End tool of surgical instrument and electrocautery surgical instrument having the same

Abstract

The present invention relates to an electrocautery surgical instrument, in particular to an electrocautery surgical instrument mounted on a robotic arm or manually operable for laparoscopic surgery or various surgeries.

Description

Technical Field

[0001] The present invention relates to an end-effector of a surgical instrument and an electrocautery surgical instrument having the end-effector, and more specifically, to an end-effector of a surgical instrument having the end-effector and an electrocautery surgical instrument having the end-effector, wherein, in surgical instruments mounted on a robotic arm or manually operable for laparoscopic surgery or various surgical procedures, the end-effector can be rotated in two or more directions and operated to intuitively correspond to the movements of the operating part. Background Technology

[0002] In many cases, surgery requires cutting and joining body tissues, including organs, muscle tissue, connective tissue, and blood vessels. For centuries, this cutting and joining has been done with sharp blades and sutures. However, cutting body tissues during surgery, especially relatively highly vascularized tissues, can cause bleeding. Therefore, surgeons have always needed surgical instruments and methods to slow or reduce bleeding during surgery.

[0003] Recently, specific surgical procedures can be performed using electrosurgical instruments that utilize electrical energy. For example, electrosurgical instruments comprising one or more electrodes configured to provide electrical energy have been developed, among surgical instruments such as graspers, scissors, forceps, blades, needles, and hooks. The electrical energy provided through the electrodes can be used to coagulate, bind, or cut the patient's body tissue. In particular, when using electrical energy, it may be possible to perform cutting and hemostasis simultaneously.

[0004] Electrosurgical instruments are generally classified into two types: monopolar and bipolar. In monopolar electrosurgical instruments, electrical energy of a specific polarity is supplied to one or more electrodes of the instrument. Furthermore, an electrode of a different polarity is electrically connected to the patient. In bipolar electrosurgical instruments, one or more electrodes are electrically connected to a first polarity power source, and one or more electrodes are electrically connected to a second polarity power source opposite to the first polarity.

[0005] The background information described above refers to technical information possessed by the inventor in order to derive this invention or technical information obtained in the process of deriving this invention, and therefore is not necessarily known technology that was disclosed to the public before the application for this invention. Summary of the Invention

[0006] Technical issues

[0007] The purpose of this invention is to provide an electrocautery surgical instrument with an end-effector, wherein the end-effector, in an electrocautery surgical instrument mounted on a robotic arm or manually operable for laparoscopic surgery or various other surgeries, can rotate in two or more directions and be operated to intuitively correspond to the movements of the operating part.

[0008] Technical solution

[0009] An 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 formed to be connected to the first jaw and rotatable about a first rotation axis; a second jaw pulley formed to be connected to the second jaw and rotatable about the first rotation axis, and spaced a certain distance from the first jaw pulley; a blade assembly comprising a blade movable between a proximal end and a distal end of the first jaw, and at least a portion thereof formed between the first jaw pulley and the second jaw pulley; and a blade guide wire, at least a portion thereof contacting the blade assembly to transmit the driving force required to move the blade to the blade.

[0010] Beneficial effects

[0011] According to the present invention as described above, since the direction of operation of the operating part and the direction of operation of the end tool are intuitively the same for the surgeon, it not only improves the convenience of the surgeon, but also enhances the accuracy, reliability and speed of the surgery. Attached Figure Description

[0012] 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.

[0013] 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.

[0014] 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.

[0015] Figure 2 This is a perspective view showing an electrocautery surgical instrument according to a first embodiment of the present invention.

[0016] Figure 3 , Figure 4 , Figure 5 and Figure 6 It is shown Figure 2 A perspective view of the end tool of an electrocautery surgical instrument.

[0017] Figures 7 to 8 It is shown Figure 2 A plan view of the end tool of an electrocautery surgical instrument.

[0018] Figure 9 and Figure 10 It is shown Figure 2A perspective view of the center of the end-effector of an electrocautery surgical instrument.

[0019] Figure 11 yes Figure 9 The cut perspective view at the center of the end tool.

[0020] Figure 12 It is shown Figure 2 The center of the end tool of the electrocautery surgical instrument and a side view of each connector.

[0021] Figure 13 It is shown Figure 2 A plan view of the end-effector of the electrocautery surgical instrument, including the center of the end-effector and each connector.

[0022] Figure 14 It is shown Figure 2 Exploded perspective view of the jaws, connectors, and jaw pulleys of the end-effector of an electrocautery surgical instrument.

[0023] Figure 15 and Figure 16 It is shown Figure 2 A perspective view of the opening and closing action of the end effector of an electrocautery surgical instrument.

[0024] Figure 17 , Figure 18 and Figure 19 It is shown Figure 2 A perspective view of the cutting action of the end tool of an electrocautery surgical instrument.

[0025] Figure 20 and Figure 21 It is shown Figure 2 A perspective view of the operating section of an electrocautery surgical instrument.

[0026] Figure 22 It is only schematically shown that the composition is... Figure 2 The diagram shows the arrangement of pulleys and wires in the joint of an electrocautery surgical instrument.

[0027] Figure 23 It is shown Figure 2 A perspective view of the deflection motion of an electrocautery surgical instrument.

[0028] Figure 24 and Figure 25 It is shown by disassembling the first jaw and the second jaw respectively. Figure 2 The diagram shows the configuration of pulleys and wires related to the actuation and deflection actions of the electrocautery surgical instrument.

[0029] Figure 26 It is shown Figure 2 A perspective view of the pitching motion of an electrocautery surgical instrument.

[0030] Figure 27 and Figure 28 It is shown by disassembling the first jaw and the second jaw respectively. Figure 2 The diagram shows the configuration of pulleys and wires related to the pitching motion of the electrocautery surgical instrument.

[0031] Figure 29 and Figure 30 It is shown Figure 2 The diagram shows the process of opening and closing the end tool of an electrocautery surgical instrument in a state of deflection and rotation of -90°.

[0032] Figure 31 and Figure 32 It is shown Figure 2 The diagram shows the process of opening and closing the end tool of an electrocautery surgical instrument in a state of +90° deflection and rotation.

[0033] Figure 33 and Figure 34 It is shown Figure 2 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument deflected and rotated by +90°.

[0034] Figure 35 It is shown Figure 2 A diagram showing the tip of an electrocautery surgical instrument in a pitched-rotated-90° position.

[0035] Figure 36 It is shown Figure 2 A diagram showing the tip of an electrocautery surgical instrument in a pitched and rotated +90° position.

[0036] Figure 37 yes Figure 35 A cross-sectional perspective view of the end tool of an electrocautery surgical instrument.

[0037] Figure 38 and Figure 39 It is shown Figure 2 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument in a state of pitch and rotation of -90°.

[0038] Figure 40 It is shown Figure 2 A plan view of the pitch, rotation, and deflection states of the end effector of an electrocautery surgical instrument.

[0039] Figure 41 , Figure 42 and Figure 43 It is shown Figure 2 The diagram shows the cutting motion performed by the end tool of an electrocautery surgical instrument while simultaneously tilting and rotating at -90° and deflecting at +90°.

[0040] Figure 44 , Figure 45 , Figure 46 and Figure 47 This is a diagram showing the end tool of an electrocautery surgical instrument of a first modified example according to a first embodiment of the present invention.

[0041] Figure 48 It is shown Figure 44 Exploded perspective view of the jaws, connectors, and jaw pulleys of the end-effector of an electrocautery surgical instrument.

[0042] Figure 49 and Figure 50 It is shown Figure 44 A diagram illustrating the process of a cutting motion performed by the end-effector of an electrocautery surgical instrument.

[0043] Figure 51 and Figure 52 This is a diagram showing the end tool of an electrocautery surgical instrument of a second modified example according to the first embodiment of the present invention.

[0044] Figure 53 It is shown Figure 51 A perspective view of the center of the end-effector of an electrocautery surgical instrument.

[0045] Figure 54 and Figure 55 yes Figure 53 The cut perspective view at the center of the end tool.

[0046] Figure 56 and Figure 57 yes Figure 53 The perspective view at the center of the end tool.

[0047] Figure 58 and Figure 59 This is a diagram showing the end tool of an electrocautery surgical instrument according to a third variation of the first embodiment of the present invention.

[0048] Figure 60 It is shown Figure 58 A perspective view of the center of the end-effector of an electrocautery surgical instrument.

[0049] Figure 61 yes Figure 60 The cut perspective view at the center of the end tool.

[0050] Figure 62 This is a perspective view showing an electrocautery surgical instrument according to a second embodiment of the present invention.

[0051] Figure 63 , Figure 64 , Figure 65 , Figure 66 , Figure 67 and Figure 68 It is shown Figure 62 A perspective view of the end tool of an electrocautery surgical instrument.

[0052] Figure 69 and Figure 70 It is shown Figure 62 A plan view of the end tool of an electrocautery surgical instrument.

[0053] Figure 71 and Figure 72 It is shown Figure 62 A perspective view of the center of the end-effector of an electrocautery surgical instrument.

[0054] Figure 73 yes Figure 71 The cut perspective view at the center of the end tool.

[0055] Figure 74 It is shown Figure 62 Exploded perspective view of the jaws, connectors, and jaw pulleys of the end-effector of an electrocautery surgical instrument.

[0056] Figure 75 , Figure 76 , Figure 77 and Figure 78 It is shown Figure 62 A perspective view of the second jaw pulley of the end tool of an electrocautery surgical instrument.

[0057] Figure 79 and Figure 80 It is shown Figure 62 A plan view of the opening and closing action of the end effector of an electrocautery surgical instrument.

[0058] Figure 81 It is shown Figure 2 The diagram shows the jaw opening and closing process of the first embodiment of the present invention. Figure 82 This is a diagram illustrating the jaw opening and closing process of a second embodiment of the present invention.

[0059] Figure 83 The figure shows the case where the pin groove structure of the second embodiment of the present invention is equipped on a general pulley instead of a multi-layer pulley.

[0060] Figure 84 , Figure 85 , Figure 86 and Figure 87 It is shown Figure 62 A perspective view of the opening and closing action of the end effector of an electrocautery surgical instrument.

[0061] Figure 88 , Figure 89 and Figure 90 It is shown Figure 62 A perspective view of the cutting action of the end tool of an electrocautery surgical instrument.

[0062] Figure 91 and Figure 92 It is shown Figure 62 The diagram shows the process of opening and closing the end tool of an electrocautery surgical instrument in a state of deflection and rotation of -90°.

[0063] Figure 93 and Figure 94 It is shown Figure 62 The diagram shows the process of opening and closing the end tool of an electrocautery surgical instrument in a state of +90° deflection and rotation.

[0064] Figure 95 and Figure 96 It is shown Figure 62 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument deflected and rotated by +90°.

[0065] Figure 97 It is shown Figure 62 A diagram showing the tip of an electrocautery surgical instrument in a pitched-rotated-90° position.

[0066] Figure 98 It is shown Figure 62 A diagram showing the tip of an electrocautery surgical instrument in a pitched and rotated +90° position.

[0067] Figure 99 yes Figure 97 A cross-sectional perspective view of the end tool of an electrocautery surgical instrument.

[0068] Figure 100 , Figure 101 and Figure 102 It is shown Figure 62 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument in a state of pitch and rotation of -90°.

[0069] Figure 103 It is shown Figure 62 A plan view of the pitch, rotation, and deflection states of the end effector of an electrocautery surgical instrument.

[0070] Figure 104 , Figure 105 and Figure 106 It is shown Figure 62 The diagram shows the cutting motion performed by the end tool of an electrocautery surgical instrument while simultaneously tilting and rotating at -90° and deflecting at +90°.

[0071] Figure 107 , Figure 108 , Figure 109 and Figure 110 This is a diagram showing the end tool of an electrocautery surgical instrument of a first modified example according to a second embodiment of the present invention.

[0072] Figure 111 , Figure 112 and Figure 113 It is shown Figure 107 A diagram illustrating the process of a cutting motion performed by the end-effector of an electrocautery surgical instrument.

[0073] Figure 114 It is shown Figure 107 A diagram of the end tool of an electrocautery surgical instrument.

[0074] Figure 115 and Figure 116 This is a diagram showing the end tool of an electrocautery surgical instrument of a second variation according to a second embodiment of the present invention.

[0075] Figure 117 It is shown Figure 115 A perspective view of the center of the end-effector of an electrocautery surgical instrument.

[0076] Figure 118 and Figure 119 yes Figure 117 The cut perspective view at the center of the end tool.

[0077] Figure 120 and Figure 121 yes Figure 117 The perspective view at the center of the end tool.

[0078] Figure 122 and Figure 123 This is a diagram showing the end tool of an electrocautery surgical instrument of a third variation according to a second embodiment of the present invention.

[0079] Figure 124 It is shown Figure 121 A perspective view of the center of the end-effector of an electrocautery surgical instrument. Detailed Implementation

[0080] Because this invention can be applied in various modifications and has various embodiments, specific embodiments will be illustrated and described in detail below with reference to the accompanying drawings. However, this is not intended to limit the invention to specific implementations, but should be understood to include all variations, equivalents, and substitutions within the spirit and technical scope of the invention. In describing the invention, detailed descriptions of relevant known technologies will be omitted if it is determined that such detailed descriptions might obscure the gist of the invention.

[0081] Although terms such as "first" and "second" can be used to describe various components, the components should not be limited to these terms. These terms are used only for the purpose of distinguishing one component from another.

[0082] The terminology used in this application is for describing specific embodiments only and is not intended to limit the invention. Unless the context clearly indicates otherwise, singular expressions include plural expressions. In this application, it should be understood that the terms "comprising" or "having" are intended to indicate the presence of the features, numbers, steps, actions, constituent elements, components, or combinations thereof described in the specification, rather than precluding the presence or additional possibilities of one or more other features or numbers, steps, actions, constituent elements, components, or combinations thereof.

[0083] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. When describing the invention with reference to the accompanying drawings, the same or corresponding components will be given the same reference numerals and will not be described again.

[0084] Furthermore, regarding the description of various embodiments of the present invention, it should be understood that each embodiment need not be explained or implemented independently, and the technical ideas described in each embodiment can be explained or implemented in conjunction with other separately described embodiments.

[0085] The electrocautery surgical instrument according to the present invention is characterized in that, for at least one of pitch, yaw and actuation actions, when the operating part is rotated in any direction, the end tool rotates intuitively in the same direction as the operating direction of the operating part.

[0086] 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.

[0087] See Figure 1 a. When performing the pitching motion of a conventional surgical instrument, with the end effector 120a positioned further forward than its rotation center 121a and the operating section 110a positioned further backward than its rotation center 111a, if the operating section 110a rotates clockwise, the end effector 120a also rotates clockwise; conversely, if the operating section 120a rotates counterclockwise, the end effector 120a also rotates counterclockwise. See also... Figure 1 b. When performing the deflection action of an existing surgical instrument, with the end effector 120a positioned further forward than its rotation center 121a and the operating section 110a positioned further backward than its rotation center 111a, if the operating section 110a rotates clockwise, the end effector 120a also rotates clockwise; conversely, if the operating section 110a rotates counterclockwise, the end effector 120a also rotates counterclockwise. From the user's left-right perspective, if the user moves the operating section 110a to the left, the end effector 120a moves to the right; conversely, if 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 and the end effector's movement direction are opposite, user errors may occur, and user operation may be inconvenient.

[0088] 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.

[0089] See Figure 1 c. Some existing surgical instruments are designed with mirror symmetry. When performing a pitching motion, with the end effector 120b positioned further forward than its rotation center 121b and the operating part 110b positioned further backward than its rotation center 111b, if the operating part 110b rotates 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 is opposite to the corresponding rotation direction of the end effector 120b. As a result, there are problems such as potential user confusion regarding the direction of operation, unintuitive joint movement, and potential errors. See also... Figure 1 d. When performing a deflection action, with the end effector 120b positioned further forward than its rotation center 121b and the operating part 110b positioned further backward than its rotation center 111b, if the operating part 110b rotates clockwise, the end effector 120b rotates counterclockwise, and vice versa. In this case, from the perspective of the rotation direction of the operating part and the end effector, the user's rotation direction of the operating part 110b is opposite to the corresponding rotation direction of the end effector 120b. As a result, there are problems such as potential user confusion regarding the operating direction, unintuitive joint movement, and potential errors. Thus, in the user's pitch or deflection operations on existing surgical instruments, the user's operating direction and the end effector's movement direction are inconsistent in the rotational or left-right directions. This is because, in the joint configuration of existing surgical instruments, the end effector and the operating part are configured differently. That is, the end effector is positioned further forward than its rotation center, while the operating part is positioned further backward than its rotation center. To solve this problem, such as Figure 1 e and Figure 1 As shown in f, a surgical instrument according to an embodiment of the present invention is characterized in that the distal end tool 120c is positioned further forward than the rotation center 121c of the distal end tool, and the operating part 110c is also positioned further forward than the rotation center 111c of the operating part, thereby making the movements of the operating part 110c and the distal end tool 120c intuitively consistent. These features can be expressed in different ways, i.e., as... Figure 1 a, Figure 1 b、 Figure 1 c and Figure 1As shown in d, unlike existing examples where the operating part is configured to be closer to the user side (i.e., farther from the end effector) relative to its own joint, as... Figure 1 e and Figure 1 As shown in f, in a surgical instrument according to an embodiment of the present invention, at least a portion of the operating part can be closer to the end tool at at least at one time during the operation, based on its own joint (more than its own joint).

[0090] In other words, for such Figure 1 a, Figure 1 b、 Figure 1 c and Figure 1 In the existing surgical instrument shown in d, the end effector is positioned further forward than its own center of rotation, while the operating part is positioned further rearward than its own center of rotation. Thus, the end effector, which moves forward while the rear is fixed, is operated by moving the operating part while the front is fixed. This is an intuitively inconsistent structure. Consequently, the problem is that the left-right or rotational perspectives of the operation of the operating part and the movement of the end effector may be inconsistent, leading to user confusion, difficulty in intuitively and quickly performing the operation of the operating part, and causing errors. In contrast, in the surgical instrument according to an embodiment of the present invention, both the end effector and the operating part move based on a center of rotation formed at the rear. Therefore, structurally, their movements are intuitively consistent. In other words, just as the movable part of the end effector moves based on the center of rotation formed at the rear, the movable part of the operating part also moves based on this center of rotation formed at the rear. Therefore, structurally, their movements are intuitively consistent. As a result, the advantage is that the user can intuitively and quickly perform manipulation of the end effector direction, and the possibility of error is significantly reduced. The detailed mechanism for achieving this function will be described below.

[0091] <First Embodiment of an Electrocautery Surgical Instrument>

[0092] Figure 2 This is a perspective view of an electrocautery surgical instrument according to a first embodiment of the present invention. Figure 3 for Figure 2 Side view of the electrocautery surgical instruments. Additionally... Figure 4 and Figure 5 for Figure 2 Perspective view of the end effector of an electrocautery surgical instrument. Figure 6 for Figure 2 Exploded perspective view of the end effector of an electrocautery surgical instrument. Figure 7 and Figure 8 for Figure 2 A bottom-view perspective view of the end effector of an electrocautery surgical instrument. Additionally... Figure 9 and Figure 10 for Figure 2Side view of the end effector of an electrocautery surgical instrument. Figure 11 for Figure 2 Perspective view of the guide of the end effector of an electrocautery surgical instrument. Figure 12 for Figure 2 A perspective view of the center of the end effector of an electrocautery surgical instrument. Figures 13 to 14 for Figure 2 A plan view of the end effector of an electrocautery surgical instrument.

[0093] First, see Figure 2 and Figure 3 According to the first embodiment of the present invention, the electrocautery surgical instrument 10 includes an end tool 100, an operating part 200, a power transmission part 300, and a connecting part 400.

[0094] The connecting portion 400 is shaped like a hollow shaft and can accommodate one or more wires and cables. One end of the connecting portion 400 is connected to the operating portion 200, and the other end is connected to the end tool 100. The connecting portion 400 can be used to connect the operating portion 200 and the end tool 100. According to the first embodiment of the electrocautery surgical instrument 10, the connecting portion 400 has a straight portion 401 and a curved portion 402. The straight portion 401 is formed on the connecting side of the end tool 100, and the curved portion 402 is formed on the connecting side of the operating portion 200. Thus, since the end of the connecting portion 400 on the operating portion 200 side is curved, 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 100. Alternatively, at least a portion of the pitch operating portion 201 and the deflection operating portion 202 can be accommodated in a recess formed by the curved portion 402. The shape and movement of the operating part 200 and the end tool 100 can be more intuitively matched by the shape of this curved part 402.

[0095] On the other hand, the plane with the curved portion 402 can be the same as the pitch plane, i.e. Figure 2 The XZ plane is essentially the same plane as the curved part 402. Therefore, since the curved part 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 used.

[0096] Additionally, connector 410 may be formed in the bend 402. Connector 410 may be connected to an external power source (not shown), and connector 410 may be connected to jaws 103 via electric wires 411 and 412 to transfer electrical energy supplied from the external power source (not shown) to jaws 103. Connector 410 may be a bipolar type with two electrodes or a unipolar type with one electrode.

[0097] An operating unit 200 is formed at one end of the connecting unit 400 and has an interface that can be directly manipulated by a doctor, such as a clamp-shaped, rod-shaped, or lever-shaped interface. When manipulated by a doctor, it connects to the corresponding interface to cause the end-effector 100 inserted into the surgical patient to operate in a predetermined manner, thereby performing the surgery. Although... Figure 2 The diagram shows an operating part 200 in the form of a handle that can be rotated while a finger is inserted, but the idea of ​​the present invention is not limited to this. Various forms of operating parts can be used, as long as they can be connected to the end tool 100 to operate the end tool 100.

[0098] An end-effector 100 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 such an end-effector 100, such as... Figure 2 As shown, a pair of jaws 103 for gripping actions can be used. However, the concept of the invention is not limited to this, and various surgical devices can be used as the end-effector 100. For example, a configuration such as a single-arm cauterizer can also be used as an end-effector. This end-effector 100 is connected to an operating unit 200 and a power transmission unit 300, and receives driving force from the operating unit 200 through the power transmission unit 300, thereby performing actions required for the surgery, such as gripping, cutting, and suturing.

[0099] In the electrocautery surgical instrument 10 according to the first embodiment of the present invention, the end tool 100 can rotate in at least one direction. For example, the end tool 100 can perform rotational movements. Figure 2 The pitch motion along the Y-axis is simultaneously executed. Figure 2 The yaw and actuation motions along the Z-axis.

[0100] The pitch, yaw, and actuation actions used in this invention are defined as follows.

[0101] First, the pitch motion refers to the movement of the end tool 100 in the direction of extension relative to the connecting part 400. Figure 2 Rotational motion in the vertical direction (X-axis direction), that is, rotation around... Figure 2 The movement refers to the rotation of the end tool 100 relative to the connecting portion 400 around the Y-axis. In other words, it refers to the movement of the end tool 100 rotating up and down relative to the connecting portion 400 around the Y-axis, wherein the end tool 100 moves from the connecting portion 400 along the extending direction of the connecting portion 400. Figure 2 (Extends along the X-axis direction).

