Surgical instrument

Abstract

One embodiment of the present invention provides a surgical instrument characterized by comprising: an end tool including one or more rotatable jaws (jaw) and an end tool jaw pitch main pulley rotatable about an end tool pitch rotation axis; an operation unit that controls the rotation of the tip tool; a power transmission part including one or more jaw wires connected to the operation part and transmitting rotation of the operation part to the one or more jaws; and a connecting portion formed to extend in a first direction (X-axis), one end portion of which is coupled to the tip tool and the other end portion of which is coupled to the operating portion to connect the operating portion and the tip tool, and the connecting portion including a bending portion that bends one or more times while connecting the tip tool and the operating portion, the operating portion includes a pitch operating portion including an operating portion pitch main pulley rotatable about a pitch axis to control pitch motion of the tip tool, the operating portion pitch main pulley having a diameter greater than that of the tip tool jaw pitch main pulley.

Description

Technical Field

[0001] The invention relates to a surgical instrument, in particular to a surgical instrument which can be manually operated and used for laparoscopic surgery or various other surgeries. Background Art

[0002] In medicine, surgery refers to the use of medical instruments to cut, incise or manipulate the skin, mucous membrane or other tissues to treat diseases. In particular, laparotomy and the like, which cut the skin of the surgical site and treat, reshape or remove the internal organs, etc., may cause bleeding, side effects, patient pain, scars and other problems. Therefore, as an alternative, surgery performed by forming a predetermined hole in the skin and inserting only a medical instrument such as a laparoscope, a surgical instrument or a microscope for microsurgery, or surgery using a robot, is attracting attention recently.

[0003] A surgical instrument is a tool used to perform surgery on a surgical site by a doctor directly manually operating an end tool using a predetermined driving unit or operating the end tool using a robot arm, wherein the end tool is provided at one end of a shaft passing through a hole drilled in the skin. The end tool provided in the surgical instrument performs a rotation operation, a gripping operation, a cutting operation, etc. through its predetermined structure.

[0004] However, in terms of the mechanical characteristics of existing surgical instruments, since the curved portion between the connecting portion and the operating portion, that is, the arc-shaped frame, is relatively high, when multiple surgical instruments are used simultaneously, interference between the mechanical frames often occurs.

[0005] The above-mentioned background technology is technical information possessed by the inventor in order to derive the present invention, or obtained in the process of deriving the present invention, and cannot necessarily be said to be known technology disclosed to the public before submitting the present invention. Summary of the invention

[0006] The present invention aims to solve the above-mentioned problems and limitations, and its purpose is to provide a surgical instrument, which reduces the height of the arc-shaped frame to minimize the interference between the machines when multiple surgical instruments are used simultaneously, but does not affect their functions.

[0007] One embodiment of the present invention provides a surgical instrument, characterized in that it includes: an end tool, which includes one or more rotatable jaws and an end tool jaw pitch main pulley that can rotate around the end tool pitch rotation axis; an operating part, which controls the rotation of the end tool; a power transmission part, which includes one or more jaw wires, the jaw wires are connected to the operating part and transmit the rotation of the operating part to the one or more jaws; and a connecting part, which is formed to extend along a first direction (X axis), one end is combined with the end tool and the other end is combined with the operating part to connect the operating part and the end tool, and the connecting part includes a bending part, and the bending part is bent once or multiple times while connecting the end tool and the operating part, wherein the operating part includes a pitch operating part, which includes an operating part pitch main pulley that can rotate around the pitch rotation axis to control the pitch movement of the end tool, and the diameter of the operating part pitch main pulley is larger than the diameter of the end tool jaw pitch main pulley.

[0008] In an embodiment of the present invention, the bending portion may be bent on a plane perpendicular to the pitch rotation axis of the pitch operating portion.

[0009] In one embodiment of the present invention, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating portion pitch main pulley may be (1:3.5) to (1:4.5).

[0010] In one embodiment of the present invention, the end tool jaw pitch main pulley is connected to the operating part pitch main pulley through the one or more jaw wires. When the one or more jaw wires move, the rotation angle of the end tool jaw pitch main pulley can be greater than the rotation angle of the operating part pitch main pulley.

[0011] In one embodiment of the present invention, the ratio of the rotation angle of the operating portion pitch main pulley to the rotation angle of the end tool jaw pitch main pulley may be (1:3.5) to (1:4.5).

[0012] In an embodiment of the present invention, when the operating portion is controlled so that the end tool performs pitch rotation at a maximum rotation angle, the curved portion may not be in contact with the operating portion but may be maximally adjacent to a rotation radius of the operating portion.

[0013] In one embodiment of the present invention, the end tool may further include: an end tool center and an end tool pitch pulley, wherein the interior of the end tool center can accommodate at least a portion of the jaw, and the end tool pitch pulley is formed at the end of the proximal end side of the end tool center; the power transmission part may further include: a pitch wire, which is combined with the end tool pitch pulley to rotate the end tool pitch pulley; the operating part may further include: an operating part pitch wire pulley wound by the pitch wire, and the diameter of the operating part pitch wire pulley may be larger than the diameter of the end tool pitch pulley.

[0014] In one embodiment of the present invention, the ratio of the diameter of the end tool pitch pulley to the diameter of the operating portion pitch wire pulley may be (1:3.5) to (1:4.5).

[0015] In one embodiment of the present invention, the end tool pitch pulley is connected to the operating part pitch wire pulley through the pitch wire, and when the pitch wire moves, the rotation angle of the end tool pitch pulley may be greater than the rotation angle of the operating part pitch wire pulley.

[0016] In one embodiment of the present invention, the ratio of the rotation angle of the operating portion pitch wire pulley to the rotation angle of the end tool pitch pulley may be (1:3.5) to (1:4.5).

[0017] One embodiment of the present invention provides a surgical instrument, characterized in that it includes: an end tool, which includes one or more rotatable jaws; an operating part, which includes controlling the pitch movement of the end tool and controlling the rotation of the end tool; a power transmission part, which includes one or more jaw wires, the jaw wires are connected to the operating part and transmit the rotation of the operating part to the one or more jaws; and a connecting part, which is formed to extend along a first direction (X-axis), one end is combined with the end tool and the other end is combined with the operating part to connect the operating part and the end tool, and the connecting part includes a bending part, the bending part is bent once or multiple times while connecting the end tool and the operating part, and when the end tool is parallel to the first direction, the operating part is in a state of pitch rotation based on the first direction at a predetermined rotation angle.

[0018] In an embodiment of the present invention, in a neutral state where the operating portion is parallel to the first direction, the end tool may be in a state of pitch rotation at a maximum rotation angle based on the first direction.

[0019] In one embodiment of the present invention, the end tool may further include: an end tool center and an end tool pitch pulley, wherein the interior of the end tool center can accommodate at least a portion of the jaw, and the end tool pitch pulley is formed at the end of the proximal end side of the end tool center; the power transmission part may further include: a pitch wire, which is combined with the end tool pitch pulley to rotate the end tool pitch pulley; the operating part may further include: an operating part pitch wire pulley wound by the pitch wire, and the diameter of the operating part pitch wire pulley may be larger than the diameter of the end tool pitch pulley.

[0020] In one embodiment of the present invention, the ratio of the diameter of the end tool pitch pulley to the diameter of the operating portion pitch wire pulley may be greater than or equal to (1:3.5) and less than or equal to (1:4.5).

[0021] In one embodiment of the present invention, the end tool pitch pulley is connected to the operating part pitch wire pulley through the pitch wire, and when the pitch wire moves, the rotation angle of the end tool pitch pulley may be greater than the rotation angle of the operating part pitch wire pulley.

[0022] In one embodiment of the present invention, the ratio of the rotation angle of the operating portion pitch wire pulley to the rotation angle of the end tool pitch pulley may be greater than or equal to (1:3.5) and less than or equal to (1:4.5). BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1A This is a conceptual diagram of the pitch motion of existing surgical instruments. Figure 1B This is a conceptual diagram of the yaw action.

[0024] Figure 1C This is a conceptual diagram of the pitch motion of another existing surgical instrument. Figure 1D This is a conceptual diagram of the yaw action.

[0025] Figure 1E This is a conceptual diagram of the pitching action of the surgical instrument according to the present invention. Figure 1F This is a conceptual diagram of the yaw action.

[0026] Figure 2 FIG. 4 is a perspective view of a surgical instrument according to a first embodiment of the present invention.

[0027] Figure 3 for Figure 2 Side view of surgical instruments.

[0028] Figure 4 and Figure 5 for Figure 2 A perspective view of the end tool of a surgical instrument.

[0029] Figure 6 for Figure 2 A plan view of the end tool of a surgical instrument.

[0030] Figures 7 to 9 for Figure 2 A perspective view of the operating portion of a surgical instrument.

[0031] Fig.10 The schematic diagram is a diagram simply showing the configuration of the pulley and the wire, wherein the pulley and the wire constitute as follows Figure 2 The joints of the surgical instruments are shown.

[0032] Fig.11 for Figure 2 A perspective view of the pitch motion of surgical instruments.

[0033] Fig.12 and Fig.13 Schematic diagrams for explaining the configuration of pulleys and wires for the first jaw and the second jaw, respectively, wherein the pulleys and the wires are connected to the Figure 2 The present invention is related to the pitching movement of the surgical instrument shown.

[0034] Fig.14 To describe and Figure 2 A conceptual diagram showing the pitch motion of a surgical instrument in relation to the diameter ratio of the pitch pulleys shown.

[0035] Figures 15 to 17 FIG. 1 is a side view of the pitching action of the surgical instrument according to the first embodiment of the present invention.

[0036] Fig.18 and Fig.19 FIG. 4 is a side view of the pitching action of the surgical instrument according to the second embodiment of the present invention.

[0037] FIG. 20A to FIG. 20C for Fig.17 Conceptual diagram of the pitch motion of surgical instruments.

[0038] Fig.21 FIG. 4 is a side view of a surgical instrument according to a third embodiment of the present invention.

[0039] Fig. 22 FIG. 4 is a side view of a surgical instrument according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following embodiments will be described in detail with reference to the accompanying drawings. When describing with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and will not be described in detail.

[0041] Since various modifications can be made to these embodiments, specific embodiments are shown in the drawings and described in detail in the specific embodiments. With reference to the drawings and the embodiments described in detail below, the effects, features and methods of achieving the effects and features of the present embodiment will become clearer. However, the present embodiment is not limited to the embodiments disclosed below, but can be implemented in various forms.

[0042] In the drawings, in order to clearly describe the present invention, parts irrelevant to the description are omitted, and like parts are given like reference numerals throughout the specification.

[0043] In the following embodiments, unless the context clearly indicates otherwise, a singular expression includes a plural expression.

[0044] In the following embodiments, terms such as “including” or “having” refer to the presence of features or constituent elements described in the present specification, and do not preclude the possibility of adding one or more other features or constituent elements.

[0045] In the following embodiments, when a part of a unit, region, component, etc. is referred to as being on or over another part, this includes not only the case where it is directly on the other part but also the case where other units, regions, components, etc. are interposed therebetween.

[0046] In the following embodiments, terms such as “connected” or “coupled” do not necessarily mean direct and / or fixed connection or coupling of two components, and do not exclude the interposition of another component between the two components, unless the context clearly indicates otherwise.

[0047] In the drawings, the size of the constituent elements may be enlarged or reduced for ease of description. For example, the size and thickness of each constituent shown in the drawings are arbitrarily shown for ease of description, and therefore the present invention is not necessarily limited to the contents shown.

[0048] With regard to the description of various embodiments of the present invention, it should be understood that each embodiment does not have to be interpreted or implemented independently, and the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described separately.

[0049] The surgical instrument according to the present invention is characterized in that, for at least one of pitch, yaw and actuation, when the operating portion is rotated in any direction, the end tool intuitively rotates in the same direction as the operating direction of the operating portion.

[0050] Figure 1A This is a conceptual diagram of the pitch motion of existing surgical instruments. Figure 1B This is a conceptual diagram of the yaw action.

[0051] See also Figure 1AWhen performing the pitching action of the conventional surgical instrument, in a state where the end tool 120a is arranged more forward than the rotation center 121a of the end tool and the operating part 110a is arranged more backward than the rotation center 111a of the operating part, if the operating part 110a rotates clockwise, the end tool 120a also rotates clockwise, and if the operating part 110a rotates counterclockwise, the end tool 120a also rotates counterclockwise. Figure 1B When performing the yaw action of the conventional surgical instrument, in a state where the end tool 120a is arranged forward of the rotation center 121a of the end tool and the operating part 110a is arranged backward of the rotation center 111a of the operating part, if the operating part 110a rotates clockwise, the end tool 120a also rotates clockwise, and if the operating part 110a rotates counterclockwise, the end tool 120a also rotates counterclockwise. At this time, from the user's left and right direction, if the user moves the operating part 110a to the left, the end tool 120a moves to the right, and if the user moves the operating part 110a to the right, the end tool 120a moves to the left. As a result, since the user's operation direction and the movement direction of the end tool are opposite, user errors may be caused, and there is a problem of inconvenience in user operation.

