together with the reciprocating moving assembly toward the distal end of the staple cartridge only when the reciprocating moving assembly moves toward the distal end of the staple cartridge.

10. The surgical instrument according to claim 8, characterized in that, When the first suture pin pulley rotates in a first direction (clockwise or counterclockwise) and the second suture pin pulley rotates in the opposite direction (clockwise or counterclockwise), the connecting member connected to the first and second suture pin pulleys, the reciprocating motion assembly connected to the connecting member, and the working member in contact with the reciprocating motion assembly move toward the distal end of the staple cartridge.

11. The surgical instrument according to claim 10, characterized in that, When the first suture pin pulley rotates in the opposite direction of the first direction (clockwise and counterclockwise) and the second suture pin pulley rotates in the first direction (clockwise and counterclockwise), the connecting member connected to the suture pin pulley and the reciprocating motion assembly connected to the connecting member move toward the proximal end of the end tool, and the working member stops in one direction.

12. The surgical instrument according to claim 7, characterized in that, A first protruding member is formed in the first suture pin pulley. A second protruding member is formed in the second suture pin pulley. A first groove is formed on the surface of the connector member opposite to the first suture pin pulley, and a second groove is formed on the surface of the connector member opposite to the second suture pin pulley.

13. The surgical instrument according to claim 12, characterized in that, The first protruding member and the second protruding member are formed in a cam shape. The first protruding member rotates while pressing the first groove of the connecting member, and the second protruding member rotates while pressing the second groove of the connecting member, thereby moving the connecting member.

14. The surgical instrument according to claim 12, characterized in that, The center of the first protruding member is not aligned with the center of the first suture pin pulley; the first protruding member is formed to a certain extent eccentrically relative to the first suture pin pulley. The center of the second protruding member is not aligned with the center of the second suture pin pulley, and the second protruding member is formed to a certain extent eccentrically relative to the second suture pin pulley.

15. The surgical instrument according to claim 12, characterized in that, When the first and second suture pin pulleys rotate in opposite directions, the connecting member moves in one direction. When the first and second suture pin pulleys rotate in the same direction, the connecting member stops in that direction.

16. The surgical instrument according to claim 1, characterized in that, Further includes: The first suture thread, which causes the first suture pulley to rotate by engaging with the first suture pulley; as well as The second suture guide wire causes the second suture pulley to rotate by engaging with it.

17. The surgical instrument according to claim 1, characterized in that, Further includes: A pair of end-tool first jaw pitch pulleys are formed on one side of the first jaw pulleys and are configured to rotate about a second axis at a predetermined angle to the first axis. as well as A pair of end-tool second jaw pitch pulleys are formed on one side of the second jaw pulley and are configured to rotate about an axis that is substantially the same as or parallel to the second axis.

18. The surgical instrument according to claim 17, characterized in that, The end effector is configured to be able to deflect and rotate about the first axis, and simultaneously be able to pitch and rotate about the second axis.

19. The surgical instrument according to claim 1, characterized in that, The first jaw pulley, the first suture pin pulley, the second suture pin pulley, and the second jaw pulley are stacked in sequence.

20. The surgical instrument according to claim 1, characterized in that, The suture nail drive assembly is formed between the first jaw pulley and the second jaw pulley.

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