[0102] Next, the yaw action refers to the extension direction of the end tool 100 relative to the connecting portion 400. Figure 2 Rotational motion in the left-right direction (X-axis direction), that is, rotation around... Figure 2 The movement refers to the rotation of the end tool 100 relative to the connecting portion 400 around the Z-axis. In other words, it refers to the left-right rotation of the end tool 100 relative to the connecting portion 400 around the Z-axis, wherein the end tool 100 rotates from the connecting portion 400 along the extending direction of the connecting portion 400. Figure 2 The movement of the jaws 103 formed in the two end tools 100 in the same direction around the Z-axis extends (in the X-axis direction). That is, it refers to the movement of the jaws 103 formed in the two end tools 100 rotating in the same direction around the Z-axis.

[0103] On the other hand, the actuation action refers to the action in which the end tool 100 rotates about the same rotation axis as the yaw action, but the two jaws 103 rotate in opposite directions to cause the jaws to contract or expand. That is, it refers to the movement of the jaws 103 formed in the two end tools 100 rotating about the Z-axis in opposite directions.

[0104] The power transmission unit 300 is used to transmit the driving force of the operating unit 200 to the end tool 100 by connecting the operating unit 200 and the end tool 100, and may include multiple wires, pulleys, connectors, joints, gears, etc.

[0105] In the following text, regarding Figure 2 The end tool 100, operating part 200 and power transmission part 300 of the electrocautery surgical instrument 10 will be described in more detail.

[0106] (Intuitive driving)

[0107] The intuitive actuation of the electrocautery surgical instrument 10 according to the present invention will now be described.

[0108] First, while holding the first handle 204 in your hand, the user can rotate 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 25The first handle 204 is rotated via the rotation axis 243 to perform a deflection action. In addition, the user can operate the operation unit 203 to perform an actuation action when the thumb and index finger are inserted 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.

[0109] The electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that when the operating part 200 is rotated in any direction relative to the connecting part 400, the end tool 100 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 rotates in any direction, the end tool 100 also rotates in a direction that is visually identical to the stated direction to perform pitch or yaw motion. It can be further explained that "visually identical direction" means that the direction of movement of the user's finger grasping the operating part 200 and the direction of movement of the end part of the end tool 100 are substantially in the same direction. Of course, this identical direction is not necessarily a perfectly consistent direction in three-dimensional coordinates. For example, it can be understood as the following degree of similarity: when the user's finger moves to the left, the end part of the end tool 100 also moves to the left; when the user's finger moves downward, the end part of the end tool 100 also moves downward.

[0110] Furthermore, for this purpose, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in 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 100 are formed in the same direction. That is, with reference to... Figure 2 When viewed with reference to the YZ plane, the operating part 200 extends along the +X axis, and the end tool 100 also extends along the +X axis. In other words, the forming direction of the end tool 100 in one end of the connecting part 400 and the forming direction of the operating part 200 in the other end of the connecting part 400 are in the same direction with reference to the YZ plane. Or, in other words, it can be said that the operating part 200 is formed along the direction away from the user's torso, that is, along the direction in which the end tool 100 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 movable parts for performing each action are formed to extend in the +X axis direction relative to the rotation center of each joint for performing the corresponding action. Thus, the operating part 200 can be configured in the same way as the movable parts of the end tool 100 are formed to extend in the +X axis direction relative to the rotation center of each joint for performing the corresponding action, as shown in the reference. Figure 1 As described, the user's operation direction and the end-effector's movement direction are consistent in both the rotational and left-right viewpoints, resulting in intuitively identical operations.

[0111] Specifically, with existing surgical instruments, the problem is that the direction of the user's operation of the operating part is different from and not intuitively consistent with the actual direction of the end effector. Therefore, it is not easy for surgeons to operate intuitively, and it takes a long time to skillfully move the end effector in the required direction. In some cases, incorrect actions may occur, causing harm to the patient.

[0112] To solve the above problems, an electrocautery surgical instrument 10 according to an embodiment of the present invention is characterized in that the operating direction of the operating part 200 and the operating direction of the end tool 100 are in the same direction in terms of visual appearance. For this purpose, the portion of the operating part 200 that actually moves in order to perform actuation, deflection and pitching actions is formed to extend in the +X axis direction relative to the rotation center of the corresponding joint used to perform each action, just like the end tool 100.

[0113] In the following text, regarding Figure 2 The end tool 100, operating part 200 and power transmission part 300 of the electrocautery surgical instrument 10 will be described in more detail.

[0114] (Power Transmission Department)

[0115] The following text will describe this in more detail. Figure 2 The power transmission unit 300 of the electrocautery surgical instrument 10.

[0116] See Figures 2 to 25 According to an embodiment of the present invention, the power transmission unit 300 of the electrocautery surgical instrument 10 may include wires 301, 302, 303, 304, 305, 306 and blade wire 307.

[0117] Here, wires 301 and 305 can be used as a pair as first jaw wires. Wires 302 and 306 can be used as a pair as second jaw wires. Here, the components encompassing wires 301 and 305 as first jaw wires and wires 302 and 306 as second jaw wires can be referred to as jaw wires. Additionally, wires 303 and 304 can be used as a pair as elevation wires.

[0118] Furthermore, the power transmission unit 300 of the electrocautery surgical instrument 10 according to an embodiment of the present invention may include fasteners 321, 322, 323, 324, 326, and 327, which are coupled to the respective ends of each wire to connect the wire and the pulley. Here, each fastener may have various shapes as needed, such as spherical or tubular.

[0119] Here, on the end tool 100 side, fasteners 321 / 322 serve as pitch wire-end tool fasteners, fastener 323 serves as a first jaw wire-end tool fastener, and fastener 326 can serve as a second jaw wire-end tool fastener.

[0120] Furthermore, on the operating section 200 side, fastener 324 serves as a first jaw wire-operating section fastener, while fastener 327 can serve as a second jaw wire-operating section fastener. Additionally, although not shown in the figures, pitch wire-operating section fasteners and blade wire-operating section fasteners can be further formed on the operating section 200 side.

[0121] The following section will describe in detail the connection between each wire, each fastener, and each pulley.

[0122] First, the wires 301 and 305, which serve as the first jaw wires, can be a single wire. After inserting the fastener 323, which serves as the end tool fastener of the first jaw wire, into the middle position of the first jaw wire as a single wire, and fixing the fastener 323 by crimping, the two branches of the first jaw wire can be referred to as wire 301 and wire 305, respectively, with the fastener 323 as the center.

[0123] Alternatively, wires 301 and 305, which are the first clamp wires, can be formed as separate wires and can be connected by fasteners 323.

[0124] Furthermore, since the fastener 323 is attached to the pulley 111, the wires 301 and 305 can be fixedly attached to the pulley 111. Thus, the pulley 111 can rotate as the wires 301 and 305 are pulled and released.

[0125] On the one hand, the first jaw wire-operating part fastener 324 can be attached to one end of the wires 301 and 305 opposite to the position where the fastener 323 is fastened.

[0126] Furthermore, as described above, since the first jaw wire-operating part fastener 324 is attached to the pulley 211, wires 301 and 305 can be fixedly attached to the pulley 211. As a result, when the pulley 211 is rotated by a motor or manually, wires 301 and 305 are pulled and released, thereby allowing the pulley 111 of the end tool 100 to rotate.

[0127] Similarly, wires 302 and 306, serving as the second jaw guide wires, are respectively connected to fastener 326, which serves as the second jaw guide-end tool fastener, and fastener 327, which serves as the second jaw guide-operating part fastener. Furthermore, fastener 326 is connected to pulley 121, and the second jaw guide-operating part fastener 327 is connected to pulley 220. As a result, when pulley 220 is rotated by a motor or manually, wires 302 and 306 are pulled and released, thereby allowing pulley 121 of the end tool 100 to rotate.

[0128] Similarly, the pitch guide wire 304 is connected to the pitch guide end-tool fastener 321 and the pitch guide operating part fastener (not shown). Additionally, the pitch guide wire 303 is connected to the pitch guide end-tool fastener 322 and the pitch guide operating part fastener (not shown).

[0129] Furthermore, fastener 321 is engaged with the first pitch pulley portion 163a of the end tool center 160, fastener 322 is engaged with the second pitch pulley portion 163b of the end tool center 160, and the pitch guide wire-operation part fastener (not shown) is engaged with pulley 231. As a result, when pulley 231 is rotated by a motor or manually, guide wires 303 and 304 are pulled and released, thereby allowing the end tool center 160 of the end tool 100 to rotate.

[0130] On one hand, one end of the blade guide 307 is engaged with the blade 175, which will be described later, while the other end is engaged with the blade operating section 260 of the operating section 200. By operating the blade operating section 260, the blade guide 307 performs a cutting action while moving from the proximal end 105 to the distal end 104 of the end tool 100, or the blade guide 307 can return from the distal end 104 to the proximal end 105 of the end tool 100.

[0131] At this time, at least a portion of the blade guide wire 307 can be accommodated inside the guide tube 171, which will be described later. Therefore, when the guide tube 171 bends according to the pitch or yaw motion of the end tool 100, the blade guide wire 307 accommodated therein can also bend along with the guide tube 171. The guide tube 171 described above will be described in more detail later.

[0132] Furthermore, the blade guide 307 is configured to move linearly along the longitudinal direction of the connecting portion 400 within the connecting portion 400. Additionally, since one end of the blade guide 307 is connected to the blade 175, when the blade guide 307 moves linearly along the longitudinal direction of the connecting portion 400, the blade 175 connected to it also performs a linear movement. That is, when the blade guide 307 moves linearly along the longitudinal direction of the connecting portion 400, the blade 175 connected to it moves towards the distal end 104 or proximal end 105 of the end tool 100 while performing a cutting action. This will be described in more detail later.

[0133] (End-of-line tool)

[0134] The following text will describe this in more detail. Figure 2 The end tool 100 of the electrocautery surgical instrument 10.

[0135] Figure 2 This is a perspective view showing an electrocautery surgical instrument according to a first embodiment of the present invention. Figure 3 , Figure 4 , Figure 5 and Figure 6 It is shown Figure 2 A perspective view of the end tool of an electrocautery surgical instrument. Figure 9 and Figure 10 It is shown Figure 2 A perspective view of the center of the tip of an electrocautery surgical instrument. Figure 11 It is shown Figure 9 The cut perspective at the center of the end tool, Figure 12 It is shown Figure 2 The center of the end tool of the electrocautery surgical instrument and a side view of each connector. Figure 13 It is shown Figure 2 A plan view of the end-effector of an electrocautery surgical instrument, including the center of the end-effector and each connector. Figure 14 It is shown Figure 2 Exploded perspective view of the jaws, connectors, and jaw pulleys of the end-effector of an electrocautery surgical instrument.

[0136] Here, Figure 3 This shows the state in which the end-effector center 160 and the pitch center 150 are engaged. Figure 4 The status of removing the end tool center 160 is shown. Figure 5 The diagram shows the state of removing the first jaw 101 and the second jaw 102. Figure 6 The diagram shows the state after removing the first jaw 101, the second jaw 102, pulley 111, and pulley 121, etc. On one hand, Figure 7 It is a diagram that uses each wire as the main illustration. Figure 8 It is a diagram with each pulley as the main illustration.

[0137] See Figures 2 to 14 In the first embodiment of the present invention, the end tool 100 has a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, may be referred to as jaw 103.

[0138] Furthermore, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 associated with the rotational movement of the first jaw 101. Additionally, it may include pulleys 121, 122, 123, 124, 125, and 126 associated with the rotational movement of the second jaw 102.

[0139] Here, although each pulley facing each other is formed parallel to each other in the accompanying drawings, the spirit of the invention is not limited thereto. Each pulley can be formed in various positions suitable for the configuration of the end tool, and can also be formed in various sizes suitable for the configuration of the end tool.

[0140] Furthermore, the end tool 100 of the first embodiment of the present invention may include an end tool center 160 and a pitch center 150.

[0141] The first rotating shaft 141 and the second rotating shaft 142, described later, are inserted through the end tool center 160, and at least a portion of the pulleys 111 and 121 to which the shafts are coupled can be accommodated within the end tool center 160. Furthermore, the end tool center 160 can accommodate at least a portion of the pulleys 112 and 122 to which the shafts are coupled can be accommodated internally. The end tool center 160 described above will be described in more detail later.

[0142] The third rotation axis 143 and the fourth rotation axis 144, described later, are inserted through the pitch center 150, and the pitch center 150 is axially coupled to the first pitch pulley portion 163a and the second pitch pulley portion 163b of the end tool center 160 via the third rotation axis 143. Therefore, the end tool center 160 can be configured to rotate about the third rotation axis 143 relative to the pitch center 150.

[0143] Furthermore, at least a portion of pulleys 113, 114, 123, and 124, which are shaft-connected to the third rotation shaft 143, can be accommodated inside the pitch center 150. Additionally, the pitch center 150 can accommodate at least a portion of pulleys 115, 116, 125, and 126, which are shaft-connected to the fourth rotation shaft 144.

[0144] One end of the pitch center 150 is connected to the end tool center 160, and the other end of the pitch center 150 is connected to the connecting part 400.

[0145] Here, the end effector 100 of the first embodiment of the present invention may include a first rotating shaft 141, a second rotating shaft 142, a third rotating shaft 143, and a fourth rotating shaft 144. As described above, the first rotating shaft 141 and the second rotating shaft 142 are inserted through the end effector center 160, and the third rotating shaft 143 and the fourth rotating shaft 144 may be inserted through the pitch center 150.

[0146] The first rotating shaft 141, the second rotating shaft 142, the third rotating shaft 143, and the fourth rotating shaft 144 can be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100. Accordingly, starting from the distal end 104, the first rotating shaft 141 can be referred to as the first pin, the second rotating shaft 142 as the second pin, the third rotating shaft 143 as the third pin, and the fourth rotating shaft 144 as the fourth pin.

[0147] Here, the first rotating shaft 141 is used as the rotating shaft of the end tool jaw pulley, the second rotating shaft 142 is used as the rotating shaft of the end tool jaw auxiliary pulley, the third rotating shaft 143 is used as the rotating shaft of the end tool pitch, and the fourth rotating shaft can be used as the rotating shaft of the end tool pitch auxiliary of the end tool 100.

[0148] Here, each rotation axis may include two axes: a first sub-axis and a second sub-axis. Alternatively, it can be described as each rotation axis being formed by splitting into two.

[0149] For example, the first rotation axis 141 may include two axes: a first secondary axis 141a and a second secondary axis 141b. Similarly, the second rotation axis 142 may include two axes: a first secondary axis 142a and a second secondary axis 142b. Furthermore, the third rotation axis 143 may include two axes: a first secondary axis 143a and a second secondary axis 143b. Finally, the fourth rotation axis 144 may include two axes: a first secondary axis 144a and a second secondary axis 144b.

[0150] The reason for dividing each rotation axis in two like this is to allow the guide tube 171, described later, to pass through the end tool center 160 and the pitch center 150. That is, the guide tube 171 can pass between the first and second sub-axis of each rotation axis. This will be described in more detail later. Here, the first and second sub-axis can be set on the same axis or can be set with a certain degree of offset.

[0151] On the one hand, although each rotating axis is shown in the figure as being formed by being split in two, the spirit of the invention is not limited thereto. That is, by forming each rotating axis as being bent in the center, a retraction path for the guide tube 171 can be formed.

[0152] One or more pulleys can be inserted into rotating shafts 141, 142, 143 and 144, as will be described in detail below.

[0153] On one hand, the end tool 100 may further have an actuation rotation axis 145. Specifically, the junction of the first jaw 101 and the second jaw 102 may have an actuation rotation axis 145, so that the second jaw 102 can rotate around the actuation rotation axis 145 while the first jaw 101 is fixed, thus performing an actuation action. Here, the actuation rotation axis 145 may be positioned closer to the distal end 104 than the first rotation axis 141.

[0154] Here, a feature of the end effector 100 of the first embodiment of the present invention is that the first rotation axis 141, which serves as the deflection rotation axis, and the actuation rotation axis 145 are separately provided, rather than being provided as the same axis. That is, since the first rotation axis 141 and the actuation rotation axis 145 are formed with a certain distance between them, space can be ensured for the guide tube 171 and the blade wire 307 housed therein to bend slowly. The first rotation axis 141 serves as the rotation axis of the pulley 111 / pulley 112 of the jaw pulley, and is also the rotation axis for the deflection (yaw) action. The actuation rotation axis 145 is the rotation axis of the second jaw 102 relative to the first jaw 101, and is also the rotation axis for the actuation action. The actuation rotation axis 145 described above will be described in more detail later.

[0155] Pulley 111 serves as the first jaw pulley for the end tool, while pulley 121 serves as the second jaw pulley for the end tool. Pulley 111 can be referred to as the first jaw pulley, and pulley 121 can be referred to as the second jaw pulley, or both components can be collectively referred to as end tool jaw pulleys or simply jaw pulleys.

[0156] Pulleys 111 and 121, serving as end-effector jaw pulleys, are formed to face each other and are configured to rotate independently about a first rotation axis 141, which serves as the rotation axis of the end-effector jaw pulleys. In this configuration, pulleys 111 and 121 can be spaced apart by a certain distance, and a blade assembly receiving portion can be formed between them. Furthermore, at least a portion of the blade assembly 170, described later, can be disposed within this blade assembly receiving portion. In other words, the blade assembly 170, including the guide tube 171, is disposed between pulleys 111 and 121.

[0157] Here, the pulley 111 is engaged with the first jaw 101 via the first connector 180, which will be described later, so that when the pulley 111 rotates about the first axis of rotation 141, the first jaw 101 can also rotate about the first axis of rotation 141 together.

[0158] On the one hand, the pulley 121 is connected to the second jaw 102 via the second connector 190, which will be described later, so that when the pulley 121 rotates about the first rotation axis 141, the second jaw 102 connected to it can rotate about the first rotation axis 141 or the actuation rotation axis 145.

[0159] Here, the pulley 111, the first connector 180, and the first jaw 101 are fixedly connected to each other, thus operating as a single unit. That is, when the pulley 111 rotates around the first rotation axis 141, the first connector 180 and the first jaw 101 can also rotate around the first rotation axis 141 as a single unit with the pulley 111.

[0160] Conversely, although pulley 121, second connector 190, and second jaw 102 are connected together, they form one component that can move or rotate relative to the other component. That is, the second connector 190 is configured to move or rotate relative to pulley 121, and the second jaw 102 is configured to move or rotate relative to the second connector 190.

[0161] Furthermore, the deflection and actuation actions of the end tool 100 are based on the rotation of pulleys 111 and 121. That is, when pulleys 111 and 121 rotate in the same direction around the first rotation axis 141, the first jaw 101 and the second jaw 102 rotate around the first rotation axis 141 while simultaneously performing a deflection action. On the other hand, when pulley 121 rotates alone around the first rotation axis 141 in a predetermined direction, the second jaw 102 rotates relative to the first jaw 101 around the actuation rotation axis 145 while simultaneously performing an actuation action.

[0162] Pulley 112 is used as an auxiliary pulley for the first jaw of the end tool, and pulley 122 is used as an auxiliary pulley for the second jaw of the end tool. These two components can be collectively referred to as end tool jaw auxiliary pulleys or simply auxiliary pulleys.

[0163] In detail, pulleys 112 and 122, serving as auxiliary pulleys for the end-effector jaws, can be additionally provided on one side of pulleys 111 and 121; in other words, pulley 112, as an auxiliary pulley, can be provided between pulleys 111 and 113 / 114. Furthermore, pulley 122, as an auxiliary pulley, can be provided between pulleys 121 and 123 / 124. Pulleys 112 and 122 can be configured to rotate independently of each other about the second rotation axis 142. The auxiliary pulleys described above will be described in more detail later.

[0164] Pulleys 113 and 114 are used as the first jaw pitching main pulleys for the end tool, and pulleys 123 and 124 are used as the second jaw pitching main pulleys for the end tool. These two components can be collectively referred to as the end tool jaw pitching main pulleys.

[0165] Pulleys 115 and 116 are used as the first jaw pitch pulleys for the end tool, and pulleys 125 and 126 are used as the second jaw pitch pulleys for the end tool. These two components can be collectively referred to as the end tool jaw pitch pulleys.

[0166] The components related to the rotation of pulley 111 are described below.

[0167] Pulleys 113 and 114 serve as the main pulleys for the pitching of the first jaw of the end tool. That is, they are the main rotating pulleys for the pitching action of the first jaw 101. Here, the wire 301, which serves as the first jaw guide wire, is wound on pulley 113, while the wire 305, which also serves as the first jaw guide wire, is wound on pulley 114.

[0168] Pulleys 115 and 116 serve as auxiliary pulleys for the pitching of the first jaw of the end tool. That is, they are auxiliary rotary pulleys used for the pitching action of the first jaw 101. Here, wire 301, which serves as the first jaw guide wire, is wound on pulley 115, while wire 305, which also serves as the first jaw guide wire, is wound on pulley 116.

[0169] Here, pulleys 113 and 114 are arranged facing each other on one side of pulleys 111 and 112. Pulleys 113 and 114 are configured to rotate independently about a third rotation axis 143, which serves as the end-tool pitch rotation axis. Additionally, pulleys 115 and 116 are arranged facing each other on one side of pulleys 113 and 114, respectively. Pulleys 115 and 116 are configured to rotate independently about a fourth rotation axis 144, which serves as the end-tool pitch auxiliary rotation axis. Although the figures show pulleys 113, 115, 114, and 116 all configured to rotate about the Y-axis, the spirit of the invention is not limited to this, and the rotation axis of each pulley can be configured in multiple directions suitable for its arrangement.

[0170] In order to make at least a portion of the wire 301, which serves as the first clamp wire, into contact with pulleys 115, 113, and 111, a wire 301, which serves as the first clamp wire, is wound around them in sequence. In addition, in order to make at least a portion of the wire 305, which is connected to the wire 301 via fastener 323, a wire 305 is wound around the pulleys 111, 112, 114, and 116 in sequence.

[0171] To describe this from another perspective, in order to at least partially contact pulleys 115, 113, 111, 112, 114 and 116, wires 301 and 305, which are first clamp wires, are sequentially wound around them, and wires 301 and 305 are configured to rotate each pulley while moving with each pulley.

[0172] Therefore, when conductor 301 along Figure 7 When pulled in the direction of the middle arrow 301, the fastener 323 connected to the wire 301 and the pulley 111 connected to it move along... Figure 7 Rotate in the direction of the middle arrow L. Conversely, when wire 305 rotates along... Figure 7 When pulled in the direction of the middle arrow 305, the fastener 323 connected to the wire 305 and the pulley 111 connected to it move along... Figure 7 Rotate in the direction of the middle arrow R.

[0173] The components related to the rotation of pulley 121 are described below.

[0174] Pulleys 123 and 124 serve as the main pulleys for the pitching of the second jaw of the end tool. That is, they are the main rotating pulleys used for the pitching action of the second jaw 102. Here, the wire 306, which serves as the guide wire for the second jaw, is wound around pulley 123, while the wire 302, which serves as the guide wire for the second jaw, is wound around pulley 124.