[0052] Figure 1C This is a conceptual diagram of the pitch motion of another existing surgical instrument. Figure 1D This is a conceptual diagram of the yaw action.

[0053] See also Figure 1C Some existing surgical instruments are formed in a mirror-symmetrical form. When performing a pitch action, in a state where the end tool 120b is arranged further forward than the rotation center 121b of the end tool and the operating part 110b is arranged further rearward than the rotation center 111b of the operating part, if the operating part 110b rotates clockwise, the end tool 120b rotates counterclockwise, and if the operating part 110b rotates counterclockwise, the end tool 120b rotates clockwise. At this time, from the perspective of the rotation direction of the operating part and the end tool, the rotation direction of the operating part 110b rotated by the user and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there are problems that the user may be confused about the operation direction, the movement of the joint is not intuitive, and errors may occur. In addition, see Figure 1D, when performing a yaw action, in a state where the end tool 120b is arranged forward of the rotation center 121b of the end tool and the operating part 110b is arranged backward of the rotation center 111b of the operating part, if the operating part 110b rotates clockwise, the end tool 120b rotates counterclockwise, and if the operating part 110b rotates counterclockwise, the end tool 120b rotates clockwise. At this time, from the perspective of the rotation direction of the operating part and the end tool, the rotation direction of the user rotating the operating part 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there are problems that the user may confuse the operation direction, the movement of the joint is not intuitive, and errors may occur. In this way, in the user's pitch or yaw operation of the existing surgical instrument, the user's operation direction and the movement direction of the end tool are inconsistent with each other in the rotation direction or the left and right direction. This is because, in the joint configuration of the existing surgical instrument, the configurations of the end tool and the operating part are different from each other. That is, this is because the end tool is arranged forward of the rotation center of the end tool, and the operating part is arranged backward of the rotation center of the operating part. To solve this problem, Figure 1E and Figure 1F As shown, according to an embodiment of the present invention, the surgical instrument is characterized in that the end tool 120c is arranged more forward than the rotation center 121c of the end tool, and the operating part 110c is also arranged more forward than the rotation center 111c of the operating part, so that the operation of the operating part 110c and the end tool 120c are intuitively consistent. These features can be expressed in different ways, that is, as Figure 1A , Figure 1B , Figure 1C and Figure 1D As shown, unlike the existing example of the configuration in which the operating part is close to the user side (ie, away from the end tool) relative to its own joint, as shown in FIG. Figure 1E and Figure 1F As shown, according to a surgical instrument according to an embodiment of the present invention, at least a portion of the operating portion can be closer to the end tool based on its own joints (than its own joints) at least at one time during the operation.

[0054] In other words, Figure 1A , Figure 1B , Figure 1C and Figure 1DAs for the conventional surgical instrument shown in the figure, the end tool is positioned more forward than its own rotation center, and the operating part is set more backward than its own rotation center, so that the end tool in front is moved by the action of moving the operating part in the back while the front is fixed, so this is an intuitively inconsistent structure. As a result, the problem is that in the operation of the operating part and the action of the end tool, the viewpoints of the left and right directions or the viewpoints of the rotation direction may be inconsistent, which may cause confusion to the user, making it difficult to intuitively and quickly perform the operation of the operating part and causing errors. In contrast, according to the surgical instrument of an embodiment of the present invention, both the end tool and the operating part move based on the rotation center formed in the back, so from a structural point of view, it can be said that the actions of each other are intuitively consistent. In other words, just as the movable part of the end tool moves based on the rotation center formed in the back, the movable part of the operating part also moves based on the rotation center formed in the back, so from a structural point of view, it can be said that the actions of each other are intuitively consistent. As a result, the advantage is that the user can intuitively and quickly perform the manipulation of the end tool direction, and the possibility of error is significantly reduced. Below, the detailed mechanism for realizing such a function will be described.

[0055] <First Embodiment of Surgical Instrument>

[0056] Figure 2 is a perspective view of a surgical instrument according to a first embodiment of the present invention, Figure 3 for Figure 2 Side view of surgical instruments. Figure 4 and Figure 5 for Figure 2 A perspective view of the end tool of a surgical instrument. Figure 6 for Figure 2 A plan view of the end tool of a surgical instrument. Figures 7 to 9 for Figure 2 A perspective view of the operating part of a surgical instrument. Fig.10 The schematic diagram is a diagram simply showing the configuration of the pulley and the wire, wherein the pulley and the wire constitute as follows Figure 2 The joints of the surgical instruments are shown.

[0057] First, see Figure 2 and Figure 3 According to the first embodiment of the present invention, a surgical instrument 10 includes an end tool 100 , an operating portion 200 , a power transmission portion 300 , and a connecting portion 400 .

[0058] The connecting part 400 is in the shape of a hollow shaft and can accommodate one or more wires and electric wires. One end of the connecting part 400 is combined with the operating part 200 and the other end is combined with the end tool 100. The connecting part 400 can be used to connect the operating part 200 and the end tool 100.

[0059] Among them, the surgical instrument 10 according to the first embodiment of the present invention is characterized in that the connecting portion 400 has a straight portion 401 and a curved portion 402, the straight portion 401 is formed on the side combined with the end tool 100, and the curved portion 402 is formed on the side combined with the operating portion 200. In this way, since the end of the connecting portion 400 on the operating portion 200 side is bent, the pitch operating portion 201, the yaw operating portion 202, and the actuation operating portion 203 are formed on the extension line of the end tool 100 or adjacent to the extension line. In another viewpoint, it can be described that at least a part of the pitch operating portion 201 and the yaw operating portion 202 is accommodated in the recess formed by the curved portion 402. The shapes and actions of the operating portion 200 and the end tool 100 can be more intuitively matched by the shape of such a curved portion 402.

[0060] On the other hand, the plane formed with the curved portion 402 may be aligned with the pitch plane, that is, Figure 2 In this way, since the curved portion 402 is formed on the substantially same plane as the XZ plane, interference between the operating parts can be reduced. Of course, for intuitive movement of the end tool and the operating part, other configurations other than the XZ plane can also be adopted.

[0061] In addition, a connector (not shown) may be formed at the bent portion 402. The connector (not shown) may be connected to an external power source (not shown), and the connector (not shown) may be connected to the end tool 100 through an electric wire to transfer electric energy supplied from the external power source (not shown) to the end tool 100.

[0062] The operating part 200 is formed at one end of the connecting part 400 and has an interface that can be directly manipulated by the doctor, such as a clamp, a rod, a lever, etc. When the doctor manipulates it, it is connected to the corresponding interface to make the end tool 100 inserted into the surgical patient perform a predetermined operation, thereby performing the operation. Figure 2 , a handle-shaped operating portion 200 that can rotate when a finger is inserted is shown, but the concept of the present invention is not limited thereto, and various forms of operating portions can be used as long as they can be connected to the end tool 100 to operate the end tool 100.

[0063] The end tool 100 is formed at the other end of the connecting portion 400 and is inserted into the surgical site to perform the required operation. As an example of such an end tool 100, Figure 2 As shown, a pair of jaws 103 for performing a gripping action can be used. However, the concept of the present invention is not limited thereto, and various surgical devices can also be used as the end tool 100. For example, a configuration such as a single-arm cauterizer can also be used as an end tool. Such an end tool 100 is connected through an operating part 200 and a power transmission part 300, and receives a driving force of the operating part 200 through the power transmission part 300, thereby performing the actions required for the operation, such as gripping, cutting, and suturing.

[0064] According to the surgical instrument 10 of 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 rotate around Figure 2 The pitch motion of the Y axis is performed at the same time. Figure 2 Yaw motion and actuation motion of the central Z axis.

[0065] The pitch, yaw and actuation actions used in the present invention are defined as follows.

[0066] First, the pitch action refers to the movement of the end tool 100 relative to the extension direction of the connecting portion 400 ( Figure 2 The X-axis direction in the vertical direction) of the rotation, that is, around Figure 2 In other words, it refers to the movement of the end tool 100 rotating up and down around the Y axis relative to the connecting portion 400, wherein the end tool 100 is moved from the connecting portion 400 along the extending direction of the connecting portion 400 ( Figure 2 The X-axis direction of the image is extended.

[0067] Next, the yaw motion refers to the movement of the end tool 100 relative to the extension direction ( Figure 2 The X-axis direction in the left and right directions (i.e., the rotation around Figure 2 In other words, it refers to the movement of the end tool 100 rotating left and right around the Z axis relative to the connecting portion 400, wherein the end tool 100 is rotated from the connecting portion 400 along the extending direction of the connecting portion 400 ( Figure 2 That is, it refers to the movement of the two jaws 103 formed in the end tool 100 rotating in the same direction around the Z axis.

[0068] On the other hand, the actuation action refers to an action in which the end tool 100 rotates around the same rotation axis as the yaw action, but the two jaws 103 rotate in opposite directions to each other so that the jaws are contracted or expanded. In other words, it refers to a movement in which the two jaws 103 formed in the end tool 100 rotate around the Z axis in opposite directions to each other.

[0069] The power transmission part 300 transmits the driving force of the operation part 200 to the end tool 100 by connecting the operation part 200 and the end tool 100 , and may include a plurality of wires, pulleys, connectors, joints, gears, and the like.

[0070] In the following, Figure 2 The end tool 100, the operating part 200 and the power transmission part 300 of the surgical instrument 10 are described in more detail.

[0071] (Intuitive Drive)

[0072] In the following, the intuitive actuation of the surgical instrument 10 according to the present invention will be described.

[0073] First, in a state where the user holds the first handle 204 with the palm, the user can rotate the first handle 204 around the Y axis (i.e., the rotation axis 246) to perform a pitch action, and rotate the first handle 204 around the Z axis (i.e., the rotation axis 243) to perform a yaw action. In addition, in a state where the thumb and index finger are inserted into the first actuation extension 252 and / or the second actuation extension 257 in a finger ring shape formed in one end of the actuation operation portion 203, the user can operate the operation portion 203 to perform an actuation action.

[0074] The surgical instrument 10 according to the first embodiment of the present invention is characterized in that when the operating portion 200 is rotated in any direction relative to the connecting portion 400, the end tool 100 rotates in a direction that is intuitively the same as the operating direction of the operating portion 200. In other words, when the first handle 204 of the operating portion 200 is rotated in any direction, the end tool 100 also rotates in a direction that is intuitively the same as the one direction to perform a pitch motion or a yaw motion. It can be further explained that the intuitively the same direction means that the moving direction of the user's finger grasping the operating portion 200 and the moving direction of the end portion of the end tool 100 are substantially in the same direction. Of course, the same direction here is not necessarily a perfectly consistent direction in three-dimensional coordinates. For example, it can be understood as the following degree of identity: when the user's finger moves to the left, the end portion of the end tool 100 also moves to the left, and when the user's finger moves downward, the end portion of the end tool 100 also moves downward.

[0075] In addition, for this purpose, the surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operating portion 200 and the end tool 100 are formed in the same direction based on a plane perpendicular to the extension axis (X axis) of the connecting portion 400. Figure 2 When observed with reference to the YZ plane of the connecting portion 400, the operating portion 200 extends in the +X axis direction, and at the same time, the end tool 100 also extends in the +X axis direction. In other words, the formation direction of the end tool 100 on one end of the connecting portion 400 and the formation direction of the operating portion 200 on the other end of the connecting portion 400 are in the same direction with reference to the YZ plane. Or, in other words, it can be said that the operating portion 200 is formed in a direction away from the torso of the user grasping it, that is, in the direction in which the end tool 100 is formed. That is, in the first handle 204, the first actuation operating portion 251, and the second actuation operating portion 256, etc., which the user grasps and moves to perform actuation actions, yaw actions, and pitch actions, the movable parts used to perform each action are formed to extend in the +X axis direction relative to the rotation center of each joint used to perform the corresponding action. Thus, the movable part of the end tool 100 is formed to extend in the +X axis direction relative to the rotation center of each joint used to perform the corresponding action, and the operating part 200 can be constructed in the same manner as this. As described with reference to Figure 1, the user's operation direction is consistent with the action direction of the end tool in terms of both the rotation direction and the left and right direction. As a result, intuitively the same operation can be performed.

[0076] Specifically, for existing surgical instruments, since the direction in which the user operates the operating part and the actual operating direction of the end tool are different from each other and intuitively inconsistent, the problem is that it is not easy for surgeons to perform intuitive operations, and it takes a long time to skillfully operate to move the end tool in the desired direction. In some cases, erroneous operations may occur and cause harm to the patient.

[0077] In order to solve the above-mentioned problem, a 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 running direction of the end tool 100 are in the same direction intuitively. To this end, the operating part 200 is the same as the end tool 100, and the part that actually moves for performing actuation, yaw and pitch movements is formed to extend in the +X axis direction relative to the rotation center of the corresponding joint used to perform each action.

[0078] In the following, Figure 2 The end tool 100, the operating part 200 and the power transmission part 300 of the surgical instrument 10 are described in more detail.

[0079] (Power transmission unit)

[0080] The following will describe in more detail Figure 2The power transmission unit 300 of the surgical instrument 10 .

[0081] See also Figures 2 to 14 According to the surgical instrument 10 according to an embodiment of the present invention, the power transmission part 300 may include a wire 301 , a wire 302 , a wire 303 , a wire 304 , a wire 305 , a wire 306 , a wire 307 , and a wire 308 .

[0082] The wire 301 and the wire 305 can be paired to be used as the first jaw wire. The wire 302 and the wire 306 can be paired to be used as the second jaw wire. The jaw wire can refer to a component including the first jaw wire and the second jaw wire, wherein the first jaw wire includes the wire 301 and the wire 305, and the second jaw wire includes the wire 302 and the wire 306. Moreover, the wire 303 and the wire 304 can be paired to be used as the pitch wire.

[0083] In addition, according to the surgical instrument 10 of one embodiment of the present invention, the power transmission part 300 may include fasteners 321, 323, 324, 326, and 327, which are coupled to the ends of the wires to couple the wires and the pulleys. Each fastener may have various shapes, such as a ball or tube, as required.

[0084] Among them, on the end tool 100 side, fastener 321 can be used as a pitch wire-end tool fastener, fastener 323 can be used as a first jaw wire-end tool fastener, and fastener 326 can be used as a second jaw wire-end tool fastener.

[0085] In addition, a fastener 324 and a fastener 327 are formed on the operating part 200 side, wherein the fastener 324 is used as a first jaw wire-operating part fastener, and the fastener 327 is used as a second jaw wire-operating part fastener, and although not shown in the drawings, a pitch wire-operating part fastener can also be formed.

[0086] The coupling relationship between the wire, the fastener and each pulley will be described in detail below.

[0087] First, as the first jaw wire, the wire 301 and the wire 305 can be a single wire. The fastener 323 as the first jaw wire-end tool fastener is inserted into the midpoint of the first jaw wire as a single wire, and after the fastener 323 is crimped and fixed, the two branches of the first jaw wire can be respectively called the wire 301 and the wire 305 with the fastener 323 as the center.

[0088] Alternatively, the wire 301 and the wire 305 as the first jaw wire may be respectively formed as separate wires, and the wire 301 and the wire 305 may be connected by a fastener 323 .

[0089] In addition, by coupling the fastener 323 to the pulley 111, the wire 301 and the wire 305 can be fixedly coupled to the pulley 111. Thus, the pulley 111 can rotate as the wire 301 and the wire 305 are pulled and released.

[0090] On the other hand, in the guide wire 301 and the guide wire 305 , the ends opposite to where the fastener 323 is fastened may be coupled to the first jaw guide wire-operating portion fastener 324 .

[0091] And, in this way, by coupling the first jaw wire-operating part fastener 324 to the pulley 210, the wire 301 and the wire 305 can be fixedly coupled to the pulley 210. As a result, when the pulley 210 is rotated by a motor or human power, the wire 301 and the wire 305 are pulled or released while the pulley 111 of the end tool 100 can rotate.

[0092] In the same manner, the wire 302 and the wire 306 as the second jaw wire are respectively combined with the fastener 326 and the second jaw wire-operating part fastener 327 as the second jaw wire-end tool fastener. In addition, the fastener 326 is combined with the pulley 121, and the second jaw wire-operating part fastener 327 is combined with the pulley 220. As a result, when the pulley 220 is rotated by a motor or manpower, the pulley 121 of the end tool 100 can be rotated while the wire 302 and the wire 306 are pulled or released.

[0093] In the same manner, the wire 303 and the wire 304 as the pitch wire are respectively combined with the fastener 321 as the pitch wire-end tool fastener and the pitch wire-operating part fastener (not shown). In addition, the fastener 321 is combined with the pulley 131, and the pitch wire-operating part fastener (not shown) is combined with the pulley 231. As a result, when the pulley 231 is rotated by a motor or human power, the pulley 131 of the end tool 100 can be rotated while the wires 303 and 304 are pulled or released.

[0094] (End Tool)

[0095] The following will describe in more detail Figure 2 The end tool 100 of the surgical instrument 10 is shown.

[0096] Figure 4 and Figure 5 for Figure 2 A perspective view of the end tool of a surgical instrument. Figure 6 for Figure 2A plan view of the end tool of a surgical instrument.

[0097] in, Figure 4 The figure shows the state of the end tool center 180 and the pitch center 107 being combined. Figure 5 The state where the end tool center 180 is removed is shown. On the other hand, Figure 6 It is a schematic diagram mainly showing the wires.

[0098] See also Figures 4 to 6 The end tool 100 of the first embodiment of the present invention has a pair of jaws for performing a gripping action, namely, a first jaw 101 and a second jaw 102. Each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, can be referred to as a jaw 103.

[0099] In addition, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 associated with the rotational movement of the first jaw 101. Also, pulleys 121, 122, 123, 124, 125, and 126 associated with the rotational movement of the second jaw 102 may be included.

[0100] Although the drawings show that the pulleys facing each other are formed in parallel with each other, the concept of the present invention is not limited thereto, and each pulley can be formed to be suitable for various positions and sizes of the end tool configuration.

[0101] In addition, the end tool 100 according to the first embodiment of the present invention may include an end tool center 180 and a pitch center 107 .

[0102] The rotating shaft 141 and the rotating shaft 142 to be described later are inserted through the end tool center 180, and the interior of the end tool center 180 can accommodate at least a portion of the pulley 111 and the pulley 121 axially coupled to the rotating shaft 141. In addition, the end tool center 180 can accommodate at least a portion of the pulley 112 and the pulley 122 axially coupled to the rotating shaft 142 therein.

[0103] On the other hand, the pulley 131 used as the end tool pitch pulley can be formed at one end of the end tool center 180. Among them, the pulley 131 can be formed in one body with the end tool center 180. That is, a disk-shaped pulley can be formed at one end of the end tool center 180, and a groove on the outer circumference of the pulley 131 can be formed to wind the wire. Alternatively, the pulley 131 can be formed as a separate component from the end tool center 180 and coupled to the end tool center 180. The above-mentioned wire 303 and wire 304 are coupled to the pulley 131 used as the end tool pitch pulley, and the pulley 131 rotates around the rotation axis 143 to perform a pitch action.

[0104] The rotation axis 143 and the rotation axis 144 to be described later are inserted through the pitch center 107, and the pitch center 107 and the end tool center 180 (and the pulley 131) can be axially coupled through the rotation axis 143. Therefore, relative to the pitch center 107, the end tool center 180 and the pulley 131 can rotate around the rotation axis 143.

[0105] In addition, the pitch center 107 may accommodate at least a portion of the pulleys 113, 114, 123, and 124 axially coupled to the rotation axis 143. In addition, the pitch center 107 may accommodate at least a portion of the pulleys 115, 116, 125, and 126 axially coupled to the rotation axis 144.

[0106] In addition, the end tool 100 of the first embodiment of the present invention may include a rotation axis 141, a rotation axis 142, a rotation axis 143, and a rotation axis 144. As described above, the rotation axis 141 and the rotation axis 142 may be inserted through the end tool center 180, and the rotation axis 143 and the rotation axis 144 may be inserted through the pitch center 107.

[0107] The rotation axis 141, the rotation axis 142, the rotation axis 143, and the rotation axis 144 may 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 rotation axis 141 may be sequentially referred to as a first pin, the rotation axis 142 may be sequentially referred to as a second pin, the rotation axis 143 may be sequentially referred to as a third pin, and the rotation axis 144 may be sequentially referred to as a fourth pin.

[0108] Among them, the rotation axis 141 can be used as the end tool jaw pulley rotation axis, the rotation axis 142 can be used as the end tool jaw auxiliary pulley rotation axis, the rotation axis 143 can be used as the end tool pitch rotation axis, and the rotation axis 144 can be used as the end tool pitch auxiliary rotation axis of the end tool 100.

[0109] One or more pulleys may be inserted into each of these rotating shafts (rotating shaft 141 , rotating shaft 142 , rotating shaft 143 , and rotating shaft 144 ), which will be described in detail below.

[0110] The pulley 111 is used as the first jaw pulley of the end tool, and the pulley 121 is used as the second jaw pulley of the end tool. The pulley 111 can also be called the first jaw pulley, the pulley 121 can also be called the second jaw pulley, and these two components can also be collectively called the end tool jaw pulley.

[0111] The pulley 111 and the pulley 121 as the end tool jaw pulleys are formed opposite to each other and can rotate independently of each other around the rotation axis 141 as the rotation axis of the end tool jaw pulley. Among them, although the pulley 111 and the pulley 121 are shown to rotate around one rotation axis 141 in the drawings, of course, each jaw pulley can rotate around a separate axis. Among them, the first jaw 101 can be fixedly combined with the pulley 111 and rotate with the pulley 111, and the second jaw 102 can be fixedly combined with the pulley 121 and rotate with the pulley 121. The yaw action and the actuation action of the end tool 100 are performed according to the rotation of the pulley 111 and the pulley 121. That is, when the pulley 111 and the pulley 121 rotate in the same direction around the rotation axis 141, the yaw action is performed, and when the pulley 111 and the pulley 121 rotate in opposite directions around the rotation axis 141, the actuation action is performed.

[0112] The first jaw 101 and the pulley 111 may be formed as separate components and combined with each other, or the first jaw 101 and the pulley 111 may be formed as one-body. Similarly, the second jaw 102 and the pulley 121 may be formed as separate components and combined with each other, or the second jaw 102 and the pulley 121 may be formed as one-body.

[0113] The pulley 112 is used as an auxiliary pulley for the first jaw of the end tool, and the 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 auxiliary pulleys for the jaws of the end tool, or can be simply referred to as auxiliary pulleys.

[0114] In detail, the pulley 112 and the pulley 122 as auxiliary pulleys of the end tool jaws may be further provided on one side of the pulley 111 and the pulley 121. In other words, the pulley 112 as an auxiliary pulley may be provided between the pulley 111 and the pulley 113 / pulley 114. In addition, the pulley 122 as an auxiliary pulley may be provided between the pulley 121 and the pulley 123 / pulley 124. The pulley 112 and the pulley 122 may rotate independently of each other around the rotation axis 142. Among them, although it is shown in the drawings that the pulley 112 and the pulley 122 rotate around one rotation axis 142, of course, the pulley 112 and the pulley 122 may rotate around separate axes, respectively.

[0115] Pulley 113 and pulley 114 are used as main pulleys for pitching the first jaw of the end tool, and pulley 123 and pulley 124 are used as main pulleys for pitching the second jaw of the end tool. These two components can also be collectively referred to as main pulleys for pitching the jaws of the end tool.

[0116] Pulley 115 and pulley 116 are used as the end tool first jaw pitching auxiliary pulleys, and pulley 125 and pulley 126 are used as the end tool second jaw pitching auxiliary pulleys. These two components can also be collectively referred to as the end tool jaw pitching auxiliary pulleys.

[0117] Hereinafter, constituent elements related to the rotation of the pulley 111 will be described.

[0118] The pulley 113 and the pulley 114 are used as the main pulleys for the pitching of the first jaw of the end tool. That is, they are used as the main rotating pulleys for the pitching action of the first jaw 101. Among them, the wire 301 as the first jaw wire is wound on the pulley 113, and the wire 305 as the first jaw wire is wound on the pulley 114.

[0119] The pulley 115 and the pulley 116 are used as the auxiliary pulleys for the pitching of the first jaw of the end tool. That is, they are used as auxiliary rotation pulleys for the pitching action of the first jaw 101. Among them, the wire 301 as the first jaw wire is wound around the pulley 115, and the wire 305 as the first jaw wire is wound around the pulley 116.

[0120] In one side of the pulley 111 and the pulley 112, the pulley 113 and the pulley 114 are arranged opposite to each other. In one side of the pulley 111 and the pulley 112, the pulley 113 and the pulley 114 can rotate independently of each other around the rotation axis 143 which is the end tool pitch rotation axis. In addition, on one side of the pulley 113 and the pulley 114, the pulley 115 and the pulley 116 are arranged opposite to each other. In one side of the pulley 113 and the pulley 114, the pulley 115 and the pulley 116 can rotate independently of each other around the rotation axis 144 which is the end tool pitch auxiliary rotation axis. In one side, although the drawings show that the pulley 113, the pulley 115, the pulley 114 and the pulley 116 can all rotate around the Y-axis direction, the concept of the present invention is not limited thereto, and the rotation axis of each pulley can be formed in various directions suitable for its configuration.

[0121] At least a portion of the wire 301 as the first jaw wire contacts and is sequentially wound around the pulleys 115, 113, and 111. Also, at least a portion of the wire 305 connected to the wire 301 by the fastener 323 contacts and is sequentially wound around the pulleys 111, 112, 114, and 116.

[0122] Described from another perspective, at least a portion of the wire 301 and the wire 305 serving as the first jaw wire are in contact with and sequentially wound around pulleys 115, 113, 111, 112, 114, and 116, and the wire 301 and the wire 305 can move with the pulleys while rotating the pulleys.

[0123] Therefore, when Figure 6 When the arrow 301 in the figure pulls the wire 301, the fastener 323 combined with the wire 301 and the pulley 111 combined with it move along Figure 6 In the direction of the arrow L in the figure, the Figure 6 When the arrow 305 in FIG. 1 pulls the wire 305, the fastener 323 combined with the wire 305 and the pulley 111 combined therewith move along Figure 6 Rotate in the direction of arrow R.