[0175] Pulleys 125 and 126 serve as auxiliary pulleys for the pitching action of the second jaw 102 of the end tool. Specifically, pulleys 125 and 126 act as auxiliary rotary pulleys for the pitching action of the second jaw 102. Here, wire 306, serving as the second jaw guide wire, is wound around pulley 125, while wire 302, also serving as the second jaw guide wire, is wound around pulley 126.

[0176] Here, pulleys 123 and 124 are arranged facing each other on one side of pulleys 121 and 122. Pulleys 123 and 124 are configured to rotate independently about a third rotation axis 143, which serves as the end-tool pitch rotation axis. Additionally, pulleys 125 and 126 are arranged facing each other on one side of pulleys 123 and 124, respectively. Pulleys 125 and 126 are configured to rotate independently about a fourth rotation axis 144, which serves as the end-tool pitch auxiliary rotation axis. Although the figures show pulleys 123, 125, 124, and 126 all configured to rotate about the Y-axis, the spirit of the invention is not limited to this, and the rotation axis of each pulley can be configured in multiple directions suitable for its arrangement.

[0177] In order to make at least a portion of the wire 306, which serves as the second clamp wire, contact with pulleys 125, 123, and 121, a wire 306, which is a second clamp wire, is sequentially wound around them. In addition, in order to make at least a portion of the wire 302, which is connected to the wire 306 via a fastener 326, contact with the pulleys 121, 122, 124, and 126, a wire 302 is sequentially wound around them.

[0178] To describe this from another perspective, in order to at least partially contact pulleys 125, 123, 121, 122, 124, and 126, wires 306 and 302, which are second clamp wires, are sequentially wound around them, and wires 306 and 302 are configured to rotate each pulley while moving with each pulley.

[0179] Therefore, when conductor 306 along Figure 7 When pulled in the direction of the middle arrow 306, the fastener 326 connected to the wire 306 and the pulley 121 connected to it move along... Figure 7 Rotate in the direction of the middle arrow R. Conversely, when wire 302 rotates along... Figure 7 When pulled in the direction of the middle arrow 302, the fastener 326 connected to the wire 302 and the pulley 121 connected to it move along... Figure 7 Rotate in the direction of the middle arrow L.

[0180] In the following text, pulleys 112 and 122, which are used as auxiliary pulleys, will be described in more detail.

[0181] Pulleys 112 and 122 contact wires 305 (which serves as the first jaw wire) and 302 (which serves as the second jaw wire) to change the path of wires 305 and 302 to a certain extent, thereby expanding the rotation angle of the first jaw 101 and the second jaw 102.

[0182] That is, when no auxiliary pulleys are provided, the first jaw and the second jaw can only rotate to a right angle. However, in one embodiment of the present invention, by additionally providing pulleys 112 and 122 as auxiliary pulleys, the following can be obtained: Figure 7 The effect of increasing the maximum rotation angle by θ, as seen in the diagram, allows for the opening of both jaws to perform the actuation action when both jaws of the end tool 100 are deflected and rotated 90° together along the L direction. This is because the second jaw 102, as... Figure 7 The diagram shows that an additional angle θ can be rotated. Similarly, an actuation action can also be performed when both jaws are deflected and rotated along the L direction. In other words, it has the feature that the range of deflection rotation can be expanded by means of pulleys 112 and 122, wherein the deflection rotation can be actuated.

[0183] A more detailed description of this is as follows.

[0184] Without auxiliary pulleys, because the first jaw wire is fixedly connected to the first jaw pulley of the end tool and the second jaw wire is fixedly connected to the second jaw pulley of the end tool, each of the first and second jaw pulleys can only rotate to 90°. In this situation, when the first and second jaws are at a 90° angle and an actuation is performed, the first jaw can open, but the second jaw cannot rotate more than 90°. Therefore, when the first and second jaws deflect at an angle greater than a certain degree, there is a problem that the actuation action cannot be performed smoothly.

[0185] To address the problems described above, the electrocautery surgical instrument 10 of the present invention additionally provides pulleys 112 and 122 as auxiliary pulleys on one side of pulleys 111 and 121. As described above, by providing pulleys 112 and 122, the installation paths of the wire 305 (serving as the first jaw guide) and the wire 302 (serving as the second jaw guide) are altered to a certain extent, thereby changing the tangential direction of the wires 305 and 302. This allows the fastener 326 connecting the wire 302 and the pulley 121 to rotate to... Figure 7The fastener 326, which serves as the junction of the conductor 302 and the pulley 121, can rotate until it lies on the inner common tangent line of pulleys 121 and 122. Similarly, the fastener 323, which serves as the junction of the conductor 305 and the pulley 111, can rotate until it lies on the inner common tangent line of pulleys 111 and 112, thereby expanding the rotation range in the R direction.

[0186] In other words, wires 301 and 305 are positioned on either side of a plane perpendicular to the Y-axis and passing through the X-axis via pulley 112, wherein wires 301 and 305 are two branches of a first clamping wire wound on pulley 111. Simultaneously, wires 302 and 306 are positioned on the other side of a plane perpendicular to the Y-axis and passing through the X-axis via pulley 122, wherein wires 302 and 306 are two branches of a second clamping wire wound on pulley 121.

[0187] In other words, pulleys 113 and 114 are positioned on either side of a plane perpendicular to the Y-axis and passing through the X-axis, while pulleys 123 and 124 are positioned on the other side of a plane perpendicular to the Y-axis and passing through the X-axis.

[0188] In other words, wire 305 is located on the internal tangent of pulleys 111 and 112, and the rotation angle of pulley 111 is amplified by pulley 112. Furthermore, wire 302 is located on the internal tangent of pulleys 121 and 122, and the rotation angle of pulley 121 is amplified by pulley 122.

[0189] According to the present invention as described above, as the rotation radius of jaws 101 and 102 is widened, the range of deflection action can be widened, wherein the deflection action can perform normal opening and closing actuation actions.

[0190] The pitch motion of the present invention will be described in more detail below.

[0191] At the same time, when conductor 301 along Figure 7 As the middle arrow 301 is pulled, the wire 305 moves along... Figure 7 When the direction of the middle arrow 305 is pulled (i.e., when both branches of the first clamp wire are pulled), as Figure 6As shown, since wires 301 and 305 are wound below pulleys 113 and 114, pulley 111, which is fixedly connected to wires 301 and 305, and the end tool center 160, which is connected to pulley 111, rotate together as a whole around the third rotation axis 143 in a counterclockwise direction. This ultimately causes the end tool 100 to rotate downwards while performing a pitching motion. Pulleys 113 and 114 can rotate around the third rotation axis 143, which serves as the pitching rotation axis of the end tool. At this time, since the second jaw 102 and wires 302 and 306, which are fixedly connected to it, are wound above pulleys 123 and 124, which can rotate around the third rotation axis 143, wires 302 and 306 are released in opposite directions, 302 and 306, respectively.

[0192] Conversely, when conductor 302 along Figure 7 As the middle arrow 302 is pulled, the wire 306 moves along... Figure 7 When the middle arrow 306 is pulled, as Figure 6 As shown, since wires 302 and 306 are wound above pulleys 123 and 124, pulley 121, which is fixedly connected to wires 302 and 306, and the end tool center 160, which is connected to pulley 121, rotate together as a whole around the third rotation axis 143 in a clockwise direction. This ultimately causes the end tool 100 to rotate upwards while simultaneously performing a pitching motion. Pulleys 123 and 124 can rotate around the third rotation axis 143, which serves as the pitching rotation axis of the end tool. At this time, since the first jaw 101 and its fixedly connected wires 301 and 305 are wound below pulleys 113 and 114, which can rotate around the third rotation axis 143, wires 302 and 306 move in opposite directions to 301 and 305, respectively.

[0193] On one hand, the end tool center 160 of the end tool 100 of the electrocautery surgical instrument 10 of the present invention further has a first pitch pulley portion 163a and a second pitch pulley portion 163b serving as end tool pitch pulleys, the operation portion 200 further has pulleys 231 and 232 serving as operation portion pitch pulleys, and the power transmission portion 300 may further have wires 303 and 304 serving as pitch wires.

[0194] Specifically, the end-tool center 160, including the first pitch pulley section 163a and the second pitch pulley section 163b, can be configured to rotate about a third rotation axis 143, which serves as the pitch rotation axis of the end-tool. Furthermore, wires 303 and 304 can be used to connect the first pitch pulley section 163a and the second pitch pulley section 163b of the end-tool 100 to the pulleys 231 and 232 of the operating unit 200.

[0195] 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 end tool center 160 of the end tool 100 through the wires 303 and 304, so that the end tool center 160 also rotates, thereby ultimately causing the end tool 100 to rotate while performing pitch motion.

[0196] That is, the electrocautery surgical instrument 10 according to the first embodiment of the present invention has a first pitch pulley portion 163a and a second pitch pulley portion 163b of the end tool 100, pulleys 231 and 232 of the operating portion 200, and wires 303 and 304 of the power transmission portion 300 for transmitting the power for pitching motion, thereby making the driving force of the pitching motion of the operating portion more perfectly transmitted to the end tool 100, thereby improving the reliability of the operation.

[0197] (Blade wires and guide tubes)

[0198] The blade wire 307 and guide tube 171 of the present invention will be described in more detail below.

[0199] According to the invention, the guide tube 171 is configured to enclose the blade wire 307 within a predetermined range, at which time the blade wire 307 can move inside the guide tube 171. In other words, with the blade wire 307 inserted into the guide tube 171, the blade wire 307 can move relative to the guide tube 171.

[0200] Here, when the blade guide wire 307 is pushed or pulled, the guide tube 171 prevents the blade guide wire 307 from bending in an unexpected direction, thereby guiding the path of the blade guide wire 307. The cutting operation can be performed smoothly through the guide tube 171 as described above.

[0201] On one hand, one end of the guide tube 171 can be fixedly coupled to a first coupling portion (not shown) inside the end tool center 160 or the first connector 180, which will be described later. On the other hand, the other end of the guide tube 171 can be fixedly coupled to a second coupling portion (not shown) inside the connector 400. As described above, since both ends of the guide tube 171 are fixedly coupled to predetermined points (the first coupling portion and the second coupling portion), the overall length of the guide tube 171 can remain constant. Therefore, the length of the blade wire 307 inserted into the guide tube 171 can also remain constant.

[0202] On the one hand, the guide tube 171 according to the invention can be formed of a flexible material, thereby enabling it to be formed in a bending manner. Therefore, when the end tool 100 deflects about the first rotation axis 141 or pitches about the third rotation axis 143, the shape of the guide tube 171 can deform and bend in response to these movements. In addition, when the guide tube 171 bends, the blade guide wire 307 inside it also bends.

[0203] Here, the length of the guide tube 171 is constant, but the relative position and distance between the first joint (not shown) and the second joint (not shown) can change with the pitch or yaw rotation of the end-effector 100. Therefore, space is required for the guide tube 171 to move according to the corresponding distance changes. For this purpose, a pitch slit 164 and a yaw slit 165 can be provided on the end-effector center 160 to form space in which the guide tube 171 can move. The configuration of the end-effector center 160 as described above will be described in detail later.

[0204] On the one hand, as described above, the blade wire 307 is inserted through the guide tube 171 and is movable relative to the guide tube 171 within the guide tube 171. That is, when the guide tube 171 is fixed, pulling the blade wire 307 moves the blade 175 connected to the blade wire 307 towards the proximal end 105, while pushing the blade wire 307 moves the blade 175 connected to the blade wire 307 towards the distal end 104.

[0205] A more detailed description of this is as follows.

[0206] To reliably perform the cutting action using the blade 175, the most reliable method is to push and pull the blade 175 using the blade guide 307. Furthermore, to enable the blade guide 307 to push and pull the blade 175, a guide tube 171 is needed to guide the path of the blade guide 307. If the guide tube 171 does not guide the path of the blade guide 307 (i.e., if the blade guide 307 is not gripped), even if the blade guide 307 is pushed, no cutting will occur, and the middle portion of the blade guide 307 may be bent. Therefore, to reliably perform the cutting action using the blade 175, both the blade guide 307 and the guide tube 171 are necessary.

[0207] However, in order to use the blade wire 307 to drive the cutting action, it is necessary to push the blade wire 307 while cutting. Therefore, the blade wire 307 must be a relatively rigid wire (i.e., not easily bent) so that it can withstand the force. However, rigid wires (i.e., not easily bent) have a small range of bending and may undergo permanent deformation if a force greater than a certain level is applied to them.

[0208] To describe this from another perspective, a rigid (i.e., not easily bent) conductor has a minimum radius of curvature, allowing it to remain permanently unchanged while also being able to bend and then straighten. In other words, if the bending of the conductor or guide tube is less than a certain radius of curvature, both the conductor and the guide tube will be permanently deformed while bending, making it impossible to cut while moving back and forth. Therefore, it is necessary for the blade conductor 307 to have a gentle curvature while maintaining bending.

[0209] Therefore, in order to prevent the blade guide wire 307 from bending suddenly when passing through each pulley, there needs to be space between the jaw 103 (i.e., the actuation rotation axis 145) and the end tool center 160 (i.e., the first rotation axis 141 as the deflection axis) so that the blade guide wire 307 can bend smoothly.

[0210] Therefore, a feature of the present invention is that it has a first connector 180 and a second connector 190, such that the jaws 103 (i.e., the actuation rotation axis 145) and the end tool center 160 (i.e., the first rotation axis 141 serving as the deflection axis) are spaced apart by a certain distance, thereby forming a space in which the blade guide wire 307 and the guide tube 171 can be gently bent. The first connector 180 and the second connector 190 are connectors that connect the pulleys 111 / 112 (which serve as jaw pulleys) to the jaws 103. Simultaneously, the rotation of the pulleys 111 / 112 (which serve as jaw pulleys) is transmitted to the jaws 103 through the first connector 180 and the second connector 190.

[0211] Furthermore, the blade guide 307 and guide tube 171 need to pass through the end tool center 160 to connect to the blade 175, and there needs to be a flexible space inside the end tool center 160 for the blade guide 307 and guide tube 171. Therefore, the following conditions need to be formed: 1) There is a flexible space inside the end tool center 160 through which the blade guide 307 / guide tube 171 passes, i.e., pitch slit 164 and deflection slit 165 are formed; 2) Each rotation axis is divided into two; 3) Pitch arc portion 166 and deflection arc portion 167 are additionally formed to guide the bending of the blade guide 307 and guide tube 171.

[0212] To describe this from another perspective, when one end of the guide tube 171 is fixed inside the connector 400 and the other end moves simultaneously in pitch and yaw motion, the guide tube 171 bends in the direction that achieves the gentlest curvature (hereinafter referred to as "maximum gentle curvature") according to the change in distance between the two ends. As mentioned above, only when the maximum gentle curvature in its natural state is reached will the movement of the blade wire 307 be smooth and permanent deformation will not occur.

[0213] Therefore, to ensure the maximum smooth curvature, a pitch slit 164 and a deflection slit 165 are formed along the path of the guide tube 171, and further, a pitch arc portion 166 and a deflection arc portion 167 are formed on the end tool center 160. As a result, (even if the maximum smooth curvature is not achieved) the guide tube 171 can be formed into a shape that is closest to the maximum smooth curvature.

[0214] The connection structure of the end tool center 160 and the jaw-connector-jaw pulley described above will be described in more detail below.

[0215] (End-of-line tools center)

[0216] See Figures 9 to 14 The end tool center 160 includes a main body 161, a first jaw pulley joint 162a, a second jaw pulley joint 162b, a first pitch pulley 163a, a second pitch pulley 163b, a pitch slit 164, a deflection slit 165, a pitch arc portion 166, and a deflection arc portion 167.

[0217] The distal end of the end-effector center 160 may have a first jaw pulley engagement portion 162a and a second jaw pulley engagement portion 162b. Here, the first jaw pulley engagement portion 162a and the second jaw pulley engagement portion 162b are formed facing each other, and their interiors accommodate pulleys 111 and 121. Here, the first jaw pulley engagement portion 162a and the second jaw pulley engagement portion 162b may be formed substantially parallel to a plane perpendicular to the first rotation axis 141, which serves as the deflection rotation axis.

[0218] The first jaw pulley joint 162a and the second jaw pulley joint 162b are connected by the main body 161. That is, the parallel first jaw pulley joint 162a and the second jaw pulley joint 162b are joined by the main body 161, which is formed in a direction substantially perpendicular to them. Therefore, the first jaw pulley joint 162a, the second jaw pulley joint 162b, and the main body 161 generally form... The shape is shaped like a character, and its interior accommodates pulleys 111 and 121.

[0219] To describe this from another perspective, it can be described as the first jaw pulley joint 162a and the second jaw pulley joint 162b being formed to extend from the main body 161 along the X-axis direction.

[0220] Here, the pulley 111, serving as the first jaw pulley, is positioned adjacent to the first jaw pulley joint 162a of the end-tool center 160, and the pulley 121, serving as the second jaw pulley, is positioned adjacent to the second jaw pulley joint 162b of the end-tool center 160. Therefore, the deflection slit 165 can be formed between the first jaw pulley joint 162a and the second jaw pulley joint 162b. Furthermore, at least a portion of the blade assembly 170, described later, can be disposed inside the deflection slit 165. To describe this from another perspective, it can be described that at least a portion of the guide tube 171 of the blade assembly 170 is disposed between the first jaw pulley joint 162a and the second jaw pulley joint 162b. As described above, a feature of the present invention is that, since the blade assembly 170, including the guide tube 171, is disposed between the pulley 111, which serves as a first jaw pulley, and the pulley 121, which serves as a second jaw pulley, the end effector 100 can perform a cutting action using the blade 175 while performing pitching and deflecting movements. This will be described in more detail later.

[0221] On one hand, a through hole is formed in the first jaw pulley engagement portion 162a, so that the first rotating shaft 141 passes through the first jaw pulley engagement portion 162a and the pulley 111 to engage them. On the other hand, a through hole is formed in the second jaw pulley engagement portion 162b, so that the first rotating shaft 141 passes through the second jaw pulley engagement portion 162b and the pulley 121 to engage them.

[0222] At this time, as described above, the first rotating shaft 141, which serves as the deflection rotating shaft, can be divided into two parts, namely, a first secondary shaft 141a and a second secondary shaft 141b, and the guide tube 171 can pass between the first secondary shaft 141a and the second secondary shaft 141b of the first rotating shaft 141.

[0223] Additionally, a deflection slit 165 may be formed between the first jaw pulley joint 162a and the second jaw pulley joint 162b. Since the deflection slit 165 is formed in this way inside the end-tool center 160, the guide tube 171 can pass through the interior of the end-tool center 160.

[0224] To describe this from another perspective, the first rotation axis 141 is vertically separated and does not pass through the end tool center 160, and the deflection slit 165 can be formed in a plane perpendicular to the first rotation axis 141 near the first rotation axis 141. Therefore, the guide tube 171 can pass through the vicinity of the first rotation axis 141 while moving (i.e., moving left and right) inside the deflection slit 165.

[0225] On one hand, the deflection arc portion 167 can be further formed on the main body portion 161. The deflection arc portion 167 can be formed in an arc shape with a predetermined curvature. Specifically, when viewed in a plane perpendicular to the first rotation axis 141, which serves as the deflection rotation axis, the deflection arc portion 167 can be formed in an arc shape with a predetermined curvature. For example, the deflection arc portion 167 can be formed in a fan shape, such that the guide tube 171 can be formed along a curved path in the XY plane. When the end tool 100 deflects and rotates, the deflection arc portion 167 described above can be used to guide the path of the guide tube 171.

[0226] The first pitch pulley portion 163a and the second pitch pulley portion 163b can be formed on the proximal end side of the end tool center 160 for use as end tool pitch pulleys. Here, the first pitch pulley portion 163a and the second pitch pulley portion 163b can be formed to face each other. Here, the first pitch pulley portion 163a and the second pitch pulley portion 163b can be formed to be substantially parallel to a plane perpendicular to the third rotation axis 143 (pitch rotation axis).

[0227] In detail, one end of the end tool center 160 is formed into a disc shape like a pulley, and a groove for winding a wire is formed on its outer peripheral surface, thereby forming a first pitch pulley portion 163a and a second pitch pulley portion 163b. The aforementioned wires 303 and 304 are connected to the first pitch pulley portion 163a and the second pitch pulley portion 163b, which serve as end tool pitch pulleys, while the end tool center 160 performs a pitching action while rotating around the third rotation axis 143.

[0228] On the one hand, although not shown in the accompanying drawings, the pitch pulley can be formed as a separate component from the end tool center 160 to be combined with the end tool center 160.

[0229] The first pitch pulley portion 163a and the second pitch pulley portion 163b are connected by the main body portion 161. That is, since the mutually parallel first pitch pulley portions 163a and second pitch pulley portions 163b are joined by the main body portion 161, which is formed in a direction substantially perpendicular to them, the first pitch pulley portions 163a and second pitch pulley portions 163b and the main body portion 161 substantially form... Font type.

[0230] To describe this from another perspective, it can be described as the first pitch pulley portion 163a and the second pitch pulley portion 163b being formed to extend from the main body portion 161 along the -X axis direction.

[0231] On one hand, a through hole is formed in the first pitch pulley portion 163a, allowing the third rotation shaft 143 to pass through the first pitch pulley portion 163a. ​​On the other hand, a through hole is formed in the second pitch pulley portion 163b, allowing the third rotation shaft 143 to pass through the second pitch pulley portion 163b.

[0232] At this time, as described above, the third rotation axis 143, which serves as the pitch rotation axis, can be divided into two parts, namely, a first sub-axis 143a and a second sub-axis 143b, and the guide tube 171 can pass between the first sub-axis 143a and the second sub-axis 143b of the third rotation axis 143.

[0233] The pitch slit 164 can be formed between the first pitch pulley portion 163a and the second pitch pulley portion 163b. Since the pitch slit 164 is formed in this way inside the end tool center 160, the guide tube 171 can pass through the interior of the end tool center 160.

[0234] To describe this from another perspective, the third rotation axis 143 is separated to the left and right and does not pass through the end tool center 160, and the pitch slit 164 can be formed on a plane near the third rotation axis 143 perpendicular to the third rotation axis 143. Therefore, the guide tube 171 can pass near the third rotation axis 143 while moving (i.e., moving up and down) inside the pitch slit 164.

[0235] On one hand, the pitch arc portion 166 can be further formed on the main body portion 161. The pitch arc portion 166 can be formed in an arc shape with a predetermined curvature. Specifically, when viewed in a plane perpendicular to the third rotation axis 143, which serves as the pitch rotation axis, the pitch arc portion 166 can be formed in an arc shape with a predetermined curvature. For example, the pitch arc portion 166 can be formed in a fan shape, allowing the guide tube 171 to be formed along a curved path in the XZ plane. When the end tool 100 performs pitch rotation, the pitch arc portion 166 described above can be used to guide the path of the guide tube 171.

[0236] Here, the pitch slit 164 and the deflection slit 165 can be interconnected. Therefore, the guide tube 171 and the blade guide wire 307 inside it can be arranged to completely pass through the interior of the end-tool center 160. Furthermore, the blade 175, thus coupled to one end of the blade guide wire 307, can perform reciprocating linear motion within the first jaw 101 and the second jaw 102.