[0124] Next, constituent elements related to the rotation of the pulley 121 will be described.

[0125] The pulley 123 and the pulley 124 are used as the main pulleys for the pitching of the second jaw of the end tool. That is, they are used as the main rotating pulleys for the pitching action of the second jaw 102. Among them, the wire 306 as the second jaw wire is wound around the pulley 123, and the wire 302 as the second jaw wire is wound around the pulley 124.

[0126] The pulley 125 and the pulley 126 are used as the second jaw auxiliary pulleys of the end tool. That is, they are used as auxiliary rotation pulleys for the pitching action of the second jaw 102. Among them, the wire 306 as the second jaw wire is wound around the pulley 125, and the wire 302 as the second jaw wire is wound around the pulley 126.

[0127] On one side of the pulley 121, the pulley 123 and the pulley 124 are arranged opposite to each other. The pulley 123 and the pulley 124 can rotate independently of each other around the rotation axis 143 which is the end tool pitch rotation axis. In addition, on one side of each of the pulleys 123 and 124, the pulley 125 and the pulley 126 are arranged opposite to each other. The pulley 125 and the pulley 126 can rotate independently of each other around the rotation axis 144 which is the end tool pitch auxiliary rotation axis. Although the drawings show that the pulleys 123, 125, 124 and 126 can all rotate around the Y-axis direction, the concept of the present invention is not limited thereto, and the rotation axis of each pulley can be formed in various directions suitable for its configuration.

[0128] At least a portion of the wire 306 as the second jaw wire contacts and is sequentially wound around the pulleys 125, 123, and 121. Also, at least a portion of the wire 302 connected to the wire 306 by the fastener 326 contacts and is sequentially wound around the pulleys 121, 122, 124, and 126.

[0129] Described from another perspective, at least a portion of the wire 306 and the wire 302 serving as the second jaw wire are in contact with and sequentially wound around pulleys 125, 123, 121, 122, 124, and 126, and the wire 306 and the wire 302 can move with the pulleys while the pulleys are rotated.

[0130] Therefore, when Figure 6 When the arrow 306 in FIG. 1 pulls the wire 306, the fastener 326 combined with the wire 306 and the pulley 121 combined therewith move along Figure 6 Rotate in the direction of the arrow R. On the contrary, Figure 6 When the arrow 302 in FIG. 1 pulls the wire 302, the fastener 326 combined with the wire 302 and the pulley 121 combined therewith move along Figure 6 Rotate in the direction of arrow L.

[0131] The pitching motion of the present invention will be described in more detail below.

[0132] On the other hand, when Figure 6 The arrow 301 in the figure pulls the wire 301 and moves it to Figure 6When the arrow 305 in FIG. 1 pulls the wire 305 (ie, when both branches of the first jaw wire are pulled), as shown in FIG. Figure 5 As shown, since the wires 301 and 305 are wound around the pulleys 113 and 114 which are rotatable around the rotation axis 143 as the pitch rotation axis of the end tool, the pulley 111 fixedly coupled to the wires 301 and 305 and the end tool center 180 coupled to the pulley 111 are rotated together in the counterclockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 performs a pitch motion while rotating downward. At this time, since the second jaw 102 and the wires 302 and 306 fixedly coupled thereto are wound around the pulleys 123 and 124 which are rotatable around the rotation axis 143, the wires 302 and 306 are released in opposite directions of 302 and 306, respectively.

[0133] On the contrary, when Figure 6 The arrow 302 in the figure pulls the wire 302 and moves it to Figure 6 When the arrow 306 in FIG. 1 pulls the wire 306, as shown in FIG. Figure 5 As shown, since the wires 302 and 306 are wound around the pulleys 123 and 124 that can rotate around the rotation axis 143 as the pitch rotation axis of the end tool, the pulley 121 fixedly coupled to the wires 302 and 306 and the end tool center 180 coupled to the pulley 121 rotate together in the clockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 performs a pitch motion while rotating upward. At this time, since the first jaw 101 and the wires 301 and 305 fixedly coupled thereto are wound around the pulleys 113 and 114 that can rotate around the rotation axis 143, the wires 302 and 306 move in the opposite directions of 301 and 305, respectively.

[0134] On the other hand, the end tool 100 of the surgical instrument 10 of the present invention may further include a pulley 131 as an end tool pitch pulley, the operating part 200 may further include a pulley 231 and a pulley 232 as operating part pitch wire pulleys, and the power transmission part 300 may further include wires 303 and 304 as pitch wires. In detail, the pulley 131 of the end tool 100 may rotate around the rotation axis 143 as the end tool pitch rotation axis, and may be formed integrally with the end tool center 180 (or fixedly combined with the end tool center 180). In addition, the wires 303 and 304 may be used to connect the pulley 131 of the end tool 100 to the pulleys 231 and 232 of the operating part 200.

[0135] Therefore, when the pulleys 231 and 232 of the operating part 200 rotate, the rotation of the pulleys 231 and 232 is transmitted to the pulley 131 of the end tool 100 through the wires 303 and 304 to rotate the pulley 131 together, and as a result, the end tool 100 performs a pitch motion while rotating.

[0136] That is, the surgical instrument 10 according to the first embodiment of the present invention has a pulley 131 of the end tool 100, pulleys 231 and 232 of the operating part 200, and wires 303 and 304 of the power transmission part 300, so as to transmit the power for the pitch movement, thereby improving the reliability of the movement by more perfectly transmitting the driving force of the pitch movement of the operating part 200 to the end tool 100.

[0137] The diameters of the pulleys 113, 114, 123 and 124 as the end tool jaw pitch main pulleys and the pulley 131 as the end tool pitch pulley may be the same or different. In this case, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of the operation portion pitch main pulley of the operation portion 200 to be described later to the diameter of the operation portion pitch wire pulley. This will be described in more detail below.

[0138] (Operation Department)

[0139] Figures 7 to 9 for Figure 2 A perspective view of the operating portion of a surgical instrument. Fig.10 The schematic diagram is a diagram simply showing the configuration of the pulley and the wire, wherein the pulley and the wire constitute as follows Figure 2 The joints of the surgical instruments are shown.

[0140] See also Figures 2 to 10 According to the surgical instrument 10 of the first embodiment of the present invention, the operating part 200 includes: a first handle 204, which can be grasped by a user; an actuation operating part 203, which is used to control the actuation movement of the end tool 100; a yaw operating part 202, which is used to control the yaw movement of the end tool 100; and a pitch operating part 201, which is used to control the pitch movement of the end tool 100. It can be understood that Figure 7 and Figure 8 Only the component elements related to the pitch / yaw / actuation motion of the surgical instrument 10 are shown.

[0141] The operating part 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217, and 218 associated with the rotational movement of the first jaw 101. And may include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 associated with the rotational movement of the second jaw 102. In addition, the operating part 200 may include pulleys 231, 232, 233, and 234 associated with the pitching movement of the end tool. In addition, a pulley 235 may be included, which is provided at intervals in the curved portion 402 of the connecting part 400 as an intermediate pulley.

[0142] Although the drawings show that the pulleys facing each other are formed in parallel, the concept of the present invention is not limited thereto, and each pulley may be formed in various positions and sizes suitable for the configuration of the operating portion.

[0143] In addition, the operating part 200 of the first embodiment of the present invention may include a rotation axis 241, a rotation axis 242, a rotation axis 243, a rotation axis 244, a rotation axis 245, and a rotation axis 246. Among them, the rotation axis 241 can be used as the operating part first jaw actuation rotation axis, and the rotation axis 242 can be used as the operating part second jaw actuation rotation axis. In addition, the rotation axis 243 can be used as the operating part yaw main rotation axis, and the rotation axis 244 can be used as the operating part yaw secondary rotation axis. In addition, the rotation axis 245 can be used as the operating part pitch secondary rotation axis, and the rotation axis 246 can be used as the operating part pitch main rotation axis.

[0144] The rotation axis 241 / the rotation axis 242 , the rotation axis 243 , the rotation axis 244 , the rotation axis 245 , and the rotation axis 246 may be sequentially disposed from a distal end 205 to a proximal end 206 of the operation portion 200 .

[0145] One or more pulleys may be inserted into each of these rotating shafts (rotating shaft 241 , rotating shaft 242 , rotating shaft 243 , rotating shaft 244 , rotating shaft 245 , and rotating shaft 246 ), which will be described in detail below.

[0146] The pulley 210 is used as an operating part first jaw actuating pulley, and the pulley 220 is used as an operating part second jaw actuating pulley. These components may also be collectively referred to as operating part actuating pulleys.

[0147] The pulley 211 and the pulley 212 are used as the main yaw pulleys of the first jaw of the operating part, and the pulley 221 and the pulley 222 are used as the main yaw pulleys of the second jaw of the operating part. These components can also be collectively referred to as the main yaw pulleys of the operating part.

[0148] The pulley 213 and the pulley 214 are used as the yaw auxiliary pulleys of the first jaw of the operating part, and the pulley 223 and the pulley 224 are used as the yaw auxiliary pulleys of the second jaw of the operating part. These components can also be collectively referred to as the yaw auxiliary pulleys of the operating part.

[0149] The pulleys 215 and 216 are used as the first jaw pitching auxiliary pulleys of the operating part, and the pulleys 225 and 226 are used as the second jaw pitching auxiliary pulleys of the operating part. These components can also be collectively referred to as the operating part pitching auxiliary pulleys.

[0150] Pulley 217 and pulley 218 are used as main pulleys for pitching the first jaw of the operating part, and pulley 227 and pulley 228 are used as main pulleys for pitching the second jaw of the operating part. These components can also be collectively referred to as main pulleys for pitching the operating part.

[0151] The pulleys 231 and 232 are used as operating section pitch wire main pulleys, and the pulleys 233 and 234 are used as operating section pitch wire auxiliary pulleys.

[0152] The constituent elements are classified as follows from the perspective of the operation portion for each motion (pitch / yaw / actuation).

[0153] The pitch operation unit 201 is used to control the pitch movement of the end tool 100, and may include pulleys 215, 216, 217, 218, 225, 226, 227, 228, 231, 232, and 234. In addition, the pitch operation unit 201 may include a rotation axis 245 and a rotation axis 246. In addition, the pitch operation unit 201 may further include a pitch frame 208.

[0154] The yaw operation unit 202 is used to control the yaw movement of the end tool 100, and may include a pulley 211, a pulley 212, a pulley 213, a pulley 214, a pulley 221, a pulley 222, a pulley 223, and a pulley 224. In addition, the yaw operation unit 202 may include a rotation shaft 243 and a rotation shaft 244. In addition, the yaw operation unit 202 may further include a yaw frame 207.

[0155] The actuation operation part 203 is used to control the actuation movement of the end tool 100, and may include a pulley 210, a pulley 220, a rotation shaft 241, and a rotation shaft 242. In addition, the actuation operation part 203 may further include a first actuation operation part 251 and a second actuation operation part 256.

[0156] The constituent elements of the operating portion 200 will be described in more detail below.

[0157] The first handle 204 can be grasped by the user, and in particular, the user can wrap his palm around the first handle 204. In addition, an actuation operation unit 203 and a yaw operation unit 202 are formed on the first handle 204, and a pitch operation unit 201 is formed on one side of the yaw operation unit 202. In addition, the other end of the pitch operation unit 201 is connected to the bent portion 402 of the connecting portion 400.

[0158] The actuation operation part 203 includes a first actuation operation part 251 and a second actuation operation part 256. The first actuation operation part 251 includes a rotation shaft 241, a pulley 210, a first actuation extension part 252 and a first actuation gear 253. The second actuation operation part 256 includes a rotation shaft 242, a pulley 220, a second actuation extension part 257 and a second actuation gear 258. The ends of the first actuation extension part 252 and the second actuation extension part 257 can be formed into a finger ring shape and act as a second handle.

[0159] Among them, the rotation axis 241 and the rotation axis 242 as the actuation rotation axis can form a predetermined angle with the XY plane formed with the connection part 400. For example, the rotation axis 241 and the rotation axis 242 can be formed in a direction parallel to the Z axis. In this state, when the pitch operation unit 201 or the yaw operation unit 202 rotates, the coordinate system of the actuation operation unit 203 can be relatively changed. Of course, the idea of ​​the present invention is not limited to this. Through ergonomic design, the rotation axis 241 and the rotation axis 242 can be formed in various directions to adapt to the hand structure of the user who grasps the actuation operation unit 203.

[0160] On the other hand, the pulley 210, the first actuating extension 252 and the first actuating gear 253 may be fixedly coupled to each other and rotate together about the rotation axis 241. The pulley 210 may consist of one pulley, or may consist of two pulleys fixedly coupled to each other.

[0161] Likewise, the pulley 220, the second actuating extension 257, and the second actuating gear 258 may be fixedly coupled to each other and rotate together about the rotation axis 242. The pulley 220 may consist of one pulley, or may consist of two pulleys fixedly coupled to each other.

[0162] Among them, the first actuating gear 253 and the second actuating gear 258 can be meshed with each other, and when either side rotates, they rotate together in opposite directions to each other.

[0163] The yaw operation part 202 may include a rotation shaft 243, pulleys 211 and 212 as the first jaw yaw main pulleys of the operation part, pulleys 221 and 222 as the second jaw yaw main pulleys of the operation part, and a yaw frame 207. In addition, the yaw operation part 202 may further include pulleys 213 and 214 as the first jaw yaw secondary pulleys of the operation part formed on one side of the pulleys 211 and 212, and pulleys 223 and 224 as the second jaw yaw secondary pulleys of the operation part formed on one side of the pulleys 221 and 222. Among them, the pulleys 213 and 214 and the pulleys 223 and 224 may be combined with the pitch frame 208 to be described later.

[0164] In the drawings, although the yaw operation unit 202 is shown to include pulleys 211 and 212 and pulleys 221 and 222, and the pulleys 211 and 212 and the pulleys 221 and 222 respectively have two pulleys facing each other and rotatable independently, the concept of the present invention is not limited thereto. That is, according to the configuration of the yaw operation unit 202, one or more pulleys with the same or different diameters may be provided.

[0165] In detail, a rotation axis 243 is formed on one side of the actuation operation part 203 on the first handle 204 , which serves as the main rotation axis of the operation part yaw. At this time, the first handle 204 can rotate around the rotation axis 243 .

[0166] The rotation axis 243 may form a predetermined angle with the XY plane formed with the connection portion 400. For example, the rotation axis 243 may be formed in a direction parallel to the Z axis, and when the pitch operation portion 201 rotates in this state, as described above, the coordinate system of the rotation axis 243 may be relatively changed. Of course, the concept of the present invention is not limited thereto, and through ergonomic design, the rotation axis 243 may be formed in various directions to adapt to the hand structure of the user who grasps the operation portion 200.

[0167] On the other hand, the pulleys 211 and 212 and the pulleys 221 and 222 are combined with the rotating shaft 243 so that they can rotate around the rotating shaft 243. In addition, the wire 301 or the wire 305 as the first jaw wire can be wound around the pulleys 211 and 212, and the wire 302 or the wire 306 as the second jaw wire can be wound around the pulleys 221 and 222. At this time, the pulleys 211 and 212 and the pulleys 221 and 222 can be respectively composed of two pulleys facing each other and independently rotatable. Thus, the wire to be wound in and the wire to be wound out can be respectively wound on separate pulleys so that they do not interfere with each other during operation.

[0168] The yaw frame 207 rigidly connects the first handle 204 , the rotation axis 241 , the rotation axis 242 , and the rotation axis 243 , so that the first handle 204 , the yaw operation unit 202 , and the actuation operation unit 203 can integrally perform yaw rotation around the rotation axis 243 .

[0169] The pitch operation part 201 may include a rotation axis 246, a pulley 217 and a pulley 218 as a first jaw pitch main pulley of the operation part, a pulley 227 and a pulley 228 as a second jaw pitch main pulley of the operation part, and a pitch frame 208. In addition, the pitch operation part 201 may further include a rotation axis 245, a pulley 215 and a pulley 216 as a first jaw pitch secondary pulley of the operation part formed on one side of the pulley 217 and the pulley 218, and a pulley 225 and a pulley 226 as a second jaw pitch secondary pulley of the operation part formed on one side of the pulley 227 and the pulley 228. The pitch operation part 201 may be connected to the curved portion 402 of the connecting portion 400 via the rotation axis 246.

[0170] Specifically, the pitch frame 208 is a base frame of the pitch operation unit 201, and one end portion thereof is rotatably coupled to the rotation axis 243. That is, the yaw frame 207 is rotatable about the rotation axis 243 relative to the pitch frame 208.

[0171] As described above, since the yaw frame 207 connects the first handle 204, the rotation axis 243, the rotation axis 241, and the rotation axis 242, and the yaw frame 207 is axially coupled with the pitch frame 208, when the pitch frame 208 pitches and 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 perform pitch rotation 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. In other words, when the user pitches and rotates the first handle 204 around the rotation axis 246, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 move together.

[0172] The pulleys 217 and 218 and the pulleys 227 and 228 are coupled to the rotation axis 246 so as to be rotatable around the rotation axis 246 of the pitch frame 208 .

[0173] Among them, the pulley 217 and the pulley 218 can be formed to face each other and can rotate independently. Thus, the wire to be wound in and the wire to be wound out can be wound on different pulleys respectively, so that they do not interfere with each other during operation. Similarly, the pulley 227 and the pulley 228 can also be formed to face each other and can rotate independently. Thus, the wire to be wound in and the wire to be wound out can be wound on different pulleys respectively, so that they do not interfere with each other during operation.

[0174] Next, the wires 303 and 304 serving as the elevation wires operate as follows.

[0175] In the end tool 100, the pulley 131 as the end tool pitch pulley is fixedly coupled to the end tool center 180, and in the operating unit 200, the pulleys 231 and 232 as the operating unit pitch wire pulleys are fixedly coupled to the pitch frame 208. In addition, these pulleys can be connected to each other through wires 303 and 304 as pitch wires, so that the pitch action of the end tool 100 can be more easily performed according to the pitch operation of the operating unit 200. Among them, the wire 303 is fixedly coupled to the pitch frame 208 through the pulleys 231 and 233, and the wire 304 is fixedly coupled to the pitch frame 208 through the pulleys 232 and 234. That is, by the pitch rotation of the operating part 200, the pitch frame 208 rotates together with the pulleys 231 and 232 around the rotation axis 246, and as a result, the wires 303 and 304 also move accordingly, thereby transmitting additional pitch rotation power in addition to the pitch movement of the end tool performed by the wires 301, 302, 305 and 306 serving as the jaw wires.

[0176] The connection relationships between the first handle 204 and the pitch operation unit 201, the yaw operation unit 202, and the actuation operation unit 203 are summarized as follows. The first handle 204 may be formed with a rotation axis 241, a rotation axis 242, a rotation axis 243, a rotation axis 244, a rotation axis 245, and a rotation axis 246. At this time, since the rotation axis 241 and the rotation axis 242 are directly formed on the first handle 204, the first handle 204 and the actuation operation unit 203 may be directly connected. On the other hand, since the rotation axis 243 is directly formed on the first handle 204, the first handle 204 and the yaw operation unit 202 may be directly connected. On the other hand, since the pitch operation unit 201 is connected to the yaw operation unit 202 on one side of the yaw operation unit 202, the pitch operation unit 201 is not directly connected to the first handle 204, and the pitch operation unit 201 and the first handle 204 may be indirectly connected through the yaw operation unit 202.

[0177] Continuing to refer to the drawings, in the surgical instrument 10 according to the first embodiment of the present invention, the pitch operation part 201 and the end tool 100 can be formed on the same or parallel axis (X axis). That is, the rotation axis 246 of the pitch operation part 201 is formed at one end of the curved part 402 of the connecting part 400, and the end tool 100 is formed at the other end of the connecting part 400.

[0178] In addition, one or more intermediate pulleys 235 for changing or guiding the path of the wire can be provided at intervals in the connecting portion 400, particularly in the curved portion 402. At least a portion of the wire is wound around such intermediate pulleys 235 to guide the path of the wire, so that the wire can be arranged along the curved shape of the curved portion 402.

[0179] Although the connecting portion 400 is shown in the drawings as having a curved portion 402 and being curved to have a predetermined curvature, the concept of the present invention is not limited thereto, and the connecting portion 400 may be formed in a straight line as required, or may be curved at least once. In this case, it can also be said that the pitch operating portion 201 and the end tool 100 are formed on substantially the same or parallel axes. Figure 3 2 shows that the pitch operation unit 201 and the end tool 100 are respectively formed on axes parallel to the X-axis, but the concept of the present invention is not limited thereto, and the pitch operation unit 201 and the end tool 100 may also be formed on different axes.

[0180] On the other hand, if the curved portion connecting the connection portion and the operation portion, that is, the arc-shaped frame is formed too high, when the user holds a surgical instrument in each hand and uses them simultaneously, interference may occur between the mechanical frames.

[0181] The surgical instrument according to the first embodiment of the present invention is characterized in that the height of the arc-shaped frame is reduced to minimize interference between machines when multiple surgical instruments are used simultaneously, but the functions thereof are not affected.

[0182] To this end, by increasing the pitch motion ratio of the end tool to the operating part, the operating part will not be interfered by the arc frame even if the end tool is rotated to the bottom. That is, even if the operating part is slightly rotated, the end tool is allowed to rotate greatly to reduce the rotation amount of the operating part, thereby reducing the height of the arc frame.

[0183] For this reason, the rotation amount can be adjusted by setting the diameter of the pulley of the end tool related to the pitching motion and the diameter of the pulley of the operating portion to be different from each other, which will be described in detail later.

[0184] (actuation action, yaw action, pitch action)

[0185] The actuation action, yaw action and pitch action in this embodiment are as follows.

[0186] First, the actuation action is as follows.

[0187] When the user inserts the index finger into the finger loop formed on the first actuation extension 252 and the thumb into the finger loop formed on the second actuation extension 257, and rotates the actuation extension 252 and the actuation extension 257 with one or two fingers, the pulley 210 and the first actuation gear 253 fixedly coupled to the first actuation extension 252 rotate around the rotation axis 241, and the pulley 220 and the second actuation gear 258 fixedly coupled to the second actuation extension 257 rotate around the rotation axis 242. At this time, since the pulleys 210 and 220 rotate in opposite directions, the wires 301 and 305, one end of which is fixedly coupled to the pulley 210 and wound thereon, and the wires 302 and 306, one end of which is fixedly coupled to the pulley 220 and wound thereon, also move in opposite directions. And, this rotational force is transmitted to the end tool 100 through the power transmission unit 300, so that the two jaws 103 of the end tool 100 perform an actuation action.

[0188] Here, the actuation action refers to the action of opening or closing the jaws (jaw 101 and jaw 102) while the two jaws (jaw 101 and jaw 102) rotate in opposite directions to each other, as described above. That is, when the actuation extension 252 and the actuation extension 257 of the actuation operation part 203 rotate in a direction approaching each other, the first jaw 101 rotates counterclockwise and the second jaw 102 rotates clockwise, thereby closing the end tool 100. On the contrary, when the actuation extension 252 and the actuation extension 257 of the actuation operation part 203 rotate in a direction away from each other, the first jaw 101 rotates clockwise and the second jaw 102 rotates counterclockwise, thereby opening the end tool 100.

[0189] In this embodiment, in order to perform the above-mentioned actuation operation, the first actuation extension 252 and the second actuation extension 257 are provided to form a second handle, and the operation can be performed by grasping with two fingers. However, for the configuration of the actuation operation portion 203 for the actuation operation of opening and closing the two jaws of the end tool 100, there can be other modifications, for example, different from the above, the two actuation pulleys (pulley 210, pulley 220) are operated oppositely to each other through one actuation rotating portion, etc.

[0190] Next, the yaw action is as follows.

[0191] When the user rotates the first handle 204 around the rotation axis 243 while holding the first handle 204, the actuation operator 203 and the yaw operator 202 yaw and rotate around the rotation axis 243. That is, when the pulley 210 of the first actuation operator 251 fixedly coupled to the wires 301 and 305 rotates around the rotation axis 243, the wires 301 and 305 wound around the pulleys 211 and 212 are moved. Similarly, when the pulley 220 of the second actuation operator 256 fixedly coupled to the wires 302 and 306 rotates around the rotation axis 243, the wires 302 and 306 wound around the pulleys 221 and 222 are moved. At this time, the wires 301 and 305 connected to the first jaw 101 and the wires 302 and 306 connected to the second jaw 102 are wound around the pulleys 211 and 212 and the pulleys 221 and 222 so that the first jaw 101 and the second jaw 102 rotate in the same direction when performing the yaw rotation. And, this rotational force is transmitted to the end tool 100 through the power transmission unit 300, so that the two jaws 103 of the end tool 100 perform a yaw action of rotating in the same direction.

[0192] At this time, since the yaw frame 207 connects the first handle 204 , the rotation axis 241 , the rotation axis 242 , and the rotation axis 243 , the first handle 204 , the yaw operator 202 , and the actuation operator 203 may rotate together around the rotation axis 243 .

[0193] Next, the pitch action is as follows.

[0194] When the user rotates the first handle 204 around the rotation axis 246 while holding the first handle 204, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 perform pitch rotation around the rotation axis 246. That is, when the pulley 210 of the first actuation operation unit 251 fixedly coupled to the wires 301 and 305 rotates around the rotation axis 246, the wires 301 and 305 wound around the pulleys 217 and 218 are moved. Similarly, when the pulley 220 of the second actuation operation unit 256 fixedly coupled to the wires 302 and 306 rotates around the rotation axis 246, the wires 302 and 306 wound around the pulleys 227 and 228 are moved. At this time, as shown in reference Figure 6As described above, the wire 301 and the wire 305 as the first jaw wire move in the same direction, and the wire 302 and the wire 306 as the second jaw wire move in the same direction. The wire 301, the wire 305, the wire 302 and the wire 306 as the jaw wire are respectively wound on the pulley 217, the pulley 218, the pulley 227 and the pulley 228 as the main pulleys of the pitching of the operation part, so that the first jaw 101 and the second jaw 102 can perform pitching rotation. And, this rotational force is transmitted to the end tool 100 through the power transmission part 300, so that the two jaws (jaw) 103 of the end tool 100 perform pitching action.