[0237] As described above, the present invention is characterized in that the blade guide 307 and the guide tube 171 need to pass through the end tool center 160 to connect to the blade 175, and there needs to be a flexible space inside the end tool center 160 for the blade guide 307 and the guide tube 171. Therefore, the following conditions need to be formed: 1) There is a flexible space inside the end tool center 160 through which the blade guide 307 / guide tube 171 passes, i.e., pitch slit 164 and deflection slit 165 are formed; 2) Each rotation axis is formed by splitting it into two; 3) Pitch arc portion 166 and deflection arc portion 167 are additionally formed to guide the bending of the blade guide 307 / guide tube 171.

[0238] (Connection structure of jaws-connector-jaw pulley)

[0239] See also Figures 9 to 14 The end effector 100 of the present invention includes a first jaw 101, a second jaw 102, a first connector 180, a second connector 190, a pulley 111 serving as a pulley for the first jaw, and a pulley 112 serving as a pulley for the second jaw. Hereinafter, pulley 111 will be referred to as the first jaw pulley 111, and pulley 121 will be referred to as the second jaw pulley 121.

[0240] The first jaw pulley 111 is fixedly connected to the first connector 180.

[0241] In detail, a protrusion 111a is formed on the first jaw pulley 111, and a through hole (not shown) is formed on the first connecting member 180. Therefore, the protrusion 111a of the first jaw pulley 111 can be inserted into the through hole (not shown) of the first connecting member 180. In addition, the first secondary shaft 141a of the first rotating shaft 141 can be inserted and passed through the first jaw pulley 111 and the first connecting member 180 in sequence. As a result, the first jaw pulley 111 and the first connecting member 180 are engaged at two points, thereby fixing the first jaw pulley 111 and the first connecting member 180 together.

[0242] That is, the first connector 180 does not rotate relative to the first jaw pulley 111, but when the first jaw pulley 111 rotates around the first rotation axis 141, the first connector 180 also rotates around the first rotation axis 141 together with the first jaw pulley 111.

[0243] On the one hand, the first connector 180 and the first jaw 101 are fixedly connected by a fixing component (pin, etc.).

[0244] In other words, the first jaw 101 and the first jaw pulley 111 are connected by the first connector 180 and are fixed relative to each other, so that neither component can rotate / move relative to the other component.

[0245] As a result, when the first jaw pulley 111 rotates around the first secondary shaft 141a of the first rotating shaft 141, the first connector 180 and the first jaw 101 connected thereto also rotate together with the first jaw pulley 111 around the first secondary shaft 141a of the first rotating shaft 141.

[0246] On one hand, the second jaw pulley 121 and the second connector 190 are joined at a point axis so that the second connector 190 is rotatably coupled to the second jaw pulley 121.

[0247] In detail, the second jaw pulley 121 has a protrusion 121a, and the second connecting member 190 has a through hole 190a. Therefore, the protrusion 121a of the second jaw pulley 121 can be inserted into the through hole 190a of the second connecting member 190. Thus, when the second jaw pulley 121 rotates, the second connecting member 190 moves while rotating around the protrusion 121a.

[0248] In addition, the second connector 190 and the second jaw 102 are joined at a point axis, so the second connector 190 is rotatably coupled to the second jaw pulley 121.

[0249] In detail, a through hole 190b is formed on the second connector 190, and a through hole 102a is also formed on the second jaw 102. A pin-shaped fixing member 146 is inserted through the through hole 190b and the through hole 102a, so that the second connector 190 can be axially engaged with the second jaw 102.

[0250] Additionally, the actuation rotating shaft 145 can be sequentially inserted through the second jaw 102, the first connector 180, and the first jaw 101. Here, similar to the other rotating shafts, the actuation rotating shaft 145 can also be formed by splitting it into two parts.

[0251] As a result, with the first jaw pulley 111 fixed, when only the second jaw pulley 121 rotates around the first rotation axis 141, the second connecting member 190, which is connected to the shaft of the second jaw pulley 121, moves. Furthermore, when the second connecting member 190 moves, the second jaw 102, which is connected to the shaft of the second connecting member 190, also moves via the second connecting member 190, and at this time, the second jaw 102 rotates around the actuation rotation axis 145.

[0252] The deflection and actuation actions of the end effector 100 will be described below.

[0253] First, when the first jaw pulley 111 and the second jaw pulley 121 rotate together, 1) the first connecting member 180 and the first jaw 101 connected thereto also rotate together with the first jaw pulley 111 around the first rotation axis 141, 2) the second connecting member 190 and the second jaw 102 connected thereto also rotate together with the second jaw pulley 121 around the first rotation axis 141, thereby performing a deflection action.

[0254] On the one hand, in such Figure 16 When the jaws 103 are closed, and only the second jaw pulley 121 moves along... Figure 15 When rotated in the direction of arrow A, the second connecting piece 190 connected to the second jaw pulley 121 moves along the second jaw pulley 121. Figure 15 Move in the direction of arrow B. Additionally, the second connector 190 moves along... Figure 15 While moving in the direction of the middle arrow B, along Figure 15 The second jaw 102, connected to the second connector 190, is pulled in the direction of the middle arrow C, thereby causing the second jaw 102 to move around the actuation rotation axis 145 along... Figure 15 The direction of the middle arrow C is rotated, thereby actuating the jaws 103 to open.

[0255] In other words, when the operating unit 200 performs an actuation action, only the second jaw pulley 121 rotates, while when the operating unit 200 performs a deflection action, the first jaw pulley 111 and the second jaw pulley 121 rotate together in the same direction.

[0256] To describe this from another perspective, when the operating unit 200 performs a deflection action, the first jaw wire and the second jaw wire are pulled together, thereby causing the first jaw pulley 111 and the second jaw pulley 121 to rotate together, thus preventing the second jaw 102 from rotating relative to the first jaw 101.

[0257] On the one hand, when the operating unit 200 performs an actuation action, only the second jaw wire is pulled. As a result, with the first jaw pulley 111 fixed, only the second jaw pulley 121 rotates. Thus, with the actuation rotation shaft 145 fixed, the second connector 190 is pulled, causing the second jaw 102 to rotate around the actuation rotation shaft 145.

[0258] (Components related to burning and cutting)

[0259] See also Figures 4 to 16 The end tool 100 of the first embodiment of the present invention may include a first jaw 101, a second jaw 102, a first electrode 151, a second electrode 152, a guide tube 171, and a blade 175 for cautery and cutting actions.

[0260] Here, the components related to blade driving, such as the guide tube 171 and the blade 175, can be collectively referred to as the blade assembly 170. A feature of one embodiment of the present invention is that, since the blade assembly 170, including the guide tube 171 and the blade 175, is disposed between the pulley 111, which serves as a first jaw pulley, and the pulley 121, which serves as a second jaw pulley, the end effector 100 can perform a cutting action using the blade 175 simultaneously with its pitch and deflection movements. This will be described in more detail.

[0261] As described above, since the first jaw 101 is connected to the first connector 180 and the first jaw pulley 111, when the first jaw pulley 111 rotates around the first rotation axis 141, the first jaw pulley 111 and the first connector 180 rotate as a whole around the first rotation axis 141.

[0262] On one hand, the first electrode 151 can be formed on the surface of the first jaw 101 facing the second jaw 102. On the other hand, the second electrode 152 can be formed on the surface of the second jaw 102 facing the first jaw 101.

[0263] At this time, a slit 151a can be formed on the first electrode 151, through which the blade 175 can move. Furthermore, a slit 152a can be formed on the second electrode 152, through which the blade 175 can move.

[0264] On one hand, a gasket 153 may be formed between the first jaw 101 and the first electrode 151, and a gasket 154 may be formed between the second jaw 102 and the second electrode 152. The gaskets 153 and 154 may comprise insulating materials such as ceramics. Alternatively, the first jaw 101 and the second jaw 102 may themselves be composed of insulators, such that the first electrode 151 and the second electrode 152 can remain insulated from each other until they come into contact without a separate insulator.

[0265] On the one hand, although not shown in the accompanying drawings, one or more sensors (not shown) may be further formed on at least one of the first jaws 101 or the second jaws 102. During the process of placing tissue between the first jaws 101 and the second jaws 102 and then allowing current to flow through the first electrode 151 and the second electrode 152 to achieve cauterization, current, voltage, resistance, impedance, and temperature are generated, and the sensor may be configured to measure at least a portion of these parameters.

[0266] Alternatively, in the absence of a separate sensor, the generator (not shown) that supplies power to the electrodes can directly monitor at least some of the current, voltage, resistance, impedance, and temperature, and directly control them accordingly.

[0267] In one region of the blade 175, a sharp edge capable of cutting tissue may be formed. When at least a portion of the blade 175 moves between the distal end 104 and the proximal end 105 of the end tool 100, tissue positioned between the first jaw 101 and the second jaw 102 can be cut.

[0268] Here, a feature of the end tool 100 of the electrocautery surgical instrument 10 according to an embodiment of the present invention is that it has a guide tube 171 and a blade 175 disposed between pulleys 111 and 121. Another feature is that, by having the guide tube 171 and blade 175 as described above, multi-joint / multi-degree-of-freedom surgical instruments capable of pitch / yaw / actuation movements can also perform cauterization and cutting. A more detailed description of this follows.

[0269] To date, various types of electrocautery surgical instruments have been developed. Among them, the vascular resection device, known as the Advanced Energy Device or "vessel sealer," adds sensing capabilities compared to existing bipolar ablation methods. It supplies power of different polarities to two electrodes, using the resulting heat to denature the blood vessel and achieve hemostasis. The hemostatic portion is then removed using a blade. The method employed here is to measure the impedance of the tissue (or blood vessel) during the current flow to determine whether ablation is complete. When ablation is complete, the power supply is automatically stopped, and the tissue is then cut with a blade.

[0270] As described above, bipolar vascular resection devices, because they must have a blade for cutting tissue after cauterization, and must have additional structural components on the end tool for linear reciprocating motion of such a blade, cannot, in most cases, perform joint movements such as pitching / yaw.

[0271] On the one hand, there have been attempts to achieve joint movement using flexion joints that connect multiple joints in bipolar vascular resection devices, but this approach suffers from limitations in rotation angle and difficulty in controlling the end-effector to perform the correct movements.

[0272] On the other hand, unlike the methods mentioned above, which use ultrasonic vibration for hemostasis and cutting, ultrasonic waves cannot have joints due to their physical properties.

[0273] To address the aforementioned problems, an end-effector 100 of an electrocautery surgical instrument 10 according to an embodiment of the present invention is characterized by having a guide tube 171 and a blade 175, wherein the guide tube is disposed between pulleys 111 and 121, and the blade 175 moves between a first position and a second position as a blade guide wire 307 disposed inside the guide tube 171 moves. Another feature is that, by having the guide tube 171 and blade 175 as described above, pitch / yaw / actuation movements can also be performed in a pulley / guide wire manner in a bipolar surgical instrument for cauterizing and cutting tissue.

[0274] Figure 15 It is shown Figure 2 A diagram showing the open state of the tip of an electrocautery surgical instrument. Figure 16 It is shown Figure 2 A diagram showing the closed state of the tip of an electrocautery surgical instrument. Additionally, Figure 17 This diagram shows the state in which the blade wire 307 and the blade 175 are in the first position. Figure 18 This diagram shows the state of the blade wire 307 and the blade 175 in the second position. Figure 19 This is a diagram showing the state of the blade wire 307 and the blade 175 in the third position.

[0275] See Figures 15 to 19 It can be described as being in such Figure 16 With the first jaw 101 and the second jaw closed, the following was performed. Figures 17 to 19 The cutting action causes the tissue between the first jaw 101 and the second jaw 102 to be cut.

[0276] Here, Figure 17 The first position shown can be defined as the state in which the blade 175 is maximally introduced into the proximal end 105 side of the end tool 100. Alternatively, it can be defined as the state in which the blade 175 is located on the side adjacent to the pulley 111 / pulley 112.

[0277] on the one hand, Figure 19 The third position shown can be defined as the state in which the blade 175 is extended to the distal end 104 of the end tool 100 to the maximum extent. Alternatively, it can be defined as the state in which the blade 175 is located at the position that is maximally separated from the pulleys 111 / 112.

[0278] First, such as Figure 15 As shown, with the first jaw 101 and the second jaw 102 open, the tissue to be cut is placed between the first jaw 101 and the second jaw 102, and then an actuation action is performed to close the first jaw 101 and the second jaw 102 (as shown). Figure 16 (As shown).

[0279] Then, as Figure 17 As shown, with the blade lead 307 and the blade 175 in the first position, tissue located between the first jaws 101 and the second jaws 102 is ablated by passing currents of different polarities to the first electrode 151 and the second electrode 152. At this time, a generator (not shown) supplying power to the electrodes monitors at least a portion of the current, voltage, resistance, impedance, and temperature, and can stop supplying power when ablation is complete.

[0280] As described above, in the state after calcination is complete, when the blade wire 307 moves along... Figure 18 The direction of the middle arrow A1 and Figure 19 As the arrow A2 moves sequentially, the blade 175, which is coupled to the blade guide 307, moves from the first position of the proximal end 105 of the end tool 100 to the third position of the distal end 104 of the end tool 100, and simultaneously reaches... Figure 18 and Figure 19 The location.

[0281] As described above, the blade 175 moves along the X-axis while cutting the tissue between the first jaw 101 and the second jaw 102.

[0282] However, the linear motion of the blade 175 here does not simply mean a perfectly straight line. Even if it is not a perfectly straight line, such as the middle part of the straight line bending at a predetermined angle, or the existence of a section with a gentle curvature in a certain range, it can be understood as a movement that can cut tissue while performing a linear motion.

[0283] On the one hand, when the blade wire 307 is pulled in the opposite direction in this state, the blade 175 connected with the blade wire 307 will also return to the first position.

[0284] According to the present invention as described above, a multi-joint / multi-degree-of-freedom surgical instrument capable of pitching / tilting / actuation movements can also be used for cauterization and cutting.

[0285] (Operations Department)

[0286] Figure 20 and Figure 21 It is shown Figure 2 A perspective view of the operating section of a surgical instrument. Figure 22 It is only schematically shown that the composition is... Figure 2 The diagram shows the arrangement of pulleys and wires in the joint of an electrocautery surgical instrument.

[0287] See Figures 2 to 22 The operating section 200 of the electrocautery surgical instrument 10 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 100, a deflection operating section 202 for controlling the deflection movement of the end-effector 100, and a pitch operating section 201 for controlling the pitch movement of the end-effector 100. Here, it can be understood that in Figure 20 and Figure 21 Only the components related to the pitch / yaw / actuation motion of the electrocautery surgical instrument 10 are shown.

[0288] Furthermore, the operating section 200 of the electrocautery surgical instrument 10 further includes: a blade operating section 260, which controls the movement of the blade 175 of the end tool 100 to perform cutting; and a cauterization operating section 270, which supplies electrical energy to the first electrode 151 and the second electrode 152 of the end tool 100 to perform cauterization.

[0289] 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 101. Additionally, it may include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 associated with the rotational movement of the second jaw 102. Furthermore, the operating unit 200 may include pulleys 231, 232, 233, and 234 associated with the pitch movement. Additionally, it may include pulley 235, which is an intermediate pulley provided at intervals in the curved portion 402 of the connecting portion 400.

[0290] 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.

[0291] 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.

[0292] 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.

[0293] One or more pulleys can be inserted into rotating shafts 241, 242, 243, 244, 245 and 246, as will be described in detail below.

[0294] 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.

[0295] 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.

[0296] 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.

[0297] 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.

[0298] 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.

[0299] 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.

[0300] From the perspective of the operating unit for each motion (pitch / yaw / actuation), the above-mentioned components are classified as follows.

[0301] The pitch control unit 201 for controlling the pitch movement of the end effector 100 may include pulleys 215, 216, 217, 218, 225, 226, 227, 228, 231, 232, 233, 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.

[0302] The deflection operation unit 202 for controlling the deflection movement of the end tool 100 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.

[0303] The actuation unit 203 for controlling the actuation movement of the end tool 100 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.

[0304] Each component of the operating unit 200 will be described in more detail below.

[0305] The first handle 204 is configured for a user to grip, and more particularly, it can be configured so that a user can wrap their palm around the first handle 204 for gripping. 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 curved portion 402 of the connecting portion 400.

[0306] 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.

[0307] 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.

[0308] 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.

[0309] 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.

[0310] Here, the first actuating gear 253 and the second actuating gear 258 are configured to mesh with each other, and when either side rotates, they rotate together in opposite directions.

[0311] Here, either the first actuation unit 251 or the second actuation unit 256 can be a dummy actuation unit without a connected wire. In this invention, the actuation action can be the rotation of the second jaw 102 around the actuation rotation axis 145 while the first jaw 101 is stopped. Therefore, during the actuation action, only the wires 302 / 306 connected to the second jaw 102 move, while the wires 301 / 305 connected to the first jaw 101 may not move. Therefore, wires 302 / 306 can be connected to either the first actuation unit 251 or the second actuation unit 256, while wires 301 / 305 may not be connected to the actuation unit 203, wherein wires 302 / 306 are second jaw wires connected to the second jaw 102, and wires 301 / 305 are first jaw wires connected to the first jaw 101. Additionally, at this time, the other actuation unit that is not connected to the second jaw wire can be a dummy actuation unit.

[0312] In the figure, wire 302 / wire 306, which serves as the second clamp wire, is connected to the pulley 220 of the second actuation unit 256, and although the pulley 210 of the first actuation unit 251 is shown as not connected to a wire, it could also be configured in the opposite way.

[0313] As a result, only the wires 302 and 306, which serve as the second jaw wires, are connected to the actuation operation unit 203. Therefore, when the actuation operation unit 203 is running, the second jaw 102 rotates independently around the actuation rotation axis 145 while the first jaw 101 is in a fixed state.

[0314] On the one hand, although the actuation unit 203 is shown in the figure as including a first actuation unit 251 and a second actuation unit 256, this is only one example of the actuation unit 203 of the present invention, and the actuation unit 203 may include only one of the first actuation unit 251 and the second actuation unit 256. Furthermore, the actuation unit 203 may also be formed in the shape of a finger ring that rotates about another axis (e.g., the Y-axis) instead of about a rotation axis parallel to the Z-axis.

[0315] On the other hand, the deflection operation unit 202 may include a rotation shaft 243, pulleys 211 and 212 serving as the main deflection pulleys for the first jaw of the operation unit, pulleys 221 and 222 serving as the main 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 auxiliary 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 auxiliary deflection pulleys for the second jaw of the operation unit formed on one side of pulleys 221 and 222. Here, pulleys 213 and 214, along with pulleys 223 and 224, can be integrated into the pitch frame 208, which will be described later.

[0316] 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.

[0317] 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.

[0318] 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 to this; 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.

[0319] On one hand, pulleys 211 and 212, along with 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 305, serving as the first clamping wire, is wound around pulley 211 or 212, and wire 302 or 306, serving as the second clamping wire, is wound around pulleys 221 and 222. In this case, pulleys 211 and 212, along with 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.

[0320] Here, wires 301 and 305, which serve as the first jaw wires, can be fixedly connected to pulleys 211 and 212 respectively using fasteners 324. Specifically, wire 305, which serves as the first jaw wire, is fixedly connected to pulley 211 using fasteners 324, while wire 301, which serves as the first jaw wire, is fixedly connected to pulley 212 using fasteners 324.

[0321] Conversely, wires 302 and 306, which are the second jaw wires, can be fixedly connected to pulley 220 of the actuation unit 203 via pulleys 221 / 222.

[0322] 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.

[0323] Here, pulley 211 or pulley 212 can be fixedly connected to deflection frame 207, and rotate together with deflection frame 207 when deflection frame 207 rotates.

[0324] 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.

[0325] 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.

[0326] 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 is also axially coupled to the pitch frame 208, when the pitch frame 208 pitches around the rotation axis 246, the deflection frame 207, first handle 204, rotation axis 241, rotation axis 242, and rotation axis 243 connected to the pitch frame 208 also pitch. 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 pitches the first handle 204 around the rotation axis 246, the actuation operation unit 203, the deflection operation unit 202, and the pitch operation unit 201 move together.

[0327] 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.

[0328] 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 separately on 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 separately on separate pulleys, allowing them to operate without interference.

[0329] Next, the actions of conductors 303 and 304, which serve as elevation conductors, are as follows.

[0330] In the end-effector 100, a first pitch pulley portion 1163a and a second pitch pulley portion 1163b serving as end-effector pitch pulleys are formed on the end-effector center 160. In the operation unit 200, pulleys 231 and 232, serving as operation unit pitch pulleys, are fixedly connected to the pitch frame 208. Furthermore, these pulleys are interconnected via wires 303 and 304, which serve as pitch guides, making it easier to perform the pitch operation of the end-effector 100 according to the pitch operation of the operation unit 200. Here, wire 303 is fixedly connected to the pitch frame 208 via pulleys 231 and 233, while 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 ultimately distinguishing the pitch action of the end tool from the pitch action of the wires 301, 302, 305 and 306 which are jaw wires, and additional pitch rotation power can be transmitted.

[0331] 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.

[0332] Referring again to the accompanying drawings, in the electrocautery surgical instrument 10 according to the first embodiment of the present invention, the pitch operation section 201 and the end tool 100 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 100 is formed at the other end of the connecting section 400.

[0333] 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.

[0334] 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 100 are formed on substantially the same or parallel axes. Furthermore, although in Figure 2 The pitch control unit 201 and the end tool 100 are respectively formed on an axis parallel to the X-axis. However, the spirit of the present invention is not limited thereto, and the pitch control unit 201 and the end tool 100 may be formed on different axes.

[0335] (Actuation, yaw, pitch)

[0336] The actuation, yaw, and pitch actions in this embodiment are described below.

[0337] First, the actuation action is as follows.

[0338] 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 one or both 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. In addition, when the pulley 220 rotates, the wires 302 and 306, one end of which is fixedly connected to the pulley 220 by fasteners 327, rotate together with the pulley 220, thereby moving the wires 302 and 306. In addition, the aforementioned rotational force is transmitted to the end tool 100 via the power transmission unit 300, so that the second jaw 102 of the end tool 100 is actuated.

[0339] Here, the actuation action, as described above, refers to the action of rotating the second jaw 102 around the actuation rotation axis 145 when the first jaw 101 is stopped. That is, when the actuation extensions 252 and 257 of the actuation operation unit 203 are rotated toward each other, the second jaw 102 rotates clockwise while the first jaw 101 is in a fixed state, closing the end tool 100. Conversely, when the actuation extensions 252 and 257 of the actuation operation unit 203 are rotated toward each other, the second jaw 102 rotates counterclockwise while the first jaw 101 is in a fixed state, opening the end tool 100.

[0340] 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 100 can also fully realize other variations different from the above, such as a configuration in which two actuation pulleys (pulley 210, pulley 220) move in opposite directions using an actuation rotation part.

[0341] Next, the deflection action is as follows.