[0195] At this time, since the pitch frame 208 is connected to the yaw frame 207, and 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 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.

[0196] In summary, the surgical instrument 10 according to an embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and the rotation operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes the movement of each wire, resulting in the desired action of the end tool 100. Furthermore, an auxiliary pulley can be formed on one side of each pulley, and through these auxiliary pulleys, the wire will not be wound around one pulley multiple times.

[0197] Fig.10 The schematic diagram is a diagram simply showing the configuration of the pulley and the wire, wherein the pulley and the wire constitute as follows Figure 2 The joints of the surgical instrument 10 according to one embodiment of the present invention are shown. Fig.10 In the present invention, the intermediate pulley for changing the wire path is omitted regardless of the joint action.

[0198] See also Fig.10 The operating part 200 may include pulleys 210 , 211 , 212 , 213 , 214 , 215 , 216 , 217 , and 218 associated with the rotational movement of the first jaw 101 .

[0199] Furthermore, the operating portion 200 may include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 associated with the rotational movement of the second jaw 102. (Since the arrangement and configuration of each pulley in the operating portion 200 are the same as those in the end tool 100 in principle, some specific reference numerals in the drawings are omitted.)

[0200] Pulleys 211 and 212 and pulleys 221 and 222 can rotate independently of each other around the same axis of rotation shaft 243. At this time, pulleys 211 and 212 and pulleys 221 and 222 can be composed of two pulleys facing each other and independently rotatable.

[0201] The pulleys 213 and 214 and the pulleys 223 and 224 can rotate independently of each other around the rotation axis 244 as the same axis. At this time, the pulleys 213 and 214 can be composed of two pulleys facing each other and independently rotatable, wherein the two pulleys can have different diameters. Similarly, the pulleys 223 and 224 can be composed of two pulleys facing each other and independently rotatable, wherein the two pulleys can have different diameters.

[0202] The pulleys 215 and 216 and the pulleys 225 and 226 can rotate independently of each other around the rotation axis 245 as the same axis. At this time, the pulleys 215 and 216 can have different diameters. Also, the pulleys 225 and 226 can have different diameters.

[0203] The pulleys 217 and 218 and the pulleys 227 and 228 can rotate independently of each other around the rotation axis 246 which is the same axis.

[0204] The wire 301 passes through the pulley 217, the pulley 215, the pulley 213, and the pulley 211 of the operation part 200 in sequence, and is wound around the pulley 210, and then is coupled to the pulley 210 through the fastener 324. On the other hand, the wire 305 passes through the pulley 218, the pulley 216, the pulley 214, and the pulley 212 of the operation part 200 in sequence, and is coupled to the pulley 210 through the fastener 324. Therefore, when the pulley 210 rotates, the wire 301 and the wire 305 are wound around or released on the pulley 210 accordingly, so that the first jaw 101 rotates.

[0205] The wire 306 passes through the pulley 227, the pulley 225, the pulley 223, and the pulley 221 of the operation part 200 in sequence, and then is wound around the pulley 220, and then is coupled to the pulley 220 via the fastener 327. On the other hand, the wire 302 passes through the pulley 228, the pulley 226, the pulley 224, and the pulley 222 of the operation part 200 in sequence, and then is coupled to the pulley 220 via the fastener 327. Therefore, when the pulley 220 rotates, the wire 302 and the wire 306 are wound around or released on the pulley 220 accordingly, so that the second jaw 102 rotates.

[0206] (Pulleys related to pitch)

[0207] Fig.11 for Figure 2 A perspective view of the pitch motion of surgical instruments. Fig.12 and Fig.13 Schematic diagrams for explaining the configuration of pulleys and wires for the first jaw and the second jaw, respectively, wherein the pulleys and the wires are connected to the Figure 2 The figure is related to the pitching movement of the surgical instrument 10 according to one embodiment of the present invention. Fig.12 FIG. 1 is a schematic diagram showing only the pulley and wire associated with the first jaw. Fig.13 FIG. 4 is a schematic diagram showing only the pulley and wire associated with the second jaw. Figure 6 As shown in FIG. 1 , there are two pulleys associated with the pitching action, and the two branches of each wire are wound along the same path, so that Fig.12 and Fig.13 It is represented as a single line in .

[0208] Fig.14 To describe and Figure 2 The conceptual diagram of the pitch motion related to the diameter ratio of the pitch pulley of the surgical instrument shown in FIG. Figures 15 to 17 This is a side view of the pitching action of the surgical instrument according to the first embodiment of the present invention. Fig.15 A diagram showing the state of the control unit when the end tool is parallel to the first direction, that is, when no pitching action is performed, Fig.16 A diagram showing the rotation radius of the operating portion when the end tool is rotated +90°, Fig.17 A diagram showing the rotation radius of the operating portion when the end tool is rotated by -90°.

[0209] See also Fig.12 When the first handle 204 rotates around the rotation axis 246 in the direction of arrow OPP1, the pulleys 210, 215, 217, etc. and the wire 301 wound thereon, etc. rotate around the rotation axis 246 as a whole. Fig.12As shown in FIG. 1 , the wire 301 and the wire 305 as the first jaw wire are wound around the pulley 217 and the pulley 218, thereby moving in the direction of the arrow W1. Figure 5 As shown, the first jaw 101 of the end tool 100 rotates in the direction of arrow EPP1.

[0210] See also Fig.13 When the first handle 204 rotates around the rotation axis 246 in the direction of arrow OPP2, the pulleys 220, 225, 227, etc. and the wire 302 wound thereon, etc. rotate around the rotation axis 246 as a whole. Fig.13 As shown in FIG. 1 , the wire 302 and the wire 306 as the second jaw wire are wound under the pulley 227 and the pulley 228, thereby moving in the direction of the arrow W2. As a result, as shown in FIG. Figure 5 As shown, the second jaw 102 of the end tool 100 rotates in the direction of arrow EPP2.

[0211] Therefore, the actuation operation, the yaw operation, and the pitch operation can be operated independently of each other.

[0212] As shown in FIG. 1 , the rotation axes of the actuation operator 203 , the yaw operator 202 , and the pitch operator 201 are located behind each operator, and their configuration is consistent with the joint configuration of the end tool, so the user can perform intuitively consistent operations.

[0213] In particular, the surgical instrument 10 according to an embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and the rotation operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes the movement of each wire, resulting in the desired action of the end tool 100. Further, auxiliary pulleys can be formed on one side of each pulley, and these auxiliary pulleys can prevent the wire from being wound around one pulley multiple times, so that the wires wound around the pulleys do not contact each other, and the path for the wire to be wound in and out of the pulley is safely formed, thereby improving the safety and efficiency of the power transmission of the wire.

[0214] On the other hand, as described above, the yaw 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 yaw operation unit 202 and the actuation operation unit 203 also rotate together with the first handle 204. Therefore, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 is not fixed, but constantly changes with respect to the rotation of the first handle 204. That is, Figure 2, etc., that the yaw operation unit 202 and the actuation operation unit 203 are parallel to the Z axis. However, when the first handle 204 rotates, the yaw operation unit 202 and the actuation operation unit 203 are not parallel to the Z axis. That is, the coordinate systems of the yaw operation unit 202 and the actuation operation unit 203 change according to the rotation of the first handle 204. However, in this specification, for the convenience of description, unless otherwise specified, the coordinate systems of the yaw operation unit 202 and the actuation operation unit 203 are described with reference to the state in which the first handle 204 is perpendicular to the connection portion 400, as shown in FIG. Figure 2 shown.

[0215] (Pulleys related to pitch)

[0216] Each pulley of the operation portion 200 and each pulley of the end tool 100 are in a corresponding relationship with each other.

[0217] First, the pitch pulley will be described.

[0218] Specifically, the pulleys 113, 114, 123, and 124 that perform pitch motion while rotating around the pitch rotation axis 143 of the end tool 100 and the first jaw pitch pulley 217, the first jaw pitch pulley 218, the second jaw pitch pulley 227, and the second jaw pitch pulley 228 that perform pitch motion while rotating around the pitch rotation axis 246 in the operating part 200 form a corresponding relationship with each other.

[0219] Among them, for the sake of convenience, pulley 113, pulley 114, pulley 123 and pulley 124 of the end tool 100 are grouped together and called the end tool jaw pitch main pulley, and the first jaw pitch pulley 217, first jaw pitch pulley 218, second jaw pitch pulley 227 and second jaw pitch pulley 228 of the operating part 200 are grouped together and called the operating part pitch main pulley.

[0220] In short, when the operating portion pitch main pulley rotates around the pitch rotation axis 246 , the end tool jaw pitch main pulley rotates around the end tool pitch rotation axis 143 and performs a pitch motion.

[0221] Among them, this embodiment is characterized in that the diameters of the end tool jaw pitch main pulley (at least a part of it) and the operating part pitch main pulley (at least a part of it) are formed to be different from each other. In addition, it is characterized in that, since the diameters of the end tool jaw pitch main pulley (at least a part of it) and the operating part pitch main pulley (at least a part of it) are formed to be different from each other, the rotation angle of the end tool jaw pitch main pulley (at least a part of it) and the rotation angle of the operating part pitch main pulley (at least a part of it) are different from each other. This will be described in more detail below.

[0222] First, in the pitch motion, the end tool 100 should move within a range of at least +90° to -90° (or greater) based on the Y-axis. In contrast, the operating range of the user's wrist gripping the control unit 200 (although there may be individual differences from person to person) is approximately at least +60° to -60° based on the Y-axis. Therefore, if the rotation angle of the end tool jaw pitch main pulley (at least a portion thereof) and the rotation angle of the operating unit pitch main pulley (at least a portion thereof) are the same as each other, the operating range of the end tool 100 is limited to the operating range of the user's wrist, making it impossible to operate at the desired angle. Alternatively, if the user forcibly bends the wrist at a 90° angle for operation, it will increase the user's fatigue and put pressure on the body, resulting in an ergonomic design.

[0223] In addition, the surgical instrument according to the present invention has a structure formed at the connecting portion (see Figure 3 400) of the bending portion (see Figure 3 402), and the bent portion (see Figure 3 The shape of 402) may also limit the operating range of the operating unit 200.

[0224] Therefore, by forming the diameters of the end tool jaw pitch main pulley (at least a part of it) and the operating part pitch main pulley (at least a part of it) as corresponding pitch driving pulleys to be different from each other, the rotation angle of the end tool jaw pitch main pulley (at least a part of it) and the rotation angle of the operating part pitch main pulley (at least a part of it) are adjusted to be different from each other.

[0225] That is, when the operation part pitch main pulley and the end tool jaw pitch main pulley rotate together, the "length" of the wire wound on these pulleys changes in the same way. Therefore, by adjusting the diameter of the pulley around which the wire is wound, when the wire moves the same length, the rotation angle of the pulley around which the wire is wound is made different. Fig.14 As shown, when the radius of the end tool pitch pulley a is ra and the radius of the operating unit pitch pulley b is rb, the rotation ratio of pulley a to pulley b is rb:ra. That is, if the radius rb of the operating unit pitch pulley b is larger than the radius ra of the end tool pitch pulley a, the end tool 100 can be greatly rotated even if the operating unit 200 is slightly rotated.

[0226] In particular, since the corresponding end tool jaw pitch main pulley will rotate at a larger angle even if the operating part pitch main pulley rotates slightly, the diameter of the end tool jaw pitch main pulley (at least a portion of it) can be smaller than the diameter of the operating part pitch main pulley (at least a portion of it).

[0227] in,

[0228] It can be (1:1.5)≤(diameter of the end tool jaw pitch main pulley:diameter of the operating part pitch main pulley)≤(1:4.5).

[0229] This will be described in more detail below.

[0230] As described above, the required operating range of the pitch motion of the end tool 100 is +90° to -90°, while the operating range of the user's wrist grasping the operating part 200 is approximately +60° to -60°. Therefore, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating part pitch main pulley should be at least 1:1.5 or greater, so that the operating range of the user's wrist and the operating range required by the end tool 100 match each other.

[0231] On the other hand, if the user slightly moves the operating part 200, the end tool 100 will also rotate excessively, and a problem arises that precise and accurate operation becomes difficult. Therefore, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating part pitch main pulley cannot be increased too much. The results of the usability evaluation found that when the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating part pitch main pulley is 1:4.5 or more, it is relatively difficult to perform the precise operation expected by the user.

[0232] therefore,

[0233] It can be (1:1.5)≤(diameter of the end tool jaw pitch main pulley:diameter of the operating part pitch main pulley)≤(1:4.5).

[0234] On the other hand, as described above, in order to reduce the height of the curved portion 402, that is, the arc-shaped frame, the rotation amount of the operating part 200 should be reduced compared with the end tool 100. Therefore, it is necessary to change the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating part pitch main pulley to be greater than at least 1:1.5. In addition, in terms of structural design, when the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating part pitch main pulley is 1:3.5 or more, the height of the arc-shaped frame can be reduced to about 10 mm compared with the existing ones.

[0235] Therefore, preferably,

[0236] It can be (1:3.5)≤(diameter of the end tool jaw pitch main pulley:diameter of the operating part pitch main pulley)≤(1:4.5).

[0237] This will be described in detail below.

[0238] For example, if the diameter of the end tool jaw pitch main pulley is 6 mm and the diameter of the operating part pitch main pulley is 15 mm, the rotation ratio of each pulley can be considered to be 2.5:1. That is, if the operating part 200 is pitched by 36°, the end tool 100 is pitched by 90°. In addition, by further adjusting the diameter of the pulley, the rotation amount of the operating part 200 can be reduced compared with the existing one. For example, if the diameter of the end tool jaw pitch main pulley is 4.4 mm and the diameter of the operating part pitch main pulley is 17.6 mm, the rotation ratio of each pulley can be considered to be 4:1, and if the operating part 200 is moved by 22.5°, the end tool 100 may move by 90°.

[0239] Therefore, in the surgical instrument according to the first embodiment of the present invention, Fig.16 and Fig.17 As shown, during the pitch action, the operating range of the end tool 100 is adjusted to +90° to -90°, and the operating range of the operating part 200 is adjusted to about +22.5° to -22.5°, so that the height of the arc-shaped frame serving as the bending part 402 can be reduced, and the degree of reduction is the degree of reduction in the pitch rotation amount of the operating part 200.

[0240] In other words, the conventional surgical instrument requires the operation portion 200 to perform a +36° pitch rotation to enable the end tool 100 to pitch and rotate to +90°, while the surgical instrument of the first embodiment of the present invention only requires the operation portion 200 to perform a +22.5° pitch rotation to enable the end tool 100 to pitch and rotate to +90°, which reduces the operating range of the operation portion 200. Therefore, within the limit that the bending portion 402 does not limit the operating range of the operation portion 200, the shape of the bending portion 402 can be formed to be lower.

[0241] On the other hand, although not shown in the drawings, the surgical instrument 10 according to the present embodiment may further include an end tool pitch pulley formed on the end tool 100 side (see FIG. Figure 5 131 in the figure), an operation portion pitch wire pulley formed on the operation portion 200 side (see Fig. 9 231 and 232 in) and the pitch wires connecting them (see Fig. 9 303 and 304 in FIG. 1 ). At this time, (the diameter of the end tool pitch pulley: the diameter of the operating part pitch wire pulley) may be the same as (the diameter of the end tool jaw pitch main pulley: the diameter of the operating part pitch main pulley).

[0242] First, the end tool pitch pulley 131 will be described.

[0243] The end tool pitch pulley 131 may be formed on the proximal end side of the end of the end tool center 180. The end tool pitch pulley 131 may be formed as one-body with the end tool center 180, but the end tool pitch pulley 131 may be formed as a separate component from the end tool center 180 and combined with the end tool center 180. Figure 4 and Figure 5 As shown, the end tool pitch pulley 131 can perform a pitching action while rotating about the pitch rotation axis 143. On the other hand, the end tool pitch pulley 131 may have a size different from the pulleys 113, 114, 123, and 124, which are pitch pulleys coupled to the same pitch rotation axis 143.

[0244] The end tool pitch pulley 131 rotates together with the rotation of the operation portion pitch wire pulley 231 , which is coupled to one end of the wires 303 and 304 as pitch wires and to the other end of the pitch wire on the operation portion 200 side.

[0245] Next, the action of the pitch wire will be described in detail.

[0246] See also Fig. 9 , the operation part pitch wire pulley 231 can be fixedly coupled to the pitch frame 208 and rotate together. In addition, the pitch wire 303 is fixedly coupled to the pitch frame 208 via the pitch wire auxiliary pulley 233 and the operation part pitch wire pulley 231. As a result, the pitch frame 208 and the operation part pitch wire pulley 231 can rotate together around the pitch rotation axis 246 through the pitch rotation of the operation part 200.

[0247] To explain this in detail, the actions of the pitch wire 303 and the pitch wire 304 are as follows.

[0248] In the end tool 100, the end tool pitch pulley 131 is fixedly coupled to the end tool center 180, and an operation unit pitch wire pulley 231 is formed in the operation unit 200, and they are connected to each other through a pitch wire 303, so that the pitch action of the end tool can be more easily performed according to the pitch operation of the operation unit 200. Among them, the end of the pitch wire 303 is fixedly coupled to the pitch frame 208 through the corresponding pitch wire auxiliary pulley 233 and the operation unit pitch wire pulley 231, and the operation unit pitch wire pulley 231 is also fixedly coupled to the pitch frame 208. Similarly, the end of the pitch wire 304 is fixedly coupled to the pitch frame 208 through the corresponding pitch wire auxiliary pulley 234 and the operation unit pitch wire pulley 232, and the operation unit pitch wire pulley 232 is also fixedly coupled to the pitch frame 208. That is, due to the pitch rotation of the operating part, the pitch frame 208 rotates around the pitch rotation axis 246 together with the operating part pitch wire pulley 231 and the operating part pitch wire pulley 232, and as a result, the two sides of the pitch wire 303 and the pitch wire 304 also move in opposite directions, so that additional pitch rotation power can be transmitted, which is independent of the pitch action of the end tool 100 through the first jaw wire and the second jaw wire.

[0249] In short, when the operation portion pitch wire pulley of the operation portion rotates around the pitch rotation axis 246 , the end tool pitch pulley 131 rotates around the end tool pitch rotation axis 143 and performs a pitch motion.

[0250] The present embodiment is characterized in that the diameters of the end tool pitch pulley 131 and the operating portion pitch wire pulley are different from each other. In addition, the present embodiment is characterized in that, since the diameters of the end tool pitch pulley and the operating portion pitch wire pulley are different from each other, the rotation angle of the end tool pitch pulley and the rotation angle of the operating portion pitch wire pulley are different from each other.

[0251] That is, when the operation part pitch wire pulley and the end tool pitch pulley rotate together, the "length" of the wire wound on these pulleys changes in the same way. Therefore, by adjusting the diameter of the pulley around which the wire is wound, when the wire moves the same length, the rotation angles of the pulleys around which the wire is wound are made different from each other.

[0252] This will be described in more detail below.

[0253] In particular, since even if the operating portion pitch wire pulley rotates slightly, its corresponding end tool pitch pulley rotates at a larger angle, the diameter of the end tool pitch pulley can be smaller than the diameter of the operating portion pitch wire pulley.

[0254] in,

[0255] It may be (1:1.5)≤(diameter of the end tool pitch pulley:diameter of the operation portion pitch wire pulley)≤(1:4.5). This will be described in more detail below.

[0256] As described above, the required operating range of the pitch motion of the end tool 100 is +90° to -90°, while the operating range of the wrist of the user grasping the operating part 200 is approximately +60° to -60°. Therefore, the ratio of the diameter of the end tool pitch pulley to the diameter of the operating part pitch wire pulley should be at least 1:1.5 or more so that the operating range of the user's wrist and the operating range required by the end tool 100 match each other.

[0257] On the other hand, if the end tool 100 rotates excessively even if the user slightly moves the operating part 200, a problem arises in that precise and accurate operation becomes difficult. Therefore, the ratio of the diameter of the end tool pitch pulley to the diameter of the operating part pitch wire pulley cannot be increased too much. The results of the usability evaluation found that when the ratio of the diameter of the end tool pitch pulley to the diameter of the operating part pitch wire pulley is 1:4.5 or more, it is relatively difficult to perform the precise operation desired by the user.

[0258] therefore,

[0259] It can be (1:1.5)≤(diameter of the end tool pitch pulley:diameter of the operation unit pitch wire pulley)≤(1:4.5).

[0260] On the other hand, as described above, in order to reduce the height of the curved portion 402, that is, the arc-shaped frame, the rotation amount of the operating unit 200 should be reduced compared to the end tool 100. Therefore, it is necessary to change the ratio of the diameter of the end tool pitch pulley to the diameter of the operating unit pitch wire pulley to be greater than at least 1:1.5. In addition, in terms of structural design, when the ratio of the diameter of the end tool pitch pulley to the diameter of the operating unit pitch wire pulley is 1:3.5 or more, the height of the arc-shaped frame can be reduced to about 10 mm compared to the prior art.

[0261] Therefore, preferably,

[0262] It can be (1:3.5)≤(diameter of the end tool pitch pulley:diameter of the operation part pitch wire pulley)≤(1:4.5).

[0263] This will be described in detail below.

[0264] For example, if the diameter of the end tool pitch pulley is 6 mm and the diameter of the operating unit pitch wire pulley of the operating unit is 15 mm, the rotation ratio of each pulley can be considered to be 2.5:1. That is, if the operating unit 200 is pitched by 36°, the end tool 100 is pitched by 90°. In addition, by further adjusting the diameter of the pulley, the rotation amount of the operating unit 200 can be reduced compared to the existing one. For example, if the diameter of the end tool pitch pulley is 4.4 mm and the diameter of the operating unit pitch wire pulley is 17.6 mm, the rotation ratio of each pulley can be considered to be 4:1, and if the operating unit 200 is moved by 22.5°, the end tool 100 may move by 90°.

[0265] Therefore, in the surgical instrument according to the first embodiment of the present invention, Fig.16 and Fig.17 As shown, during the pitch action, the operating range of the end tool 100 is adjusted to +90° to -90°, and the operating range of the operating part 200 is adjusted to about +22.5° to -22.5°, so that the height of the arc-shaped frame serving as the bending part 402 can be reduced, and the degree of reduction is the degree of reduction in the pitch rotation amount of the operating part 200.

[0266] In other words, the conventional surgical instrument requires the operation portion 200 to perform a +36° pitch rotation to enable the end tool 100 to pitch and rotate to +90°, while the surgical instrument of the first embodiment of the present invention only requires the operation portion 200 to perform a +22.5° pitch rotation to enable the end tool 100 to pitch and rotate to +90°, which reduces the operating range of the operation portion 200. Therefore, within the limit that the bending portion 402 does not limit the operating range of the operation portion 200, the shape of the bending portion 402 can be formed to be lower.

[0267] <Second Embodiment of Surgical Instrument>

[0268] The surgical instrument 20 according to the second embodiment of the present invention will be described below. Compared with the surgical instrument 10 according to the first embodiment of the present invention, the surgical instrument 20 according to the second embodiment of the present invention is different in terms of the operation integrity of the operating part and the end tool.

[0269] Fig.18 and Fig.19 A side view showing a pitching motion of a surgical instrument according to a second embodiment of the present invention is shown, FIG. 20A to FIG. 20C Shows Fig.17 Conceptual diagram of the pitch motion of surgical instruments. Figure 2As shown, in this figure, the length direction of the connecting portion 1401 of the surgical instrument 20 according to the second embodiment of the present invention is also set as the X-axis, the pitch motion center axis of the operating portion 1200 is set as the Y-axis, and the plane forming the bending portion 1402 is set as the XZ plane. In the description of the present invention, for the sake of convenience, an example is described based on the XY plane, with the bending portion 1402 provided on the top and the operating portion 1200 provided on the bottom. That is, the operating portion 1200 is formed below the bending portion 1402 and the operating portion 1200 is pitched and rotated to approach the bending portion 1402, which is described as the operating portion 1200 rotating upward. However, the idea of ​​the present invention is not limited thereto, and in the surgical instrument, the bending portion can also be formed below the operating portion.

[0270] See also Fig.18 and Fig.19 In the surgical instrument 20 according to the second embodiment of the present invention, in the neutral state where the operating part 1200 is parallel to the first direction (X-axis), the end tool 1100 can be in a state of pitch rotation based on the first direction at a maximum rotation angle. Specifically, when the operating part 1200 is in the neutral state, the end tool 1100 maintains a pitch rotation state of +90°. In other words, in the state where the end tool 1100 performs a +90° pitch rotation, the operating part 1200 is in a non-rotating state, and when the end tool 1100 is in a state parallel to the first direction, the operating part 1200 can be in a downwardly rotated state. Expressing this from another perspective, it can be said that the angle when the end tool 1100 is in a state parallel to the first direction is inconsistent with the angle when the operating part 1200 is in a neutral state.

[0271] On the other hand, see FIG. 20A to FIG. 20C , as shown in FIG20(a), when the operating unit 1200 is in the neutral state, the end tool 1100 is in the state of +90° pitch rotation, so in order to position the end tool 1100 in a state parallel to the first direction, the operating unit 1200 should be rotated by an angle of -. That is, as shown in FIG20(b), the operating unit 1200 is rotated downward compared to the neutral state. In addition, in order to make the end tool 1100 pitch rotate to -90°, the operating unit 1200 should be rotated at a larger angle than the state in FIG20(b).

[0272] Among them, if the rotation ratio of the pitch main pulley of the end tool jaw and the pitch main pulley of the operating part are set as described above, the rotation angle range of the operating part used to rotate the end tool 180 degrees becomes larger. In particular, when the operating part is controlled to rotate the end tool to -90°, the user's wrist is bent 90 degrees or more, and the user's convenience cannot be guaranteed. Therefore, it is necessary to adjust the rotation ratio of the pulley.