[0342] When the user holds 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 pulleys 211 and 212 of the deflection operation unit 202, which are fixedly connected to the wires 301 and 305, rotate around the rotation axis 243, the wires 301 and 305 wound on the pulleys 211 and 212 move. On the other hand, 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 101 and wires 302 and 306 connected to the second jaw 102 are wound around pulleys 211 or 212 and 221 and 222, so that when deflecting rotation is performed, the first jaw 101 and the second jaw 102 rotate in the same direction. In addition, the aforementioned rotational force is transmitted to the end tool 100 through the power transmission unit 300, thereby causing the two jaws 103 of the end tool 100 to perform a deflecting action that rotates in the same direction.

[0343] 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 rotate together around the rotation shaft 243.

[0344] Next, the pitching motion is described below.

[0345] When the user holds the first handle 204 and rotates it around the rotation axis 246, the actuation operation unit 203, the deflection operation unit 202, and the pitch operation unit 201 pitch around the rotation axis 246. That is, when the pulleys 211 and 212 of the deflection operation unit 202, which are fixedly connected to the wires 301 and 305, rotate around the rotation axis 246, the wires 301 and 305 wound on the pulleys 217 and 218 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 246, the wires 302 and 306 wound on the 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, thereby causing the first jaw 101 and the second jaw 102 to pitch and rotate. Furthermore, the aforementioned rotational force is transmitted to the end tool 100 via the power transmission unit 300, causing the two jaws 103 of the end tool 100 to pitch.

[0346] 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.

[0347] In summary, the electrocautery surgical instrument 10 according to an embodiment of the present invention is characterized by pulleys formed at each joint point (actuation joint, yaw joint, pitch joint), and wires (first jaw wire or second jaw wire) 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 100 to perform the desired action. Furthermore, auxiliary pulleys can be formed on one side of each pulley, and these auxiliary pulleys can prevent the wire from being wound multiple times on a single pulley.

[0348] Figure 22 It is only schematically shown that the composition is... Figure 2 A diagram showing the arrangement of pulleys and wires in the joint of an electrocautery surgical instrument 10 according to an embodiment of the present invention. Figure 22 In this paper, the intermediate pulleys used to change the path of the guide wires, which are unrelated to joint movements, are omitted.

[0349] See Figure 22 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 101.

[0350] 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 122. (Since the arrangement and configuration of each pulley in the operating unit 200 is essentially the same as that of each pulley in the end tool 100, specific reference numerals in the accompanying drawings are partially omitted.)

[0351] 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.

[0352] 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.

[0353] 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.

[0354] Pulleys 217 and 218, and pulleys 227 and 228, can be configured to rotate independently of each other about a rotation axis 246 which is the same axis.

[0355] The wire 301 passes sequentially through pulleys 217, 215, and 213 of the operating part 200, then winds around pulley 211, and is subsequently engaged with pulley 212 by fastener 324. Meanwhile, the wire 305 passes sequentially through pulleys 218, 216, and 214 of the operating part 200, and is engaged with pulley 211 by fastener 324. Therefore, when pulley 211 rotates, wires 301 and 305 are either wound around pulley 211 or unwound from pulley 211, thereby causing the first jaw 101 to rotate.

[0356] The wire 306 passes sequentially through pulleys 227, 225, 223, and 221 of the operating part 200 and wraps around pulley 220, then is engaged with pulley 220 by fastener 327. On the other hand, the wire 302 passes sequentially through pulleys 228, 226, 224, and 222 of the operating part 200 and is then engaged with pulley 220 by fastener 327. Therefore, when pulley 220 rotates, wires 302 and 306 are either wrapped around pulley 220 or unwound from pulley 220, thereby causing the second jaw 102 to rotate.

[0357] (Conceptual diagram of pulleys and guide wires)

[0358] Figure 24 and Figure 25 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 an electrocautery surgical instrument 10 according to an embodiment of the present invention. Figure 24 This diagram only shows the pulley and wires associated with the second jaw. Figure 25 This diagram only shows the pulley and wires associated with the first jaw. Additionally, Figure 23 It is shown Figure 2 A perspective view of the deflection motion of surgical instruments. Here, in Figure 23 The components related to the cutting action are omitted.

[0359] First, the action of the actuating wire will be described.

[0360] See Figure 24 When 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 102 of the end tool 100 rotates in the direction of arrow EPA2. Therefore, when the user operates the first actuation extension 252 and the second actuation extension 257 to approach each other, the second jaw 102 of the end tool moves towards the first jaw 101.

[0361] At this time, since the wires 301 and 305, which serve as the first jaw wires, are not connected to the actuation unit 203, even if the actuation unit 203 is running, the wires 301 and 305 do not move, so the first jaw 101 does not rotate.

[0362] Next, the action of the deflection wire will be described.

[0363] First, since rotation shafts 243, 241, and 242 pass through the deflection frame (see...) Figure 30 The 207) connection in the middle, therefore, the rotation shaft 243, rotation shaft 241 and rotation shaft 242 rotate together as a whole.

[0364] See Figure 25 When the first handle 204 rotates around the rotation axis 243 in the direction of arrow OPY1, the pulley 211 and the wires 301 and 305 wound around it rotate as a whole around the rotation axis 243. As a result, the wires 301 and 305 wound around the pulley 211 move in the directions W1a and W1b respectively, thereby ultimately causing the first jaw 101 of the end tool 100 to rotate in the direction of arrow EPY1.

[0365] See Figure 24 When the first handle 204 rotates around the rotation axis 243 in the direction of arrow OPY2, pulleys 220, 221, and 222, along with wires 302 and 306 wound around them, rotate as a whole around the rotation axis 243. 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 101 of the end tool 100 to rotate in the direction of arrow EPY2.

[0366] Figure 27 and Figure 28 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 pitching motion of an electrocautery surgical instrument 10 according to an embodiment of the present invention. Figure 27This diagram only shows the pulley and wires associated with the first jaw. Figure 28 This diagram only shows the pulley and wires associated with the second jaw. (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 27 and Figure 28 In the middle, it is represented by a line. Additionally, Figure 26 It is shown Figure 2 A perspective view of the pitching motion of surgical instruments. Here, in Figure 26 The components related to the cutting action are omitted.

[0367] See Figure 27 When the first handle 204 is rotated around the rotation axis 246 in the direction of arrow OPP1, pulleys 211, 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 22 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 101 of the end tool 100 rotates in the direction of arrow EPP1.

[0368] See Figure 28 When 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 22 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 102 of the end tool 100 rotates in the direction of arrow EPP2.

[0369] Therefore, actuation, yaw, and pitch operations can be performed independently of each other.

[0370] 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 arrangement is the same as the joint configuration of the end effector, so that the user can perform intuitive and consistent operation.

[0371] Specifically, the electrocautery surgical instrument 10 according to an embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), and wires (first jaw wires or second jaw wires) are wound on these pulleys. The rotation operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes each wire to move, thereby ultimately guiding the end tool 100 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 the pulleys and the wires unwound from the pulleys, thereby improving the safety and efficiency of power transmission through the wires.

[0372] 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 rotates, 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 Based on the position of the first handle 204 perpendicular to the connecting part 400, the coordinate systems of the deflection operation part 202 and the actuation operation part 203 are described.

[0373] (Pitch, yaw, and cutting motions of the end effector)

[0374] Figure 29 and Figure 30 It is shown Figure 2 The diagram illustrates the opening and closing process of an electrocautery surgical instrument with its tip deflected and rotated -90°. Additionally, Figure 31 and Figure 32 It is shown Figure 2 The diagram shows the process of opening and closing the end tool of an electrocautery surgical instrument in a state of +90° deflection and rotation.

[0375] like Figures 29 to 32 As shown, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured to perform opening and closing actions normally, i.e., to perform actuation actions, even when the jaws are deflected and rotated by +90 to -90°.

[0376] Figure 33 and Figure 34 It is shown Figure 2 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument deflected and rotated by +90°.

[0377] like Figure 33 , Figure 34 As shown, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured to perform a cutting action normally even when the jaws are deflected and rotated by +90°.

[0378] Figure 35 It is shown Figure 2 A diagram showing the tip of an electrocautery surgical instrument in a -90° pitch and rotation state. Figure 36 It is shown Figure 2 A diagram showing the tip of an electrocautery surgical instrument in a tilted-rotated +90° position. Additionally, Figure 37 yes Figure 36 A cross-sectional perspective view of the tip of an electrocautery surgical instrument. Additionally, Figure 38 and Figure 39 It is shown Figure 2 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument in a state of pitch and rotation of -90°.

[0379] like Figures 35 to 39 As shown, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured to perform cutting operations normally even when the jaws are tilted and rotated by -90°.

[0380] on the one hand, Figure 40 This diagram illustrates the state where the jaws rotate -90° in pitch while simultaneously rotating +90° in yaw. Figure 41 , Figure 42 and Figure 43 As Figure 2 The perspective view of the cutting action of the end tool of the electrocautery surgical instrument shows the cutting action performed while the jaws are tilted and rotated by -90° and deflected by +90°.

[0381] like Figures 40 to 43 As shown, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured to perform a cutting action normally even when the jaws are tilted at -90° and deflected at +90°.

[0382] (First variation of the first embodiment - vertical direction of jaw opening and closing)

[0383] In the following description, the end-effector 1100 of a surgical instrument according to a first modification of the first embodiment of the present invention will be described. Here, the end-effector 1100 of the surgical instrument according to the first modification of the first embodiment of the present invention is the same as the end-effector of the surgical instrument according to the first embodiment of the present invention described above (see...). Figure 2 Compared to 100 in the first embodiment, the opening and closing direction of jaw 103 is different in characteristics. As described above, a configuration different from the first embodiment will be described in detail later.

[0384] Figure 44 , Figure 45 , Figure 46 and Figure 47 This is a diagram illustrating the end tool of an electrocautery surgical instrument of a first modified example of the first embodiment of the present invention. Figure 48 yes Figure 44 The exploded perspective of the end tool, and Figure 49 and Figure 50 It is shown Figure 44 A diagram illustrating the cutting process performed by the tip of an electrocautery surgical instrument. Here, Figure 47 The image shows the state where the first and second jaws have been removed.

[0385] See Figures 44 to 50 The end tool 1100 of the first variant of the first embodiment of the present invention includes a pair of jaws for performing gripping actions, namely a first jaw 1101 and a second jaw 1102. Here, the first jaw 1101 and the second jaw 1102, or the constituent element encompassing the first jaw 1101 and the second jaw 1102, are referred to as jaw 1103.

[0386] On one hand, the end tool 1100 includes a plurality of pulleys, including pulleys 1111 associated with the rotational movement of the first jaw 1101. In this embodiment, each pulley associated with the rotational movement of the first jaw 1101 is related to the pulleys in the first embodiment. Figure 8 The pulleys 111, 112, 113, 114, 115 and 116 described in the document are essentially the same, therefore, a detailed description of them will be omitted here.

[0387] On one hand, the end tool 1100 includes a plurality of pulleys, including pulleys 1121 associated with the rotational movement of the second jaw 1102. In this embodiment, each pulley associated with the rotational movement of the second jaw 1102 is different from that in the first embodiment. Figure 8 The pulleys 121, 122, 123, 124, 125 and 126 described in the document are essentially the same, therefore, their description will be omitted here.

[0388] Furthermore, the end effector 1100 of the first variation of the first embodiment of the present invention may include a rotation axis 1141, a rotation axis 1142, a rotation axis 1143, and a rotation axis 1144. Here, rotation axes 1141 and 1142 are inserted through the end effector center 1160, while rotation axes 1143 and 1144 can be inserted through the pitch center 1150. Rotation axes 1141, 1142, 1143, and 1144 can be sequentially arranged from the distal end 1104 of the end effector 1100 towards the proximal end 1105.

[0389] Furthermore, the end tool 1100 of the first variant of the first embodiment of the present invention may include an end tool center 1160 and a pitch center 1150.

[0390] Rotary shafts 1141 and 1142 are inserted through end tool center 1160, and at least a portion of pulleys 1111 and 1121 of the shafts coupled to the rotary shafts 1141 and the first jaws 1101 and the second jaws 1102 coupled thereto can be accommodated inside the end tool center 1160.

[0391] On one hand, the first pitch pulley portion 1163a and the second pitch pulley portion 1163b can be formed at one end of the end tool center 1160 to serve as end tool pitch pulleys. (See also: wire) Figure 6 303 in the middle) and wires (see 303) Figure 6 304) is combined with the first pitch pulley portion 1163a and the second pitch pulley portion 1163b, which serve as pitch pulleys for the end tool, and the end tool center 1160 performs pitching action while rotating around the rotation axis 1143.

[0392] Rotation axes 1143 and 1144 are inserted through pitch center 1150, and pitch center 1150 can be coupled to end tool center 1160 via rotation axis 1143. Therefore, end tool center 1160 can be configured to pitch and rotate about rotation axis 1143 relative to pitch center 1150.

[0393] On one hand, the end effector 1100 of the first modified embodiment of the present invention may further include components such as a first electrode 1151, a second electrode 1152, a guide tube 1171, and a blade 1175 for performing cautery and cutting actions. Here, the components related to blade driving, such as the guide tube 1171 and the blade 1175, can be collectively referred to as the blade assembly (see [link to documentation]). Figure 6(See 170 in the original text). A first variation of the invention is characterized in that, due to the blade assembly including blade 1175 (see 170 in the original text). Figure 6 The 170) is positioned between pulley 1111, which serves as the first jaw pulley, and pulley 1121, which serves as the second jaw pulley, so that the end tool 1100 can perform a cutting action using a blade while simultaneously performing pitching and deflecting movements. Since the components used for cautery and cutting actions in this embodiment are substantially the same as those described in the first embodiment, a detailed description thereof will be omitted here.

[0394] and Figure 13 As shown in the first embodiment of the present invention, the electrocautery surgical instrument of the first modified example of the first embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306 and blade wire 307.

[0395] In addition, with Figure 13 Similar to the first embodiment of the present invention shown, the electrocautery surgical instrument of the first variant of the first embodiment of the present invention may include fasteners 321, 322, 323, 324, 326 and 327 that are coupled to each end of each wire to connect the wire and the pulley.

[0396] In the following, the first connector 1180 and the second connector 1190 of the first modification of the first embodiment of the present invention will be described in more detail.

[0397] A feature of the end tool 1100 in the first modified example of the first embodiment of the present invention is that the actuation rotation axis 1145 and the deflection rotation axis 1141 are arranged perpendicularly to each other. Therefore, the opening and closing direction of the jaws 1103 is vertical. Correspondingly, the direction in which the blade 1175 is arranged is also vertical.

[0398] That is, in Figure 3 In the first embodiment of the present invention shown, the actuation rotation axis 145 and the deflection rotation axis 141 are formed to be parallel to each other, and these two axes can be formed to be parallel to the Z-axis. Therefore, the opening and closing of the jaws 103 is performed in the XY plane perpendicular to the Z-axis.

[0399] Conversely, in the end tool 1100 of the first variation of the first embodiment of the present invention, the deflection rotation axis 1141 is formed parallel to the Z-axis, while the actuation rotation axis 1145 is formed parallel to the Y-axis. That is, the actuation rotation axis 1145 and the deflection rotation axis 1141 are arranged perpendicular to each other. In addition, the opening and closing of the jaws 1103 is performed on the XZ plane perpendicular to the Y-axis.

[0400] In detail, the end effector 1100 of the present invention includes a first jaw 1101, a second jaw 1102, a first connector 1180, a second connector 1190, a pulley 1111 serving as a pulley for the first jaw, and a pulley 1121 serving as a pulley for the second jaw. Hereinafter, pulley 1111 will be referred to as the first jaw pulley 1111, and pulley 1121 will be referred to as the second jaw pulley 1121.

[0401] The first jaw pulley 1111 is fixedly connected to the first connector 1180.

[0402] In detail, a protrusion 1111a is formed on the first jaw pulley 1111, and a through hole (not shown) is formed on the first connecting member 1180. Therefore, the protrusion 1111a of the first jaw pulley 1111 can be inserted into the through hole (not shown) of the first connecting member 1180. In addition, the first rotating shaft 1141 can be inserted and passed through the first jaw pulley 1111 and the first connecting member 1180 in sequence. As a result, the first jaw pulley 1111 and the first connecting member 1180 are engaged at two points, thereby fixing the first jaw pulley 1111 and the first connecting member 1180 together.

[0403] That is, the first connector 1180 does not rotate relative to the first jaw pulley 1111, but when the first jaw pulley 1111 rotates around the first rotation axis 1141, the first connector 1180 also rotates around the first rotation axis 1141 together with the first jaw pulley 1111.

[0404] On the one hand, the first connector 1180 and the first jaw 1101 are fixedly connected by a fixing component (pin, etc.).

[0405] In other words, the first jaw 1101 and the first jaw pulley 1111 are connected by the first connector 1180 and are fixed relative to each other, so that neither component can rotate / move relative to the other component.

[0406] As a result, when the first jaw pulley 1111 rotates around the first rotation axis 1141, the first connector 1180 and the first jaw 1101 connected thereto also rotate together with the first jaw pulley 1111 around the first rotation axis 1141.

[0407] On the one hand, the second jaw pulley 1121 and the second connector 1190 are engaged at a point axis, so the second connector 1190 is rotatably or movablely engaged with the second jaw pulley 1121.

[0408] In detail, the second jaw pulley 1121 has a protrusion 1121a, and the second connecting member 1190 has a through hole 1190a. Therefore, the protrusion 1121a of the second jaw pulley 1121 can be inserted into the through hole 1190a of the second connecting member 1190. Thus, when the second jaw pulley 1121 rotates, the second connecting member 1190 rotates and moves around the protrusion 1121a.

[0409] The second connector 1190 and the second jaw 1102 are joined at a point axis, so the second connector 1190 is rotatably or movablely coupled to the second jaw pulley 1121.

[0410] In detail, a guide pin 1190b is formed on the second connector 1190, and a through hole 1102a is also formed on the second jaw 1102. The guide pin 1190b is inserted through the through hole 1102a, so that the second connector 1190 and the second jaw 1102 can be axially coupled.

[0411] Additionally, the actuation rotating shaft 1145 can be sequentially inserted through the second jaw 1102, the first connector 1180, and the first jaw 1101. Here, similar to the other rotating shafts, the actuation rotating shaft 1145 can also be formed by splitting it into two parts.

[0412] Here, the deflection rotation axis 1141 is formed parallel to the Z-axis, while the actuation rotation axis 1145 is formed parallel to the Y-axis. That is, the actuation rotation axis 1145 and the deflection rotation axis 1141 are arranged perpendicular to each other. In addition, the opening and closing of the jaw 1103 is performed on the XZ plane perpendicular to the Y-axis.

[0413] As a result, with the first jaw pulley 1111 fixed, when only the second jaw pulley 1121 rotates around the first rotation axis 1141, the second connecting member 1190, which is connected to the axis of the second jaw pulley 1121, moves. Furthermore, when the second connecting member 1190 moves, the second jaw 1102, which is connected to the axis of the second connecting member 1190, also moves via the second connecting member 1190, and at this time, the second jaw 1102 rotates around the actuation rotation axis 1145.

[0414] The deflection and actuation actions of the end effector 1100 will be described below.

[0415] First, when the first jaw pulley 1111 and the second jaw pulley 1121 rotate together, 1) the first connecting member 1180 and the first jaw 1101 connected thereto also rotate together with the first jaw pulley 1111 around the first rotation axis 1141, and 2) the second connecting member 1190 and the second jaw 1102 connected thereto also rotate together with the second jaw pulley 1121 around the first rotation axis 1141, thereby performing a deflection action.

[0416] On the one hand, in such Figure 44 When the jaws 1103 are closed, and only the second jaw pulley 1121 moves along... Figure 45 When rotated in the direction of arrow A, the second connecting piece 1190 connected to the second jaw pulley 1121 moves along the second jaw pulley 1121. Figure 45 Move in the direction of arrow B. Additionally, the second connector 1190 moves along... Figure 45 While moving in the direction of the middle arrow B, along Figure 45 The second jaw 1102, connected to the second connector 1190, is pulled in the direction of the middle arrow C, thereby causing the second jaw 1102 to move around the actuation rotation axis 1145 along... Figure 45 The rotational motion in the direction of the middle arrow C causes the jaws 1103 to open.

[0417] In other words, when the operating unit 200 performs an actuation action, only the second jaw pulley 1121 rotates, while when the operating unit 200 performs a deflection action, the first jaw pulley 1111 and the second jaw pulley 1121 rotate together in the same direction.

[0418] To describe this from another perspective, when the operating unit 200 performs a deflection action, the first jaw wire and the second jaw wire are pulled together, thereby causing the first jaw pulley 1111 and the second jaw pulley 1121 to rotate together, thus preventing the second jaw 1102 from rotating relative to the first jaw 1101.

[0419] On the one hand, when the operating unit 200 performs an actuation action, only the second jaw wire is pulled. Thus, with the first jaw pulley 1111 fixed, only the second jaw pulley 1121 rotates. As a result, with the actuation rotation shaft 1145 fixed, the second connector 1190 is pulled, causing the second jaw 1102 to rotate around the actuation rotation shaft 1145.

[0420] As described above, a feature of the end-effector 1100 of the first variant of the first embodiment of the present invention is that the actuation rotation axis 1145 and the deflection rotation axis 1141 are arranged perpendicular to each other. Furthermore, correspondingly, the opening and closing direction of the jaws 1103 and the setting direction of the blade 1175 also become perpendicular, allowing the user to operate the end-effector in a manner similar to existing surgical instruments.

[0421] (Second variation of the first embodiment - engraving)

[0422] In the following description, the end-effector 1200 of the surgical instrument of the second modification of the first embodiment will be described. Here, the end-effector 1200 of the surgical instrument of the third modification of the first embodiment of the present invention is similar to the end-effector of the surgical instrument of the first embodiment described above (see...). Figure 2 Compared to 100 in the first embodiment, the configuration of the end tool center 1360, which serves as an auxiliary pulley, is different in characteristics. As described above, a configuration different from the first embodiment will be described in detail later.

[0423] Figure 51 and Figure 52 This is a diagram showing the end tool of an electrocautery surgical instrument of a second modified example according to the first embodiment of the present invention. Figure 53 It is shown Figure 51 A perspective view of the center of the tip of an electrocautery surgical instrument. Figure 54 and Figure 55 It is shown Figure 53 The cut perspective at the center of the end tool, Figure 56 and Figure 57 yes Figure 53 A perspective view of the center of the end tool. Here, Figure 52 The status of removing the end tool center is shown.

[0424] See Figures 51 to 57 The end tool 1200 of the second variation of the first embodiment of the present invention includes a pair of jaws for performing gripping actions, namely a first jaw 1201 and a second jaw 1202. Here, the first jaw 1201 and the second jaw 1202, or the constituent elements encompassing the first jaw 1201 and the second jaw 1202, are referred to as jaw 1203.

[0425] On one hand, the end tool 1200 includes a plurality of pulleys, including pulleys 1211 associated with the rotational movement of the first jaw 1201. In this embodiment, each pulley associated with the rotational movement of the first jaw 1201 is related to the first embodiment. Figure 8 The pulleys 113, 114, 115, and 116 described in the document are essentially the same, therefore, a detailed description of them will be omitted here.

[0426] On one hand, the end tool 1200 includes a plurality of pulleys, including pulleys 1221 associated with the rotational movement of the second jaw 1202. In this embodiment, each pulley associated with the rotational movement of the second jaw 1202 is different from that in the first embodiment. Figure 8The pulleys 123, 124, 125, and 126 described in the document are essentially the same, therefore, a detailed description of them will be omitted here.

[0427] Furthermore, the end effector 1200 of the second variation of the first embodiment of the present invention may include a rotation axis 1241, a rotation axis 1243, and a rotation axis 1244. Here, the rotation axis 1241 can be inserted through the end effector center 1260, while the rotation axes 1243 and 1244 can be inserted through the pitch center 1250. The rotation axes 1241, 1243, and 1244 can be sequentially arranged from the distal end 1204 of the end effector 1200 towards the proximal end 1205.

[0428] In addition, the end tool 1200 of the second variation of the first embodiment of the present invention may further include a first connector 1280 and a second connector 1290.

[0429] The pulley 1211 is connected to the first jaw 1201 via the first connector 1280, so that when the pulley 1211 rotates around the first rotation axis 1241, the first jaw 1201 also rotates around the first rotation axis 1241.

[0430] On the one hand, the pulley 1221 is connected to the second jaw 1202 through the second connector 1290. Therefore, when the pulley 1221 rotates around the first rotation axis 1241, the second jaw 1202 connected to it can rotate around the first rotation axis 1241 or the actuation rotation axis 1245.

[0431] Furthermore, the end-effector 1200 of the second variation of the first embodiment of the present invention may include an end-effector center 1260 and a pitch center 1250.

[0432] The rotating shaft 1241, described later, is inserted through the end tool center 1260, and at least a portion of the pulleys 1211 and 1221, which are shaft-connected to the rotating shaft 1241, and the first jaw 1201 and the second jaw 1202 connected thereto, can be accommodated inside the end tool center 1260. Here, a feature of one embodiment of the invention is that a wire guide portion 1268, serving as an auxiliary pulley, is formed on the end tool center 1260. That is, a first wire guide portion 1268a and a second wire guide portion 1268b for guiding the paths of wires 305 and 302 can be formed on the end tool center 1260. The wire guide portion 1268 of the end tool center 1260 described above serves as the auxiliary pulley in the first embodiment (see...). Figure 9112, 122) in the above, can change the path of the wire, and the first wire guide 1268a and the second wire guide 1268b of the end tool center 1260 used as an auxiliary pulley as described above will be described in more detail later.

[0433] On one hand, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b can be formed at one end of the end tool center 1260 to serve as end tool pitch pulleys. (See also: wire) Figure 6 303 in the middle) and wires (see 303) Figure 6 The first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which serve as pitch pulleys for end tools, are combined with the end tool center 1260, which performs pitching motion while rotating around the rotation axis 1243.

[0434] Rotation shafts 1243 and 1244 are inserted through pitch center 1250, and pitch center 1250 is connected to end tool center 1260 and pulley 1231 via rotation shaft 1243. Therefore, end tool center 1260 and pulley 1231 can be configured to be pitch-rotatable relative to pitch center 1250 about rotation shaft 1243.

[0435] On one hand, the end-effector 1200 of the second variation of the first embodiment of the present invention may further include a first electrode 1251, a second electrode 1252, a guide tube 1271, and a blade (see [link]). Figure 6 The components, such as 175, are used for cautery and cutting actions. Here, the guide tube 1271 and the blade (see [reference]) can be included. Figure 6 The components related to blade drive, such as 175 in the text, are collectively referred to as blade assemblies (see 175). Figure 6 (See 170 in the original text). A variation of the invention is characterized by including a blade (see 170 in the original text). Figure 6 The blade assembly (see 175) Figure 6 The 170) is positioned between pulley 1211, which serves as the first jaw pulley, and pulley 1221, which serves as the second jaw pulley, so that the end tool 1200 can perform a cutting action using a blade while simultaneously performing pitching and deflecting movements. Since the components used for cautery and cutting actions in this embodiment are substantially the same as those described in the first embodiment, a detailed description thereof will be omitted here.

[0436] and Figure 13Similar to the first embodiment of the present invention shown, the electrocautery surgical instrument of the second variation of the first embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306 and blade wire 307.

[0437] In addition, with Figure 13 Similar to the first embodiment of the present invention shown, the electrocautery surgical instrument of the second variation of the first embodiment of the present invention may include fasteners 321, 322, 323, 324, 326 and 327 that are coupled to each end of each wire to connect the wire and the pulley.

[0438] In the following description, the end tool center 1260 of the second variation of the first embodiment of the present invention will be described in more detail, and in particular the wire guide portion 1268 of the end tool center 1260 which serves as an auxiliary pulley will be described in particular.

[0439] See Figures 51 to 57 The end effector center 1260 includes a main body 1261, a first jaw pulley engagement portion 1262a, a second jaw pulley engagement portion 1262b, a first pitch pulley portion 1263a, a second pitch pulley portion 1263b, a pitch slit 1264, a deflection slit 1265, a pitch arc portion 1266, a deflection arc portion 1267, and a wire guide portion 1268. Furthermore, the wire guide portion 1268 may include a first wire guide portion 1268a and a second wire guide portion 1268b.

[0440] The distal end of the end-effector center 1260 may have a first jaw pulley engagement portion 1262a and a second jaw pulley engagement portion 1262b. Here, the first jaw pulley engagement portion 1262a and the second jaw pulley engagement portion 1262b are formed facing each other, and their interiors accommodate pulleys 1211 and 1221. Here, the first jaw pulley engagement portion 1262a and the second jaw pulley engagement portion 1262b may be formed substantially parallel to a plane perpendicular to the first rotation axis 1241, which serves as the deflection rotation axis.

[0441] The first jaw pulley joint 1262a and the second jaw pulley joint 1262b are connected by the main body 1261. That is, the parallel first jaw pulley joint 1262a and the second jaw pulley joint 1262b are joined by the main body 1261, which is formed in a direction substantially perpendicular to them. Therefore, the first jaw pulley joint 1262a, the second jaw pulley joint 1262b, and the main body 1261 are substantially formed... The shape is shaped like a character, and its interior accommodates pulleys 1211 and 1221.

[0442] To describe this from another perspective, it can be described as the first jaw pulley joint 1262a and the second jaw pulley joint 1262b being formed to extend from the main body 1261 along the X-axis direction.

[0443] Here, the pulley 1211, serving as the first jaw pulley, is positioned adjacent to the first jaw pulley joint 1262a of the end-tool center 1260, and the pulley 1221, serving as the second jaw pulley, is positioned adjacent to the second jaw pulley joint 1262b of the end-tool center 1260. Therefore, the deflection slit 1265 can be formed between the first jaw pulley joint 1262a and the second jaw pulley joint 1262b. Furthermore, at least a portion of the blade assembly 1270, described later, can be disposed inside the deflection slit 1265. To describe this from another perspective, it can be described as at least a portion of the guide tube 1271 of the blade assembly 1270 being disposed between the first jaw pulley joint 1262a and the second jaw pulley joint 1262b. As described above, one feature of the present invention is that, since the blade assembly 1270 including the guide tube 1271 is disposed between the pulley 1211, which serves as the first jaw pulley, and the pulley 1221, which serves as the second jaw pulley, the end tool 1200 can perform a cutting action using the blade 1275 while performing pitching and deflecting actions.

[0444] On one hand, a through hole is formed in the first jaw pulley engagement portion 1262a, so that the first rotating shaft 1241 passes through the first jaw pulley engagement portion 1262a and the pulley 1211 to engage them. On the other hand, a through hole is formed in the second jaw pulley engagement portion 1262b, so that the first rotating shaft 1241 passes through the second jaw pulley engagement portion 1262b and the pulley 1221 to engage them.

[0445] At this time, as described above, the first rotating shaft 1241, which serves as the deflection rotating shaft, can be divided into two parts, namely, a first secondary shaft 1241a and a second secondary shaft 1241b, and the guide tube 1271 can pass between the first secondary shaft 1241a and the second secondary shaft 1241b of the first rotating shaft 1241.

[0446] Additionally, a deflection slit 1265 may be formed between the first jaw pulley joint 1262a and the second jaw pulley joint 1262b. Since the deflection slit 1265 is formed in this way inside the end-tool center 1260, the guide tube 1271 can pass through the interior of the end-tool center 1260.

[0447] To describe this from another perspective, the first rotation axis 1241 is vertically separated and does not pass through the end tool center 1260, and the deflection slit 1265 can be formed in a plane near the first rotation axis 1241 perpendicular to the first rotation axis 1241. Therefore, the guide tube 1271 can pass near the first rotation axis 1241 while moving (i.e., moving left and right) inside the deflection slit 1265.

[0448] On one hand, a deflection arc portion 1267 can be further formed on the main body portion 1261. The deflection arc portion 1267 can be formed in an arc shape with a predetermined curvature. Specifically, when viewed in a plane perpendicular to the first rotation axis 1241, which serves as the deflection rotation axis, the deflection arc portion 1267 can be formed in an arc shape with a predetermined curvature. When the end tool 1200 deflects and rotates, the deflection arc portion 1267 described above can be used to guide the path of the guide tube 1271.

[0449] A wire guide portion 1268 for guiding the wire through the interior of the end-tool center 1260 is formed on one side of the main body portion 1261. Here, the wire guide portion 1268 includes a first wire guide portion 1268a and a second wire guide portion 1268b. The first wire guide portion 1268a may be formed on the inner surface of the first jaw pulley engagement portion 1262a. Furthermore, the second wire guide portion 1268b may be formed on the inner surface of the second jaw pulley engagement portion 1262b.

[0450] Here, the wire guide portion 1268 can be formed as a cylinder with an approximately semi-circular cross-section. Furthermore, this semi-circular portion can be configured to protrude towards pulleys 1211 and 1221. To describe this from another perspective, the wire guide portion 1268 can be described as protruding into the space formed by the first jaw pulley joint 1262a, the second jaw pulley joint 1262b, and the main body 1261. To describe this from yet another perspective, the region in the wire guide portion 1268 adjacent to the first jaw pulley joint 1262a and the second jaw pulley joint 1262b has a curved cross-section with a predetermined curvature.

[0451] Alternatively, this can be described from another perspective: the outer peripheral surface of the wire guide 1268 is wound with wires 305 and 302, thus serving as a pulley component to guide the path of wires 305 and 302. However, the wire guide 1268 here differs from the original meaning of a pulley; it is not a component that rotates around a predetermined axis, but rather is fixedly formed as part of the end tool center 1260, with wires wound around its periphery. Therefore, it can be described as partially functioning like a pulley.

[0452] As shown in the figure here, the conductor guide portion 1268 is formed as a cylinder with an approximately semi-circular cross-section. That is, at least a portion of the cross-section of the conductor guide portion 1268 in the XY plane is shown as having a predetermined arc shape. However, the spirit of the invention is not limited to this, and the cross-section can be formed in various shapes and sizes to suit the paths of the conductors 305 and 302, for example, ellipse, parabola, etc. with a predetermined curvature, or the corners of a polygonal prism are formed with a certain degree of arc, etc.

[0453] Here, a guide groove for better guiding the paths of wires 305 and 302 can be further formed in the portion of the wire guide 1268 that contacts wires 305 and 302. The guide groove can be formed as a groove that is recessed to a certain extent from the protruding surface of the wire guide 1268.

[0454] Although the accompanying drawings show that the guide groove is formed on the entire arc surface of the wire guide portion 1268, the spirit of the invention is not limited thereto, and the guide groove may also be formed on a portion of the arc surface of the wire guide portion 1268 as needed.

[0455] As described above, by further forming guide grooves on the wire guide portion 1268, unnecessary friction with each wire can be reduced, thereby improving the durability of the wire.

[0456] The first pitch pulley portion 1263a and the second pitch pulley portion 1263b can be formed on the proximal end side of the end tool center 1260 to serve as end tool pitch pulleys. Here, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b can be formed to face each other. Here, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b can be formed to be substantially parallel to a plane perpendicular to the third rotation axis 1243, which serves as the pitch rotation axis.

[0457] In detail, one end of the end tool center 1260 is formed into a disc shape like a pulley, and a groove for winding a wire is formed on its outer peripheral surface, thereby forming a first pitch pulley portion 1263a and a second pitch pulley portion 1263b. The aforementioned wires 303 and 304 are connected to the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which serve as end tool pitch pulleys, while the end tool center 1260 performs a pitching action while rotating around the third rotation axis 1243.

[0458] On the one hand, although not shown in the accompanying drawings, the pitch pulley can be formed as a separate component from the end tool center 1260 for engagement with the end tool center 1260.

[0459] The first pitch pulley portion 1263a and the second pitch pulley portion 1263b are connected by the main body portion 1261. That is, since the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which are parallel to each other, are joined by the main body portion 1261, which is formed in a direction substantially perpendicular to them, the first pitch pulley portion 1263a, the second pitch pulley portion 1263b and the main body portion 1261 are substantially formed. Font type.

[0460] To describe this from another perspective, it can be described as the first pitch pulley portion 1263a and the second pitch pulley portion 1263b being formed to extend from the main body portion 1261 along the X-axis direction.

[0461] On one hand, a through hole is formed in the first pitch pulley portion 1263a, allowing the third rotation shaft 1243 to pass through the first pitch pulley portion 1263a. On the other hand, a through hole is formed in the second pitch pulley portion 1263b, allowing the third rotation shaft 1243 to pass through the second pitch pulley portion 1263b.

[0462] At this time, as described above, the third rotation axis 1243, which is the pitch rotation axis, can be divided into two parts, namely, a first sub-axis 1243a and a second sub-axis 1243b, and the guide tube 1271 can pass between the first sub-axis 1243a and the second sub-axis 1243b of the third rotation axis 1243.

[0463] The pitch slit 1264 can be formed between the first pitch pulley portion 1263a and the second pitch pulley portion 1263b. Since the pitch slit 1264 is formed in this way inside the end tool center 1260, the guide tube 1271 can pass through the interior of the end tool center 1260.

[0464] To describe this from another perspective, the third rotation axis 1243 is separated to the left and right and does not pass through the end tool center 1260, and the pitch slit 1264 can be formed on a plane near the third rotation axis 1243 perpendicular to the third rotation axis 1243. Therefore, the guide tube 1271 can pass near the third rotation axis 1243 while moving (i.e., moving up and down) inside the pitch slit 1264.

[0465] On one hand, the pitch arc portion 1266 can be further formed on the main body portion 1261. The pitch arc portion 1266 can be formed in an arc shape with a predetermined curvature. Specifically, when viewed in a plane perpendicular to the third rotation axis 1243, which serves as the pitch rotation axis, the pitch arc portion 1266 can be formed in an arc shape with a predetermined curvature. When the end tool 1200 performs pitch rotation, the pitch arc portion 1266 described above can be used to guide the path of the guide tube 1271.

[0466] Here, the pitch slit 1264 and the deflection slit 1265 can be interconnected. Therefore, the guide tube 1271 and the blade guide wire 307 inside it can be arranged to completely pass through the interior of the end-tool center 1260. Furthermore, the blade 1275, coupled to one end of the blade guide wire 307, can thus perform reciprocating linear motion within the first jaw 1201 and the second jaw 1202.

[0467] As described above, the present invention is characterized in that the blade guide 307 and the guide tube 1271 need to pass through the end tool center 1260 to connect to the blade 1275, and there needs to be a flexible space inside the end tool center 1260 for the blade guide 307 and the guide tube 1271. Therefore, the following conditions need to be formed: 1) There is a flexible space inside the end tool center 1260 through which the blade guide 307 / guide tube 1271 passes, i.e., pitch slit 1264 and deflection slit 1265 are formed; 2) Each rotation axis is formed by splitting it into two; 3) Pitch arc portion 1266 and deflection arc portion 1267 are additionally formed to guide the bending of the blade guide 307 / guide tube 1271.

[0468] The function and role of the wire guide 1268 will be described in more detail below.

[0469] The wire guide 1268 contacts the wires 305 and 302 to change the arrangement path of the wires 305 and 302 to a certain extent, thereby expanding the rotation radius of the first jaw 1201 and the second jaw 1202.

[0470] That is, when no auxiliary pulley is provided, the pulley 1211, which is the first jaw pulley, and the pulley 1221, which is the second jaw pulley, can only rotate to a right angle. However, in the second variation of the first embodiment of the present invention, by having an additional wire guide portion 1268 on the end tool center 1260, the effect of expanding the maximum rotation angle of each pulley can be obtained.

[0471] This allows for the opening of both jaws for actuation when the two jaws of the end-effector 1200 are deflected and rotated by 90°. In other words, the invention is characterized by the fact that the deflection rotation range for actuation can be expanded by the arrangement of the wire guide 1268 at the end-effector center 1260.

[0472] Furthermore, the present invention is characterized in that, since the guide wire 1268 is formed on the existing end tool center 1260 without additional separate structures such as auxiliary pulleys, the rotation range can be expanded even without increasing the number of parts and processes.

[0473] As described above, since there is no additional structure to expand the rotation angle, the number of parts is reduced, the process is simplified, and the length of the end tool is shortened to the size of the auxiliary pulley, which shortens the length of the end tool when performing pitching motion, thereby making it easier to perform surgical actions in confined spaces.

[0474] A more detailed description of this is as follows.

[0475] The end-effector 1200 of the surgical instrument according to a second variation of the first embodiment of the present invention is characterized in that, since a wire guide portion 1268 for changing the path of the wire is formed on the inner wall of the end-effector center 1260, the placement path of the wire can be changed even without a separate structure. As described above, the wire guide portion 1268 is formed on the end-effector center 1260 to change the placement path of the wires 305 and 302 to a certain extent, and to change the tangential direction of the wires 305 and 302, thereby expanding the rotation angle of the fasteners 323 and 326 that connect each wire and the pulley.

[0476] That is, the fastener 326 connecting the wire 302 and the pulley 1221 can rotate until it is located on the inner common tangent line of the pulley 1221 and the wire guide 1268. Similarly, the fastener connecting the wire 305 and the pulley 1211 (see...) Figure 6 323) can be rotated until it is located on the inner common tangent of pulley 1211 and guide wire guide 1268, thereby allowing the fastener to be enlarged (see Figure 6 The rotation angle of 323).

[0477] To describe this from another perspective, wires 301 and 305 are positioned on one side with reference to a plane perpendicular to the Y-axis and passing through the X-axis, wherein wires 301 and 305 are wound around pulley 1211 via wire guide 1268. Meanwhile, wires 302 and 306 are positioned on the other side with reference to a plane perpendicular to the Y-axis and passing through the X-axis, wherein wires 302 and 306 are wound around pulley 1221 via wire guide 1268.

[0478] In other words, pulleys 1213 and 1214 are arranged on one side with reference to a plane perpendicular to the Y-axis and passing through the X-axis, while pulleys 1223 and 1224 are arranged on the other side with reference to a plane perpendicular to the Y-axis and passing through the X-axis.

[0479] In other words, the wire 305 is located on the inner tangent line of the pulley 1211 and the wire guide 1268, and the rotation angle of the pulley 1211 is amplified by the wire guide 1268. Furthermore, the wire 302 is located on the inner tangent line of the pulley 1221 and the wire guide 1268, and the rotation angle of the pulley 1221 is amplified by the wire guide 1268.

[0480] Compared to the surgical instrument of the first embodiment which forms a separate auxiliary pulley, the length of the distal end tool of the surgical instrument of this modification can be shortened. In this modification, the distal end tool does not form an auxiliary pulley, and a wire guide portion 1268 is formed on the inner wall of the center 1260 of the distal end tool to change the path of the wire. As described above, because the length of the distal end tool is shortened, it is easier for the surgeon to operate and reduces surgical side effects when performing surgery in the narrow surgical space inside the human body.

[0481] According to the present invention as described above, since the rotation radius of pulley 1211, which is the first jaw pulley, and pulley 1221, which is the second jaw pulley, is widened, the effect of widening the range of deflection action can be obtained, wherein the deflection action can perform normal opening and closing actuation action and cutting action.

[0482] (Third variation of the first embodiment - vertical direction of jaw opening and closing, engraving)

[0483] In the following description, the end-effector 1300 of the surgical instrument of the third modification of the first embodiment will be described. Here, the end-effector 1300 of the surgical instrument of the third modification of the first embodiment of the present invention is the same as the end-effector of the surgical instrument of the first embodiment of the present invention described above (see...). Figure 2 Compared to 100 in the above description, the opening and closing direction of the jaws 1303 is characteristically different. Furthermore, the end tool 1300 of the surgical instrument in the first variation of the first embodiment of the present invention differs from the end tool of the surgical instrument in the first embodiment of the present invention described above (see [reference]). Figure 2 Compared to 100 in the above, the configuration of the end tool center 1260 used as an auxiliary pulley is different in characteristics.

[0484] In other words, it can be considered that the end tool 1300 of the surgical instrument in the third variation of the first embodiment of the present invention incorporates... Figure 44 Features of the first modified example shown and Figure 51 Features of the second variant shown, etc. As described above, a configuration different from the first embodiment will be described in detail later.

[0485] Figure 58 and Figure 59This is a diagram showing the end tool of an electrocautery surgical instrument according to a third variation of the first embodiment of the present invention. Figure 60 It is shown Figure 58 A perspective view of the center of the tip of an electrocautery surgical instrument. Figure 61 yes Figure 60 The cut perspective view at the center of the end tool.

[0486] In the following, the first connector 1380 and the second connector 1390 of the third variation of the first embodiment of the present invention will be described in more detail.

[0487] A feature of the end tool 1300 in the third variation of the first embodiment of the present invention is that the actuation rotation axis 1345 and the deflection rotation axis 1341 are arranged perpendicularly to each other. Therefore, the opening and closing direction of the jaws 1303 is vertical. Correspondingly, the direction in which the blade 1375 is positioned is also vertical.

[0488] That is, in Figure 3 In the first embodiment of the present invention shown, the actuation rotation axis 145 and the deflection rotation axis 141 are formed to be parallel to each other, and these two axes can be formed to be parallel to the Z-axis. Therefore, the opening and closing of the jaws 103 is performed in the XY plane perpendicular to the Z-axis.

[0489] Conversely, in the end tool 1300 of the third variation of the first embodiment of the present invention, the deflection rotation axis 1341 is formed parallel to the Z-axis, while the actuation rotation axis 1345 is formed parallel to the Y-axis. That is, the actuation rotation axis 1345 and the deflection rotation axis 1341 are arranged perpendicular to each other. In addition, the opening and closing of the jaws 1303 is performed on the XZ plane perpendicular to the Y-axis.

[0490] Here, the end effector 1300 of the present invention includes a first jaw 1301, a second jaw 1302, a first connector 1380, a second connector 1390, a pulley 1311 serving as a pulley for the first jaw, and a pulley 1321 serving as a pulley for the second jaw. Due to the specific configuration of each component... Figure 44 The first variant shown is the same, therefore, a detailed description of it will be omitted.

[0491] The deflection and actuation actions of the end effector 1300 will be described below.

[0492] First, when the first jaw pulley 1311 and the second jaw pulley 1321 rotate together, 1) the first connecting member 1380 and the first jaw 1301 connected thereto also rotate together with the first jaw pulley 1311 around the first rotation axis 1341, and 2) the second connecting member 1390 and the second jaw 1302 connected thereto also rotate together with the second jaw pulley 1321 around the first rotation axis 1341, thereby performing a deflection action.