[0273] Therefore, as described in the first embodiment, the diameter ratio of the end tool jaw pitch main pulley to the operating portion pitch main pulley can be adjusted as follows.

[0274] Right now,

[0275] It can be (1:3.5)≤(diameter of the end tool jaw pitch main pulley:diameter of the operating part pitch main pulley)≤(1:4.5).

[0276] Likewise, as described in the first embodiment, the diameter ratio of the end tool pitch pulley to the operating portion pitch wire pulley can be adjusted as follows.

[0277] Right now,

[0278] It can be (1:3.5)≤(diameter of the end tool pitch pulley:diameter of the operation part pitch wire pulley)≤(1:4.5).

[0279] On the other hand, in order to make the end tool 1100 in a state of +90° pitch rotation when the operating part 1200 is in a neutral state as described above, it can be achieved by setting an initial tension when the operating part 1200 is rotated by its corresponding - angle when the end tool 1100 is in a state parallel to the first direction. That is, in the assembly stage, the initial position of the end tool can be adjusted by adjusting the length and tension of the wire combined with the pitch pulley.

[0280] The accompanying drawings show a state where the end tool 1100 performs a +90° pitch rotation when the operating unit 1200 is in a neutral state, but the concept of the present invention is not limited thereto. When the end tool 1100 is in a state parallel to the first direction, the operating unit 1200 may be in a state where the end tool 1100 performs a pitch rotation at a predetermined rotation angle based on the first direction. Specifically, the operating unit 1200 is configured so that various situations are possible where the end tool 1100 is in a state parallel to the first direction when the operating unit 1200 performs a pitch rotation along the - direction. For example, if when the operating part 1200 is in a state of -10° pitch rotation, the end tool 1100 is in a state parallel to the first direction, when the operating part 1200 is in a state of -30° pitch rotation, the end tool 1100 is in a state of -90° pitch rotation, and when the operating part 1200 is in a state of +10° pitch rotation, the end tool 1100 is in a state of +90° pitch rotation, the rotation amount of the operating part 1200 in the + direction can be reduced, so that the height of the bending part 1402 can be reduced accordingly. Accordingly, when a plurality of surgical instruments 20 are used simultaneously, the interference between the arc-shaped frames can be minimized.

[0281] <Third Embodiment of Surgical Instrument>

[0282] A surgical instrument 30 according to a third embodiment of the present invention will be described below. Compared with the surgical instrument 10 according to the first embodiment of the present invention, the surgical instrument 30 according to the third embodiment of the present invention is different in the shape of the curved portion.

[0283] Fig.21 FIG. 4 is a side view of a surgical instrument according to a third embodiment of the present invention.

[0284] See also Fig.21 The surgical instrument 30 according to the third embodiment of the present invention includes an end tool 2100 , an operating portion 2200 , a power transmission portion (not shown), and a connecting portion 2400 .

[0285] The connecting part 2400 is in the shape of a hollow shaft and can accommodate one or more wires and electric wires. One end of the connecting part 2400 is combined with the operating part 2200 and the other end is combined with the end tool 2100. The connecting part 2400 can be used to connect the operating part 2200 and the end tool 2100.

[0286] Among them, the surgical instrument 30 according to the third embodiment of the present invention is characterized in that the connecting portion 2400 has a straight portion 2401 and a curved portion 2402, the straight portion 2401 is formed on the side combined with the end tool 2100, and the curved portion 2402 is formed on the side combined with the operating portion 2200. In this way, since the end of the connecting portion 2400 on the operating portion 2200 side is bent, the pitch operating portion 2201, the yaw operating portion 2202, and the actuation operating portion 2203 are formed as an extension line adjacent to the end tool 2100. In another viewpoint, it can be described that at least a part of the pitch operating portion 2201 and the yaw operating portion 2202 is accommodated in a recess formed by the curved portion 2402. The shapes and actions of the operating portion 2200 and the end tool 2100 can be more intuitively matched by the shape of such a curved portion 2402. The end tool 2100 and the operating portion 2200 of this embodiment are substantially the same as the end tool 100 and the operating portion 200 described in the first embodiment, and thus will not be described in detail herein.

[0287] On the other hand, compared with the surgical instrument 10 according to the first embodiment, the surgical instrument 30 according to the third embodiment of the present invention is characterized in that the overall position of the operating portion 2200 is lowered, and the height of the bending portion 2402, ie, the arc-shaped frame is correspondingly lowered.

[0288] In other words, in the surgical instrument 30 according to the third embodiment of the present invention, if the height of the lower end of the operating portion 2200 is reduced by h3 and the height of the upper end of the operating portion 2200 is reduced by h1 compared to the conventional surgical instrument, the height of the bending portion 2402 can also be reduced by h2. That is, assuming that the size of the operating portion 2200 of the surgical instrument 30 according to the third embodiment of the present invention is the same as the size of the operating portion of the conventional surgical instrument, since the basic position of the operating portion 2200 is set lower, the height of the bending portion 2402 can also be formed lower. Therefore, the height of the bending portion 2402 can be reduced without limiting the range of motion of the operating portion 2200.

[0289] <Fourth Embodiment of Surgical Instrument>

[0290] The following describes a surgical instrument 40 according to a fourth embodiment of the present invention. Compared with the surgical instrument 10 according to the first embodiment of the present invention, the surgical instrument 40 according to the fourth embodiment of the present invention is different in the pitch range of the end tool and the operating part.

[0291] Fig. 22 FIG. 4 is a side view of a surgical instrument according to a fourth embodiment of the present invention.

[0292] See also Fig. 22 , a surgical instrument 40 according to the fourth embodiment of the present invention includes an end tool 3100 , an operating portion 3200 , a power transmission portion (not shown), and a connecting portion 3400 .

[0293] Among them, the surgical instrument 40 according to the fourth embodiment of the present invention is characterized in that the connecting part 3400 has a straight part 3401 and a curved part 3402, the straight part 3401 is formed on the side combined with the end tool 3100, and the curved part 3402 is formed on the side combined with the operating part 3200.

[0294] The end tool 3100 and the operating part 3200 of this embodiment are substantially the same as the end tool 100 and the operating part 200 described in the first embodiment, and thus will not be described in detail herein.

[0295] On the other hand, the surgical instrument 40 according to the fourth embodiment of the present invention can limit the range of motion of the operating part 3200 to reduce the height of the bending part 3402, that is, the arc-shaped frame. For example, in the pitch movement of the end tool 3100, in order to make the end tool 3100 perform a +90° pitch rotation, the operating part 3200 also performs a pitch rotation along the + direction on the Z axis. Among them, the interference between the operating part 3200 and the bending part 3402 can be prevented by limiting the + direction pitch rotation of the operating part 3200. That is, in this embodiment, by limiting the pitch movement range of the end tool 3100 and the pitch movement range of the operating part 3200, the height of the bending part 3402 can be reduced accordingly, so when multiple surgical instruments 40 are used at the same time, the interference between the arc-shaped frames can be minimized.

[0296] Through the technical solution of the present invention, the effect of the surgical instrument according to the embodiment of the present invention is that even when multiple machines are used, the interference between the frames can be minimized to increase the use radius of the machines, improve the operator's convenience and surgical speed, etc.

[0297] Above, the preferred embodiments of the present invention are described in detail. It should be understood by those skilled in the art that the present invention can be implemented in a modified form without departing from the essential features of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a restrictive perspective. The scope of the present invention is indicated in the claims rather than in the foregoing description, and all differences within their equivalent ranges should be interpreted as being included in the present invention.

[0298] Description of Reference Numerals

[0299] 10: Surgical instruments

[0300] 100: End tool

[0301] 200: Operation Department

[0302] 300: Power transmission unit

[0303] 400: Connection

Claims

1. A surgical instrument, characterized in that: include: An end tool, comprising one or more rotatable jaws and an end tool jaw pitch main pulley rotatable about an end tool pitch rotation axis; An operating part, which controls the rotation of the end tool; a power transmission portion, comprising one or more jaw wires, the jaw wires being connected to the operating portion and transmitting the rotation of the operating portion to the one or more jaws; and a connecting portion, which is formed to extend along a first direction (X axis), one end of which is combined with the end tool and the other end of which is combined with the operating portion to connect the operating portion and the end tool, and the connecting portion includes a bending portion, which is bent once or multiple times while connecting the end tool and the operating portion, The operating unit comprises: A pitch operating unit, comprising an operating unit pitch main pulley rotatable about a pitch rotation axis to control the pitch movement of the end tool, The diameter of the operating portion pitch main pulley is greater than the diameter of the end tool jaw pitch main pulley.

2. The surgical instrument according to claim 1, characterized in that: The bent portion is bent on a plane perpendicular to the pitch rotation axis of the pitch operation portion.

3. The surgical instrument according to claim 1, characterized in that: The ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the operating part pitch main pulley is (1:3.5) to (1:4.5).

4. The surgical instrument according to claim 1, characterized in that: The end tool jaw pitch main pulley is connected to the operating part pitch main pulley through the one or more jaw wires. When the one or more jaw wires move, the rotation angle of the end tool jaw pitch main pulley is greater than the rotation angle of the operating portion pitch main pulley.

5. The surgical instrument according to claim 4, characterized in that: The ratio of the rotation angle of the operating portion pitch main pulley to the rotation angle of the end tool jaw pitch main pulley is (1:3.5) to (1:4.5).

6. The surgical instrument according to claim 5, characterized in that: When the operating portion is controlled so that the end tool performs pitch rotation at a maximum rotation angle, the curved portion does not contact the operating portion but is maximally adjacent to the rotation radius of the operating portion.

7. The surgical instrument according to claim 1, characterized in that: The end tool comprises: An end tool center and an end tool pitch pulley, wherein the interior of the end tool center can accommodate at least a portion of the jaws, and the end tool pitch pulley is formed at an end portion of the proximal end portion of the end tool center; The power transmission unit further includes: A pitch wire, which is coupled to the end tool pitch pulley to rotate the end tool pitch pulley; The operating unit also includes: an operating part pitch wire pulley around which the pitch wire is wound, The diameter of the operating portion pitch wire pulley is greater than the diameter of the end tool pitch pulley.

8. The surgical instrument according to claim 7, characterized in that: The ratio of the diameter of the end tool pitch pulley to the diameter of the operating portion pitch wire pulley is (1:3.5) to (1:4.5).

9. The surgical instrument according to claim 7, characterized in that: The end tool pitch pulley is connected to the operating part pitch wire pulley through the pitch wire. When the pitch wire moves, the rotation angle of the end tool pitch pulley is greater than the rotation angle of the operation portion pitch wire pulley.

10. The surgical instrument according to claim 9, characterized in that: The ratio of the rotation angle of the operating portion pitch wire pulley to the rotation angle of the end tool pitch pulley is (1:3.5) to (1:4.5).

11. A surgical instrument, characterized in that: include: a tip tool including one or more rotatable jaws; an operating unit, comprising a pitch operating unit for controlling the pitch movement of the end tool and controlling the rotation of the end tool; a power transmission portion, comprising one or more jaw wires, the jaw wires being connected to the operating portion and transmitting the rotation of the operating portion to the one or more jaws; and a connecting portion formed to extend along a first direction (X axis), one end portion being coupled to the end tool and the other end portion being coupled to the operating portion to connect the operating portion and the end tool, and the connecting portion including a bending portion that is bent once or multiple times while connecting the end tool and the operating portion, In a state where the end tool is parallel to the first direction, the operation portion is in a state of being pitch-rotated at a predetermined rotation angle based on the first direction.

12. The surgical instrument according to claim 11, characterized in that: In a neutral state where the operating portion is parallel to the first direction, the end tool is in a state of being pitched and rotated at a maximum rotation angle based on the first direction.

13. The surgical instrument according to claim 11, characterized in that: The end tool also includes: An end tool center and an end tool pitch pulley, wherein the interior of the end tool center can accommodate at least a portion of the jaw, the end tool pitch pulley is formed at an end portion of the proximal end portion of the end tool center, and the power transmission unit further includes: a pitch wire, which is coupled to the end tool pitch pulley to rotate the end tool pitch pulley, The operating unit also includes: an operating part pitch wire pulley around which the pitch wire is wound, The diameter of the operating portion pitch wire pulley is greater than the diameter of the end tool pitch pulley.

14. The surgical instrument according to claim 13, characterized in that: The ratio of the diameter of the end tool pitch pulley to the diameter of the operating portion pitch wire pulley is greater than or equal to (1:3.5) and less than or equal to (1:4.5).

15. The surgical instrument according to claim 13, characterized in that: The end tool pitch pulley is connected to the operating part pitch wire pulley through the pitch wire. When the pitch wire moves, the rotation angle of the end tool pitch pulley is greater than the rotation angle of the operation portion pitch wire pulley.

16. The surgical instrument according to claim 15, characterized in that: The ratio of the rotation angle of the operating portion pitch wire pulley to the rotation angle of the end tool pitch pulley is greater than or equal to (1:3.5) and less than or equal to (1:4.5).

Images