[0493] On one hand, when only the second jaw pulley 1321 rotates, the second connecting member 1390 connected to the second jaw pulley 1321 moves along with the second jaw pulley 1321. On the other hand, while moving, the second connecting member 1390 pulls the second jaw 1302 connected to the second connecting member 1390, thereby causing the second jaw 1302 to rotate around the actuation rotation axis 1345, thus performing an actuation action.

[0494] In other words, when the operating unit 200 performs an actuation action, only the second jaw pulley 1321 rotates, while when the operating unit 200 performs a deflection action, the first jaw pulley 1311 and the second jaw pulley 1321 rotate together in the same direction.

[0495] To describe this from another perspective, when the operating unit 200 performs a deflection action, the first jaw wire and the second jaw wire are pulled together, thereby causing the first jaw pulley 1311 and the second jaw pulley 1321 to rotate together, thus preventing the second jaw 1302 from rotating relative to the first jaw 1301.

[0496] On the one hand, when the operating unit 200 performs an actuation action, only the second jaw wire is pulled. Thus, with the first jaw pulley 1311 fixed, only the second jaw pulley 1321 rotates. As a result, with the actuation rotation shaft 1345 fixed, the second connector 1390 is pulled, causing the second jaw 1302 to rotate around the actuation rotation shaft 1345.

[0497] As described above, a feature of the end-effector 1300 of the third variation of the first embodiment of the present invention is that the actuation rotation axis 1345 and the deflection rotation axis 1341 are arranged perpendicular to each other. Furthermore, correspondingly, the opening and closing direction of the jaws 1303 and the arrangement direction of the blade 1375 are also changed to perpendicular directions, allowing the user to operate the end-effector in a manner similar to existing surgical instruments.

[0498] In the following description, the end tool center 1360 of the third variation of the first embodiment of the present invention will be described in more detail, and in particular the first guide wire guide portion 1368a and the second guide wire guide portion 1368b of the end tool center 1360 which serves as an auxiliary pulley will be described in particular.

[0499] See Figures 58 to 61 The end effector center 1360 includes a main body 1361, a first jaw pulley engagement portion 1362a, a second jaw pulley engagement portion 1362b, a first pitch pulley portion 1363a, a second pitch pulley portion 1363b, a pitch slit 1364, a deflection slit 1365, a pitch arc portion 1366, a deflection arc portion 1367, and a wire guide portion 1368. Here, the wire guide portion 1368 includes a first wire guide portion 1368a and a second wire guide portion 1368b. Due to the specific configuration of each component... Figure 51 The second variation shown is the same, therefore, a detailed description of it will be omitted.

[0500] The function and role of the wire guide 1368 will be described in more detail below.

[0501] The wire guide 1368 contacts the wires 305 and 302 to change the arrangement path of the wires 305 and 302 to a certain extent, thereby expanding the rotation radius of the first jaw 1301 and the second jaw 1302.

[0502] That is, when no auxiliary pulley is provided, the pulley 1311, which is the first jaw pulley, and the pulley 1321, which is the second jaw pulley, can only rotate to a right angle. However, in the third variation of the first embodiment of the present invention, by having an additional wire guide portion 1368 on the end tool center 1360, the effect of expanding the maximum rotation angle of each pulley can be obtained.

[0503] This allows the opening of both jaws for actuation to be achieved when the two jaws of the end-effector 1300 are deflected and rotated by 90°. In other words, the invention is characterized by expanding the range of deflection rotation for actuation through the arrangement of the wire guide portion 1368 at the end-effector center 1360.

[0504] Furthermore, the present invention is characterized in that, since the guide wire 1368 is formed on the existing end tool center 1360 without additional separate structures such as auxiliary pulleys, the rotation range can be expanded even without increasing the number of parts and processes.

[0505] As described above, since there is no additional structure to expand the rotation angle, the number of parts is reduced, the process is simplified, and the length of the end tool is shortened to the size of the auxiliary pulley, which shortens the length of the end tool for pitching motion, thereby making it easier to perform surgical procedures in confined spaces.

[0506] According to the present invention as described above, since the rotation radius of pulley 1311, which is the first jaw pulley, and pulley 1321, which is the second jaw pulley, is widened, the effect of widening the range of deflection action can be obtained, wherein the deflection action can perform normal opening and closing actuation action and cutting action.

[0507] <Second Embodiment of Electrocautery Surgical Instruments>

[0508] Hereinafter, the distal end tool 500 of a surgical instrument according to a second embodiment of the present invention will be described. Here, the distal end tool 500 of a surgical instrument according to the second embodiment of the present invention is the same as the distal end tool of a surgical instrument according to the first embodiment of the present invention (see...). Figure 2 Compared to 100 in the first embodiment, the opening and closing direction of the jaws 503 is different in characteristics. As described above, a configuration different from the first embodiment will be described in detail later.

[0509] Figure 62 This is a perspective view showing an electrocautery surgical instrument according to a second embodiment of the present invention. Figure 63 , Figure 64 , Figure 65 , Figure 66 , Figure 67 and Figure 68 It is shown Figure 62 A perspective view of the end effector of an electrocautery surgical instrument. Figures 69 to 70 It is shown Figure 62 A plan view of the end tool of an electrocautery surgical instrument. Figure 71 and Figure 72 It is shown Figure 62 A perspective view of the center of the tip of an electrocautery surgical instrument. Figure 73 yes Figure 71 The cut perspective view at the center of the end tool. Figure 74 It is shown Figure 62 An exploded perspective view of the jaws, connectors, and jaw pulleys of the end effector of an electrocautery surgical instrument. Figure 75 , Figure 76 , Figure 77 and Figure 78 It is shown Figure 62 A perspective view of the second jaw pulley of the end tool of an electrocautery surgical instrument. Figure 79 and Figure 80 It is shown Figure 62 A plan view of the opening and closing action of the end effector of an electrocautery surgical instrument. Figure 81 It is shown Figure 2 The diagram shows the jaw opening and closing process of the first embodiment of the present invention. Figure 82 This is a diagram illustrating the jaw opening and closing process of a second embodiment of the present invention. Figure 83The figure shows the case where the pin groove structure of the second embodiment of the present invention is equipped on a general pulley instead of a multi-layer pulley. Figure 84 , Figure 85 , Figure 86 and Figure 87 It is shown Figure 62 A perspective view of the opening and closing action of the end effector of an electrocautery surgical instrument. Figure 88 , Figure 89 , Figure 90 yes Figure 62 A perspective view of the cutting action of the end tool of an electrocautery surgical instrument.

[0510] See Figures 62 to 90 The end tool 500 of the second embodiment of the present invention includes a pair of jaws for performing gripping actions, namely a first jaw 501 and a second jaw 502. Here, the first jaw 501 and the second jaw 502, or the constituent element encompassing the first jaw 501 and the second jaw 502, are referred to as jaw 503.

[0511] On one hand, the end tool 500 includes a plurality of pulleys, including pulleys 511 associated with the rotational movement of the first jaw 501. In this embodiment, each pulley associated with the rotational movement of the first jaw 501 is related to the pulleys in the first embodiment. Figure 8 The pulleys 111, 112, 113, 114, 115 and 116 described in the document are essentially the same, therefore, a detailed description of them will be omitted here.

[0512] On one hand, the end tool 500 includes a plurality of pulleys, including pulleys 521 associated with the rotational movement of the second jaw 502. In this embodiment, each pulley associated with the rotational movement of the second jaw 502 is different from that in the first embodiment. Figure 8 The pulleys 121, 122, 123, 124, 125 and 126 described in the document are essentially the same, therefore, a detailed description of them will be omitted here.

[0513] Furthermore, the end effector 500 of the second embodiment of the present invention may include a rotation axis 541, a rotation axis 542, a rotation axis 543, and a rotation axis 544. Here, rotation axes 541 and 542 are inserted through the end effector center 560, while rotation axes 543 and 544 are inserted through the pitch center 550. Rotation axes 541, 542, 543, and 544 may be sequentially arranged from the distal end 504 to the proximal end 505 of the end effector 500.

[0514] On one hand, the end tool 500 may further have an actuation rotation axis 545. Specifically, the junction of the first jaw 501 and the second jaw 502 may have an actuation rotation axis 545, so that the second jaw 502 can rotate around the actuation rotation axis 545 while the first jaw 501 is fixed, thus performing an actuation action. Here, the actuation rotation axis 545 may be positioned closer to the distal end 504 than the first rotation axis 541.

[0515] Here, each rotating axis may include two axes: a first sub-axis and a second sub-axis. Alternatively, it can be described as each rotating axis being formed by splitting into two. Since each rotating axis in this embodiment has substantially the same configuration as the rotating axis in the first embodiment, a detailed description thereof will be omitted here.

[0516] Furthermore, the end effector 500 of the second embodiment of the present invention may include an end effector center 560 and a pitch center 550.

[0517] Rotary shafts 541 and 542 are inserted through end tool center 560, and at least a portion of pulleys 511 and 521, which are coupled to rotary shafts 541, and the first jaw 501 and the second jaw 502 coupled thereto, can be accommodated inside end tool center 560.

[0518] On one hand, the first pitch pulley portion 563a and the second pitch pulley portion 563b can be formed at one end of the end tool center 560 to serve as end tool pitch pulleys. Wires 303 and 304 are connected to the first pitch pulley portion 563a and the second pitch pulley portion 563b, which serve as end tool pitch pulleys, while the end tool center 560 performs a pitching action while rotating around the rotation axis 543.

[0519] Rotation axes 543 and 544 are inserted through pitch center 550, and pitch center 550 can be coupled to end tool center 560 via rotation axis 543. Therefore, end tool center 560 can be configured to pitch and rotate about rotation axis 543 relative to pitch center 550.

[0520] In this embodiment, since the end-effector center 560 and pitch center 550 are substantially the same as the constituent elements described in the first embodiment, a detailed description of them will be omitted here.

[0521] On one hand, the end effector 500 of the second embodiment of the present invention may further include components such as a first electrode 551, a second electrode 552, a guide tube 571, and a blade 575 for performing cautery and cutting actions. Here, the guide tube 571, the blade 575, and other components related to blade driving are collectively referred to as the blade assembly 570. A variation of the present invention is characterized in that, since the blade assembly 570 including the blade 575 is disposed between the pulley 511, which serves as a first jaw pulley, and the pulley 521, which serves as a second jaw pulley, the end effector 500 can perform cutting actions using the blade while performing pitching and deflecting actions. Since the components used for performing cautery and cutting actions in this embodiment are substantially the same as those described in the first embodiment, a detailed description thereof will be omitted here.

[0522] and Figure 13 Similar to the first embodiment of the present invention shown, the electrocautery surgical instrument according to the second embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306 and blade wire 307.

[0523] (Connection structure of jaws-connector-pulley)

[0524] The connection structure of the jaw-connector-pulley of the second embodiment of the present invention will be described in detail below.

[0525] See Figures 64 to 70 The end effector 500 of the second embodiment of the present invention includes a first jaw 501, a second jaw 502, a first connector 580, a second connector 590, a pulley 511 serving as a pulley for the first jaw, and a pulley 521 serving as a pulley for the second jaw. Hereinafter, pulley 511 will be referred to as the first jaw pulley 511, and pulley 521 will be referred to as the second jaw pulley 521.

[0526] In detail, the second jaw pulley 521 can be formed as a multi-layered pulley. In other words, the second jaw pulley 521 is formed by combining two pulleys, and two grooves can be formed on its outer peripheral surface.

[0527] Here, the first joint 521a can be formed on any surface of the second jaw pulley 521, while the second joint 521b can be formed on the other surface of the second jaw pulley 521. In this case, the positions of the first joint 521a and the second joint 521b are such that the wires 302 and 306 overlap. In other words, at least a portion of the wires 302 and 306 wound around the second jaw pulley 521 can be formed by overlapping.

[0528] To describe this from another perspective, the first joint 521a and the second joint 521b are asymmetrically arranged in the XY plane, so that they can be set to be biased towards any region of the second jaw pulley 521.

[0529] To describe this from another perspective, the first coupling portion 521a can be formed at a position where the wire 302 can be wound around the outer peripheral surface of the second jaw pulley 521 at an angle between 90° and 360°. Similarly, the second coupling portion 521b can be formed at a position where the wire 306 can be wound around the outer peripheral surface of the second jaw pulley 521 at an angle between 90° and 360°.

[0530] Additionally, fastener 332 is attached to one end of wire 302, and fastener 332 can be attached to the first engagement portion 521a of the second jaw pulley 521. Fastener 333 is attached to one end of wire 306, and fastener 333 can be attached to the second engagement portion 521b of the second jaw pulley 521.

[0531] This can be described from another perspective as follows.

[0532] When wire 306 is referred to as the second jaw wire R and wire 302 is referred to as the second jaw wire L, the first joint portion 521a that is combined with the second jaw wire R306 is formed on the opposite side of the side into which the second jaw wire R306 is input. By extending the length of the second jaw wire R306 wrapped around the second jaw pulley 521, the rotation angle of the second jaw pulley 521 is expanded.

[0533] Furthermore, a second coupling portion 521b, which is coupled to the second jaw wire L302, is formed on the opposite side of the other side of the input second jaw wire L302. By extending the length of the second jaw wire L302 wrapped around the second jaw pulley 521, the rotation angle of the second jaw pulley 521 is expanded.

[0534] The rotation radius of the second jaw pulley 521 can be expanded by using the first joint 521a and the second joint 521b as described above. Furthermore, as described above, by lengthening the wire 302 / wire 306 wound around the second jaw pulley 521, the long stroke of the second connector 590 can be ensured. This will be described in more detail later.

[0535] The first jaw pulley 511 and the first connector 580 can be formed as a whole.

[0536] Specifically, a first jaw pulley 511 is formed at one end of the first connector 580. Additionally, a slot 580a may be formed longitudinally at the other end of the first connector 580. Furthermore, a guide pin 590b of the second connector 590, described later, can be inserted into this slot 580a. Moreover, one side of the slot 580a may have a through hole 580b through which an actuating rotating shaft 545 is inserted, and a mating hole 580c for engaging with the first jaw 501.

[0537] Here, although not shown in the accompanying drawings, the first jaw pulley 511 and the first connector 580 are formed as separate components, and the first jaw pulley 511 and the first connector 580 can also be fixedly connected.

[0538] In addition, the first secondary shaft 541a of the first rotating shaft 541 can be inserted sequentially through the first jaw pulley 511.

[0539] As described above, since the first jaw pulley 511 and the first connector 580 are formed as a whole or fixedly connected, the first connector 580 does not rotate relative to the first jaw pulley 511. When the first jaw pulley 511 rotates around the first rotation axis 541, the first connector 580 also rotates around the first rotation axis 541 together with the first jaw pulley 511.

[0540] On the one hand, the first connector 580 and the first jaw 501 are fixedly connected by a fixing component (pin, etc.).

[0541] In other words, the first jaw 501 and the first jaw pulley 511 are connected by the first connector 580 and are fixed relative to each other, so that neither component can rotate / move relative to the other component.

[0542] As a result, when the first jaw pulley 511 rotates around the first secondary shaft 541a of the first rotation axis 541, the first connector 580 and the first jaw 501 connected thereto also rotate together with the first jaw pulley 511 around the first secondary shaft 541a of the first rotation axis 541.

[0543] On one hand, slot 502a can be formed on the second jaw 502 in the longitudinal direction. On the other hand, the guide pin 590b of the second connector 590, which will be described later, can be inserted into the slot 502a.

[0544] On one hand, a through hole 590a can be formed at one end of the second connector 590. On the other hand, a guide pin 590b can be formed protruding at the other end of the second connector 590.

[0545] The second jaw pulley 521 and the second connecting member 590 are engaged at a single point axis, thus the second connecting member 590 is rotatably connected to the second jaw pulley 521. Specifically, a protrusion 521c is formed on the second jaw pulley 521, and the protrusion 521c of the second jaw pulley 521 can be inserted into the through hole 590a of the second connecting member 590. Therefore, when the second jaw pulley 521 rotates, the second connecting member 590 moves while rotating around the protrusion 521c.

[0546] On the one hand, the guide pin 590b formed at the other end of the second connector 590 can be inserted into the groove 580a of the first connector 580 and the groove 502a of the second jaw 502.

[0547] Here, the second jaw 502 is axially engaged with the first connector 580, and the second jaw 502 is pin-grooved with the second connector 590. When the second jaw pulley 521 rotates, the second jaw 502 is configured to rotate around the rotation axis 545, which serves as the actuation rotation axis, through the second connector 590 connected to it.

[0548] In detail, a through hole 580b is formed on the first connector 580, and a through hole 502b is formed on the second jaw 502. The actuating rotating shaft 545 is inserted and passes through the second jaw 502 and the first connector 580 in sequence, so that the first connector 580 and the second jaw 502 can be axially coupled. Here, like the other rotating shafts, the actuating rotating shaft 545 can also be formed by splitting it into two parts.

[0549] As a result, with the first jaw pulley 511 fixed, when only the second jaw pulley 521 rotates around the first rotation axis 541, the second connecting member 590, which is connected to the axis of the second jaw pulley 521, moves. At this time, while the guide pin 590b of the second connecting member 590 moves linearly along the groove 580a of the first connecting member 580, the guide pin 590b of the second connecting member 590 pushes the groove 502a of the second jaw 502, thereby causing the second jaw 502 to rotate around the actuation rotation axis 545.

[0550] The deflection and actuation actions of the end effector 500 will be described below.

[0551] First, when the first jaw pulley 511 and the second jaw pulley 521 rotate together, 1) the first connecting member 580 and the first jaw 501 connected thereto also rotate together with the first jaw pulley 511 around the first rotation axis 541, 2) the second connecting member 590 and the second jaw 502 connected thereto also rotate together with the second jaw pulley 521 around the first rotation axis 541, thereby performing a deflection action.

[0552] On the one hand, in such Figure 80When the jaws 503 are closed, and only the second jaw pulley 521 moves along... Figure 79 When rotated in the direction of arrow A, the second connecting piece 590 connected to the second jaw pulley 521 moves along the second jaw pulley 521. Figure 79 Move in the direction of arrow B. Additionally, the second connector 590 moves along... Figure 79 While moving in the direction of the middle arrow B, along Figure 79 The second jaw 502, connected to the second connector 590, is pulled in the direction of the middle arrow C, thereby causing the second jaw 502 to move around the actuation rotation axis 545 along... Figure 79 The direction of the middle arrow C is rotated, thereby actuating the jaws 503 to open.

[0553] In other words, when the operating unit 200 performs an actuation action, only the second jaw pulley 521 rotates, while when the operating unit 200 performs a deflection action, the first jaw pulley 511 and the second jaw pulley 521 rotate together in the same direction.

[0554] To describe this from another perspective, when the operating unit 200 performs a deflection action, the first jaw wire and the second jaw wire are pulled together, thereby causing the first jaw pulley 511 and the second jaw pulley 521 to rotate together, thus preventing the second jaw 502 from rotating relative to the first jaw 501.

[0555] On the one hand, when the operating unit 200 performs an actuation action, only the second jaw wire is pulled. As a result, with the first jaw pulley 511 fixed, only the second jaw pulley 521 rotates. Thus, with the actuation rotation shaft 545 fixed, the second connector 590 is pulled, causing the second jaw 502 to rotate around the actuation rotation shaft 545.

[0556] Here, a feature of the end tool 500 of the second embodiment of the present invention is that it employs a pin-groove structure to ensure clamping force during actuation.

[0557] In detail, in the pin-groove structure, the second connector 590 needs to move a longer distance to rotate the second jaw 502 by the same distance. (That is, a longer stroke is required for the second connector 590.) Additionally, the second jaw pulley 521 needs to rotate more to allow the second connector 590 to move a longer distance. To describe this from another perspective, if the second jaw pulley 521 is rotated more to allow the second jaw 502 to rotate the same distance, more force is applied to the second jaw 502 due to the greater rotation of the second jaw pulley 521, thus increasing the gripping force during actuation.

[0558] In addition, in order to rotate the second jaw pulley 521 more in this way, as described above, the second jaw pulley 521 is formed as a multi-layer structure to lengthen the length of the wires 302 and 306 wound on the second jaw pulley 521, thereby ensuring the long stroke of the second connector 590.

[0559] Compared with the first embodiment of the present invention, in the second embodiment of the present invention, due to this structure, the rotation angle of the second jaw pulley 521 is increased when the jaws open and close.

[0560] Figure 81 It is shown Figure 2 The diagram shows the jaw opening and closing process of the first embodiment of the present invention. Figure 82 This is a diagram illustrating the jaw opening and closing process of a second embodiment of the present invention.

[0561] See Figure 81 and Figure 82 In order for the second jaw 502 to rotate by the same angle θ1, the second jaw pulley 121 in the first embodiment only needs to rotate θ2, while the second jaw pulley 521 in the second embodiment only needs to rotate θ3. Therefore, compared with the first embodiment, the second jaw pulley 521 in the second embodiment needs to rotate more. In other words, the operating angle of the second jaw pulley 521 in the second embodiment can be described as greater than the operating angle of the second jaw pulley 121 in the first embodiment.

[0562] As described above, since the second jaw pulley 521 rotates more in the second embodiment compared to the first embodiment, the travel distance of the second connector 590 is extended. Therefore, in order to rotate the second jaw 502 by the same angle θ1, the second jaw pulley 521 needs to rotate more, resulting in a greater force being applied to the second jaw 502.

[0563] on the one hand, Figure 83 The figure shows the case where the pin groove structure of the second embodiment of the present invention is equipped on a general pulley instead of a multi-layer pulley.

[0564] When the pin-groove structure of the second embodiment of the present invention is provided in a general pulley instead of a multi-layer pulley, such as Figure 83 a and Figure 83 As shown in b, in the neutral state (i.e., the end tool is parallel to the connecting part), the jaws 503 can open and close. However, as Figure 83 As shown in Figure c, when a yaw motion is performed with the jaws 503 open, its range of motion (angle) may be limited. In other words, in Figure 83 In state c, the jaw pulley cannot rotate further because it is in contact with the auxiliary pulley, thus limiting its rotation angle.

[0565] Conversely, when the pin-groove structure as described in the second embodiment of the present invention is applied to a multi-layer pulley, such as Figure 91 As shown, even when the jaws are deflected and rotated by +90° to -90°, the opening and closing action can still be performed normally, that is, the actuation action can be performed.

[0566] (Pitch, yaw, and cutting motions of the end effector)

[0567] Figure 91 and Figure 92 It is shown Figure 62 The diagram illustrates the opening and closing process of an electrocautery surgical instrument with its tip deflected and rotated -90°. Additionally, Figure 93 and Figure 94 It is shown Figure 62 The diagram shows the process of opening and closing the end tool of an electrocautery surgical instrument in a state of +90° deflection and rotation.

[0568] like Figures 91 to 94 As shown, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is configured to perform opening and closing actions normally, i.e., to perform actuation actions, even when the jaws are deflected and rotated from +90° to -90°.

[0569] Figure 95 and Figure 96 It is shown Figure 62 The diagram shows the process of cutting with the end tool of an electrocautery surgical instrument deflected and rotated by +90°.

[0570] like Figure 95 , Figure 96 As shown, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is configured to perform a cutting action normally even when the jaws are deflected and rotated by +90°.

[0571] Figure 97 It is shown Figure 62 A diagram showing the tip of an electrocautery surgical instrument in a -90° pitch and rotation state. Figure 98 It is shown Figure 62 A diagram showing the tip of an electrocautery surgical instrument in a tilted-rotated +90° position. Additionally, Figure 99 yes Figure 98 A cross-sectional perspective view of the tip of an electrocautery surgical instrument. Additionally, Figure 100 , Figure 101 and Figure 102 It is shown Figure 62 The diagram shows the process of cutting with the end effector of an electrocautery surgical instrument in a -90° tilted-up position.

[0572] like Figures 97 to 102 As shown, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is configured to perform cutting operations normally even when the jaws are tilted and rotated by -90°.

[0573] on the one hand, Figure 103 This diagram illustrates the state where the jaws rotate -90° in pitch while simultaneously rotating +90° in yaw. Figure 104 , Figure 105 and Figure 106 As Figure 62 The perspective view of the cutting action of the end tool of the electrocautery surgical instrument shows the cutting action performed while the jaws are tilted and rotated by -90° and deflected by +90°.

[0574] like Figures 103 to 106 As shown, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is configured to perform a cutting action normally even when the jaws are tilted at -90° and deflected at +90°.

[0575] (First variation of the second embodiment - vertical direction of jaw opening and closing)

[0576] In the following description, the end-effector 2100 of a surgical instrument according to a first modification of the second embodiment of the present invention will be described. Here, the end-effector 2100 of the surgical instrument according to the first modification of the second embodiment of the present invention is the same as the end-effector of the surgical instrument according to the second embodiment of the present invention described above (see...). Figure 62 Compared to 500 in the above, the opening and closing directions of jaw 2103 are different in characteristics.

[0577] In other words, it can be considered that the end tool 2100 of the surgical instrument of the first modification of the second embodiment of the present invention incorporates... Figure 62 The second embodiment of the present invention shown in the figure and Figure 44 Features of a first variation of the first embodiment of the present invention, as shown in the figures.

[0578] Figure 107 , Figure 108 , Figure 109 and Figure 110 This is a diagram illustrating the end tool of an electrocautery surgical instrument of a first modified example of the second embodiment of the present invention. Figure 111 , Figure 112 and Figure 113 It is shown Figure 107 A diagram illustrating the process of a cutting motion performed by the end-effector of an electrocautery surgical instrument. Figure 114 It is shown Figure 107 A diagram of the end tool of an electrocautery surgical instrument.

[0579] In the following, the first connector 2180 and the second connector 2190 of the first variation of the second embodiment of the present invention will be described in more detail.

[0580] A feature of the end tool 2100 in the first variation of the second embodiment of the present invention is that the actuation rotation axis 2145 and the deflection rotation axis 2141 are arranged perpendicularly to each other. Therefore, the opening and closing direction of the jaws 2103 is vertical. Correspondingly, the direction in which the blade 2175 is positioned is also vertical.

[0581] That is, in Figure 62 In the second embodiment of the invention shown, the actuation rotation axis 545 and the deflection rotation axis 541 are formed to be parallel to each other, and these two axes can be formed to be parallel to the Z-axis. Therefore, the opening and closing of the jaws 503 is performed in the XY plane perpendicular to the Z-axis.

[0582] Conversely, in the end tool 2100 of the first variation of the second embodiment of the present invention, the deflection rotation axis 2141 is formed parallel to the Z-axis, while the actuation rotation axis 2145 is formed parallel to the Y-axis. That is, the actuation rotation axis 2145 and the deflection rotation axis 2141 are arranged perpendicular to each other. In addition, the opening and closing of the jaws 2103 is performed on the XZ plane perpendicular to the Y-axis.

[0583] Here, the end effector 2100 of the present invention includes a first jaw 2101, a second jaw 2102, a first connector 2180, a second connector 2190, a pulley 2111 serving as a pulley for the first jaw, and a pulley 2121 serving as a pulley for the second jaw. Due to the specific configuration of each component... Figure 44 The first variation of the first embodiment of the present invention shown is the same as that shown in the figure, therefore, a detailed description thereof will be omitted.

[0584] The deflection and actuation actions of the end effector 2100 will be described below.

[0585] First, when the first jaw pulley 2111 and the second jaw pulley 2121 rotate together, 1) the first connecting member 2180 and the first jaw 2101 connected thereto also rotate together with the first jaw pulley 2111 around the first rotation axis 2141, and 2) the second connecting member 2190 and the second jaw 2102 connected thereto also rotate together with the second jaw pulley 2121 around the first rotation axis 2141, thereby performing a deflection action.

[0586] On one hand, when only the second jaw pulley 2121 rotates, the second connecting member 2190 connected to the second jaw pulley 2121 moves along with the second jaw pulley 2121. On the other hand, while moving, the second connecting member 2190 pulls the second jaw 2102 connected to the second connecting member 2190, thereby causing the second jaw 2102 to rotate around the actuation rotation axis 2145, thus performing an actuation action.

[0587] In other words, when the operating unit 200 performs an actuation action, only the second jaw pulley 2121 rotates, while when the operating unit 200 performs a deflection action, the first jaw pulley 2111 and the second jaw pulley 2121 rotate together in the same direction.

[0588] To describe this from another perspective, when the operating unit 200 performs a deflection action, the first jaw wire and the second jaw wire are pulled together, thereby causing the first jaw pulley 2111 and the second jaw pulley 2121 to rotate together, thus preventing the second jaw 2102 from rotating relative to the first jaw 2101.

[0589] On the one hand, when the operating unit 200 performs an actuation action, only the second jaw wire is pulled. Thus, with the first jaw pulley 2111 fixed, only the second jaw pulley 2121 rotates. As a result, with the actuation rotation shaft 2145 fixed, the second connector 2190 is pulled, causing the second jaw 2102 to rotate around the actuation rotation shaft 2145.

[0590] As described above, a feature of the end effector 2100 of the first variation of the second embodiment of the present invention is that the actuation rotation axis 2145 and the deflection rotation axis 2141 are arranged perpendicular to each other. Furthermore, correspondingly, the opening and closing direction of the jaws 2103 and the setting direction of the blade 2175 also become perpendicular, allowing the user to operate the end effector in a manner similar to existing surgical instruments.

[0591] (Second variation of the second embodiment - engraving)

[0592] In the following description, the end-effector 2200 of a surgical instrument according to a second modification of the second embodiment of the present invention will be described. Here, the end-effector 2200 of the surgical instrument according to the second modification of the second embodiment of the present invention is the same as the end-effector of the surgical instrument according to the second embodiment of the present invention described above (see...). Figure 62 Compared to the 500 in the example, the configuration of the end tool center 2260 used as an auxiliary pulley is different in characteristics.

[0593] In other words, it can be considered that the end tool 2200 of the surgical instrument of the second modification according to the second embodiment of the present invention incorporates... Figure 62 The second embodiment of the present invention shown in the figure and Figure 51 Features of a second variation of the first embodiment of the present invention, as shown in the figures.

[0594] Figure 115 and Figure 116 This is a diagram illustrating the end tool of an electrocautery surgical instrument of a second variation of the second embodiment of the present invention. Figure 117 It is shown Figure 115 A perspective view of the center of the tip of an electrocautery surgical instrument. Figure 118 and Figure 119 yes Figure 117 The cut perspective at the center of the end tool, Figure 120 and Figure 121 yes Figure 117 The perspective view at the center of the end tool.

[0595] In the following description, the end tool center 2260 of the second variation of the second embodiment of the present invention will be described in more detail, and in particular the first guide wire guide portion 2268a and the second guide wire guide portion 2268b of the end tool center 2260 which serves as an auxiliary pulley will be described in particular.

[0596] See Figures 115 to 120 The end effector center 2260 includes a main body 2261, a first jaw pulley engagement portion 2262a, a second jaw pulley engagement portion 2262b, a first pitch pulley portion 2263a, a second pitch pulley portion 2263b, a pitch slit 2264, a deflection slit 2265, a pitch arc portion 2266, a deflection arc portion 2267, and a wire guide portion 2268. Here, the wire guide portion 2268 includes a first wire guide portion 2268a and a second wire guide portion 2268b. Due to the specific configuration of each component... Figure 51 The second variation of the first embodiment of the present invention shown is the same as that shown in the figure, therefore, a detailed description thereof will be omitted.

[0597] The function and role of the wire guide 2268 will be described in more detail below.

[0598] The wire guide 2268 contacts the wires 305 and 302 to change the arrangement path of the wires 305 and 302 to a certain extent, thereby expanding the rotation radius of the first jaw 2201 and the second jaw 2202.

[0599] That is, when no auxiliary pulley is provided, the pulley 2211, which is the first jaw pulley, and the pulley 2221, which is the second jaw pulley, can only rotate to a right angle. However, in the second variation of the second embodiment of the present invention, by having an additional wire guide portion 2268 on the end tool center 2260, the effect of expanding the maximum rotation angle of each pulley can be obtained.

[0600] This allows for the opening of both jaws for actuation when the two jaws of the end-effector 2200 are deflected and rotated by 90°. In other words, the invention is characterized by expanding the range of deflection rotation for actuation through the configuration of the wire guide 2268 at the end-effector center 2260.

[0601] Furthermore, since the wire guide 2268 is formed on the existing end tool center 2260 without additional separate structure, the rotation range can be expanded even without adding parts and processes.

[0602] As described above, since there is no additional structure to expand the rotation angle, the number of parts is reduced, the process is simplified, and the length of the end tool is shortened to the size of the auxiliary pulley, which shortens the length of the end tool when it performs pitching motion, thereby making it easier to perform surgical procedures in confined spaces.

[0603] According to the present invention as described above, since the rotation radius of pulley 2211, which is the first jaw pulley, and pulley 2221, which is the second jaw pulley, is widened, the effect of widening the range of deflection action can be obtained, wherein the deflection action can perform normal opening and closing actuation action and cutting action.

[0604] (Third variation of the second embodiment - vertical direction of jaw opening and closing, engraving)

[0605] In the following description, the end-effector 2300 of a surgical instrument according to a third modification of the second embodiment of the present invention will be described. Here, the end-effector 2300 of the surgical instrument according to the third modification of the second embodiment of the present invention is the same as the end-effector of the surgical instrument according to the second embodiment of the present invention described above (see...). Figure 62 Compared to 500 in the above, the opening and closing direction of the jaws 2303 is characteristically different. Here, the end-effector 2300 of the surgical instrument of the third variation of the second embodiment of the present invention differs in feature from the end-effector of the surgical instrument of the second embodiment of the present invention described above (see [reference]). Figure 62 Compared to the 500 in the example, the configuration of the end tool center 2360 used as an auxiliary pulley is different in characteristics.

[0606] In other words, the end-effector 2300 of the surgical instrument of the third modification of the second embodiment of the present invention can be considered to incorporate... Figure 107 Features of the first variation of the second embodiment shown above and Figure 115 Features of a second variation of the second embodiment shown above. As described above, configurations different from the second embodiment will be described in detail later.

[0607] Figure 122 and Figure 123 This is a diagram showing the end tool of an electrocautery surgical instrument according to a third variation of the second embodiment of the present invention. Figure 124 It is shown Figure 122 A perspective view of the center of the end-effector of an electrocautery surgical instrument.

[0608] In the following, the first connector 2380 and the second connector 2390 of the third variation of the second embodiment of the present invention will be described in more detail.

[0609] A feature of the end tool 2300 in the third variation of the second embodiment of the present invention is that the actuation rotation axis 2345 and the deflection rotation axis 2341 are arranged perpendicularly to each other. Therefore, the opening and closing direction of the jaws 2303 is vertical. Correspondingly, the direction in which the blade 2375 is positioned is also vertical.

[0610] That is, in Figure 62 In the second embodiment of the invention shown, the actuation rotation axis 545 and the deflection rotation axis 541 are formed to be parallel to each other, and these two axes can be formed to be parallel to the Z-axis. Therefore, the opening and closing of the jaws 503 is performed in the XY plane perpendicular to the Z-axis.

[0611] Conversely, in the end tool 2300 of the third variation of the second embodiment of the present invention, the deflection rotation axis 2341 is formed parallel to the Z-axis, while the actuation rotation axis 2345 is formed parallel to the Y-axis. That is, the actuation rotation axis 2345 and the deflection rotation axis 2341 are arranged perpendicular to each other. In addition, the opening and closing of the jaws 2303 are performed in the XZ plane perpendicular to the Y-axis.

[0612] Here, the end effector 2300 of the present invention includes a first jaw 2301, a second jaw 2302, a first connector 2380, a second connector 2390, a pulley 2311 serving as a pulley for the first jaw, and a pulley 2321 serving as a pulley for the second jaw. Due to the specific configuration of each component... Figure 107 The first variation of the second embodiment of the present invention shown is the same as that shown in the figure, therefore, a detailed description thereof will be omitted.

[0613] The deflection and actuation actions of the end effector 2300 will be described below.

[0614] First, when the first jaw pulley 2311 and the second jaw pulley 2321 rotate together, 1) the first connecting member 2380 and the first jaw 2301 connected thereto also rotate together with the first jaw pulley 2311 around the first rotation axis 2341, and 2) the second connecting member 2390 and the second jaw 2302 connected thereto also rotate together with the second jaw pulley 2321 around the first rotation axis 2341, thereby performing a deflection action.

[0615] On one hand, when only the second jaw pulley 2321 rotates, the second connecting member 2390 connected to the second jaw pulley 2321 moves along with the second jaw pulley 2321. On the other hand, while moving, the second connecting member 2390 pulls the second jaw 2302 connected to the second connecting member 2390, thereby causing the second jaw 2302 to rotate around the actuation rotation axis 2345, thus performing an actuation action.

[0616] In other words, when the operating unit 200 performs an actuation action, only the second jaw pulley 2321 rotates, while when the operating unit 200 performs a deflection action, the first jaw pulley 2311 and the second jaw pulley 2321 rotate together in the same direction.

[0617] To describe this from another perspective, when the operating unit 200 performs a deflection action, the first jaw wire and the second jaw wire are pulled together, thereby causing the first jaw pulley 2311 and the second jaw pulley 2321 to rotate together, thus preventing the second jaw 2302 from rotating relative to the first jaw 2301.

[0618] On the one hand, when the operating unit 200 performs an actuation action, only the second jaw wire is pulled. Thus, with the first jaw pulley 2311 fixed, only the second jaw pulley 2321 rotates. As a result, with the actuation rotation shaft 2345 fixed, the second connector 2390 is pulled, causing the second jaw 2302 to rotate around the actuation rotation shaft 2345.

[0619] As described above, a feature of the end-effector 2300 of the third variation of the second embodiment of the present invention is that the actuation rotation axis 2345 and the deflection rotation axis 2341 are arranged perpendicularly to each other. Furthermore, correspondingly, the opening and closing direction of the jaws 2303 and the setting direction of the blade 2375 also become perpendicular, allowing the user to operate the end-effector in a manner similar to existing surgical instruments.

[0620] In the following description, the end tool center 2360 of the third variation of the second embodiment of the present invention will be described in more detail, and in particular the first guide wire guide portion 2368a and the second guide wire guide portion 2368b of the end tool center 2360 which serves as an auxiliary pulley will be described in particular.

[0621] See Figures 122 to 124The end effector center 2360 includes a main body 2361, a first jaw pulley engagement portion 2362a, a second jaw pulley engagement portion 2362b, a first pitch pulley portion 2363a, a second pitch pulley portion 2363b, a pitch slit 2364, a deflection slit 2365, a pitch arc portion 2366, a deflection arc portion 2367, and a wire guide portion 2368. Here, the wire guide portion 2368 includes a first wire guide portion 2368a and a second wire guide portion 2368b. Due to the specific configuration of each component... Figure 115 The second variation of the second embodiment of the present invention shown is the same as that shown in the figure, therefore, a detailed description thereof will be omitted.

[0622] The function and role of the wire guide 2368 will be described in more detail below.

[0623] The wire guide 2368 contacts the wires 305 and 302 to change the arrangement path of the wires 305 and 302 to a certain extent, thereby expanding the rotation radius of the first jaw 2301 and the second jaw 2302.

[0624] That is, when no auxiliary pulley is provided, the pulley 2311, which is the first jaw pulley, and the pulley 2321, which is the second jaw pulley, can only rotate to a right angle. However, in the third variation of the second embodiment of the present invention, by having an additional wire guide portion 2368 on the end tool center 2360, the effect of expanding the maximum rotation angle of each pulley can be obtained.

[0625] This allows for the opening of both jaws for actuation when the two jaws of the end-effector 2300 are deflected and rotated by 90°. In other words, the invention is characterized by expanding the range of deflection rotation for actuation through the arrangement of the wire guide 2368 at the end-effector center 2360.

[0626] Furthermore, since the wire guide 2368 is formed on the existing end tool center 2360 without additional separate structure, the rotation range can be expanded even without adding parts and processes.

[0627] As described above, since there is no additional structure to expand the rotation angle, the number of parts is reduced, the process is simplified, and the length of the end tool is shortened to the size of the auxiliary pulley, which shortens the length of the end tool when it performs pitching motion, thereby making it easier to perform surgical procedures in confined spaces.

[0628] According to the present invention, the rotation radius of pulley 2311, which is the first pulley, and pulley 2321, which is the second jaw pulley, are widened, which can achieve the effect of widening the range of deflection action, wherein the deflection action can perform normal opening and closing actuation action and cutting action.

[0629] As described above, the present invention has been described with reference to one embodiment shown in the accompanying drawings, but this is merely exemplary, and those skilled in the art will understand that various modifications and variations of the embodiments can be made therefrom. Therefore, the true scope of protection of the present invention should be determined by the technical concept of the claims.

[0630] Industrial applicability

[0631] The present invention relates to an end-effector of a surgical instrument and an electrocautery surgical instrument having the end-effector, and more specifically, to an end-effector of a surgical instrument having the end-effector and an electrocautery surgical instrument having the end-effector, wherein, in surgical instruments mounted on a robotic arm or manually operable for laparoscopic surgery or various surgical procedures, the end-effector can be rotated in two or more directions and operated to intuitively correspond to the movements of the operating part.

Claims

1. An end-effector of a surgical instrument, comprising: The first jaw and the second jaw can rotate independently of each other; The first jaw pulley is configured to be connected to the first jaw and rotatable about the first rotation axis; The second jaw pulley is configured to be connected to the second jaw and rotatable around the first rotation axis, and is spaced a certain distance from the first jaw pulley; The first connector has one end engaged with the first jaw and the other end engaged with the first jaw pulley to connect the first jaw and the first jaw pulley. The second connector has one end engaged with the second jaw and the other end engaged with the second jaw pulley to connect the second jaw and the second jaw pulley; A blade assembly comprising a blade movable between a proximal end and a distal end of the first jaw, and at least a portion thereof formed between the first jaw pulley and the second jaw pulley; And blade wires, at least a portion of which are in contact with the blade assembly to transmit the driving force required to move the blade to the blade. The blade assembly includes a guide tube that houses at least a portion of the blade wire and is configured to bend to a certain degree. The guide tube extends through the first connector toward the blade side.

2. The end-effector of the surgical instrument according to claim 1, characterized in that, The blade wire passes through the interior of the guide tube to connect to the blade.

3. The end-effector of the surgical instrument according to claim 1, characterized in that, When the guide tube bends to a certain extent, the blade wire inside the guide tube will also bend along with the guide tube.

4. The end-effector of the surgical instrument according to claim 1, characterized in that, The blade wire is configured to be movable along the guide tube inside the guide tube.

5. The end-effector of the surgical instrument according to claim 1, characterized in that, The first connector is fixedly connected to the first jaw and the first jaw pulley, such that when the first jaw pulley rotates around the first rotation axis, the first connector and the first jaw and the first jaw pulley rotate as a whole around the first rotation axis.

6. The end-effector of the surgical instrument according to claim 1, characterized in that, One end of the second connector is connected to the second jaw pulley, allowing the second connector to rotate relative to the second jaw pulley, while the other end of the second connector is connected to the second jaw, allowing the second jaw to move relative to the second connector.

7. The end-effector of the surgical instrument according to claim 6, characterized in that, When the second jaw pulley rotates, the rotation of the second jaw pulley is transmitted to the second jaw through the second connector connected to the second jaw pulley.

8. The end-effector of the surgical instrument according to claim 6, characterized in that, It further includes an actuating rotation shaft inserted through the first connector and the second jaw, and the second jaw is configured to rotate about the actuating rotation shaft relative to the first connector.

9. The end-effector of the surgical instrument according to claim 8, characterized in that, Through the second connector, the rotational motion of the second jaw pulley around the first rotation axis is converted into the rotational motion of the second jaw around the actuation rotation axis.

10. The end-effector of the surgical instrument according to claim 8, characterized in that, When the second jaw pulley rotates, the second connector connected to the second jaw pulley applies a force to the second jaw, causing the second jaw to rotate around the actuation rotation axis.

11. The end-effector of the surgical instrument according to claim 8, characterized in that, The first rotation axis and the actuation rotation axis are formed to be substantially parallel.

12. The end-effector of the surgical instrument according to claim 8, characterized in that, The first rotation axis and the actuation rotation axis are formed to be substantially perpendicular.

13. The end-effector of the surgical instrument according to claim 1, characterized in that, It further includes an end-tool center, which includes a first jaw pulley assembly and a second jaw pulley assembly formed facing each other, and a guide portion connecting the first jaw pulley assembly and the second jaw pulley assembly. The first jaw pulley is disposed adjacent to the first jaw pulley assembly of the end-tool center, and the second jaw pulley is disposed adjacent to the second jaw pulley assembly of the end-tool center, such that at least a portion of the blade assembly is formed between the first jaw pulley and the second jaw pulley.

14. The end-effector of the surgical instrument according to claim 13, characterized in that, The guide tube passes through the center of the end tool to extend toward the first jaw or the second jaw side.

15. The end-effector of the surgical instrument according to claim 1, characterized in that, When the first jaw pulley and the second jaw pulley rotate around the first rotation axis in the same direction, a deflection action is performed on the first jaw and the second jaw rotating in the same direction.

16. The end-effector of the surgical instrument according to claim 1, characterized in that, When the second jaw pulley rotates relative to the first jaw pulley around the first rotation axis, the actuation action of rotating the second jaw relative to the first jaw is performed.

17. The end-effector of the surgical instrument according to claim 1, comprising: A pair of end-tool first jaw pitch main pulleys are formed on one side of the first jaw pulley and are configured to rotate about a third rotation axis at a predetermined angle to the first rotation axis; a pair of end-tool second jaw pitch main pulleys are formed on one side of the second jaw pulley and are configured to rotate about the third rotation axis.

18. The end-effector of the surgical instrument according to claim 17, characterized in that, The end effector is configured to be able to deflect and rotate around the first rotation axis while also being able to pitch and rotate around the third rotation axis.

19. The end-effector of the surgical instrument according to claim 17, further comprising: The 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.

20. The end-effector of the surgical instrument according to claim 1, characterized in that, The blade moves between the proximal and distal ends of the end tool via the blade guide.

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