Surgical instrument

Abstract

A surgical instrument includes: an end tool (end tool) including a first jaw (jaw) and a second jaw (jaw) respectively rotatably formed; an operation portion including an actuation operation portion for controlling an actuation movement of the first jaw (jaw) and the second jaw (jaw); and a power transmission portion including a first jaw wire and a second jaw wire that respectively transmits rotation of the operation portion to the first jaw and the second jaw by being connected with the operation portion, in which the actuation operation portion includes: an actuation pulley formed to be rotatable about an actuation rotation axis; a handle member that rotates together by being fixedly coupled with the actuating pulley; and a tensioner that rotates with rotation of the actuation pulley, where the tensioner is in contact with the first jaw wire or the second jaw wire with rotation of the actuation pulley and may apply an additional tension to the first jaw wire or the second jaw wire.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority, based on 35 U.S.C. §119, to Korean Patent Application No. 10-2023-0151160 filed on November 3, 2023, in the Korean Intellectual Property Office, which is incorporated herein in its entirety. Technical Field

[0003] The present invention relates to a surgical instrument, and more particularly to a manually operable surgical instrument for use in laparoscopic surgery or various other surgeries. Background Art

[0004] In medicine, surgery refers to the use of medical instruments to cut or open or operate on the skin, mucous membranes, or other tissues to treat diseases. In particular, laparotomy, which cuts the skin of the surgical site and opens it for treatment, plastic surgery, or removal of internal organs, can cause problems such as bleeding, side effects, pain for the patient, and scarring. Therefore, in recent years, as an alternative, surgery that is performed by forming a predetermined hole in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgery microscopes, or surgery using robots, has attracted much attention.

[0005] A surgical instrument is a tool that a doctor uses to perform surgery on a surgical site by directly manually operating the end tool through a predetermined driving unit or by operating the end tool through a robot arm, wherein the end tool is provided at one end of a shaft that passes through a hole punched in the skin. The end tool provided in the surgical instrument performs rotation, gripping, cutting, etc. through a predetermined structure.

[0006] The above-mentioned background technology is the technical information possessed by the inventor in order to derive the present invention, or the technical information obtained in the process of deriving the present invention, and it should not be considered as necessarily the known technology disclosed to the public before applying for the present invention. Summary of the invention

[0007] The object of the present invention is to provide a surgical instrument that can be manually operated for laparoscopic surgery or various other surgeries, which improves usability by maintaining the movement integrity of the operating part and the end tool and amplifying the grip force (Grip Force) at maximum grip (Grip).

[0008] Other aspects will be described in part below and in part will be obvious based on the description or may be learned by practicing embodiments of the invention.

[0009] One embodiment of the present invention provides a surgical instrument, characterized in that it includes: an end tool, which includes a first jaw and a second jaw that are rotatably formed respectively; an operating part, which includes an actuation operating part for controlling the actuation movement of the first jaw and the second jaw, and controls the action of the end tool; and a power transmission part, which includes a first jaw wire and a second jaw wire, wherein the first jaw wire transmits the rotation of the operating part to the second jaw by connecting to the operating part A jaw, wherein the second jaw wire transmits the rotation of the operating part to the second jaw by being connected to the operating part, wherein the actuation operating part includes: an actuation pulley, which is formed to be rotatable around an actuation rotation axis; a handle member, which rotates together with the actuation pulley by being fixedly combined with the actuation pulley; and a tensioner, which rotates together with the rotation of the actuation pulley, wherein the tensioner contacts the first jaw wire or the second jaw wire as the actuation pulley rotates, and can apply additional tension to the first jaw wire or the second jaw wire.

[0010] In one embodiment of the present invention, the tensioner may be fixedly coupled to the actuating pulley.

[0011] In one embodiment of the present invention, the tensioner and the actuating pulley are formed as a whole, and the actuating pulley can be a non-circular pulley.

[0012] In one embodiment of the present invention, the tensioner may be formed on the handle member.

[0013] In one embodiment of the present invention, the end tool further includes an end tool jaw pulley, which is combined with the first jaw or the second jaw and is formed to be rotatable around the jaw rotation axis. The end tool jaw pulley and the actuating pulley are connected by the at least one or more jaw wires. The diameter of the end tool jaw pulley is formed to be smaller than the diameter of the actuating pulley. When the one or more jaw wires move, the rotation angle of the end tool jaw pulley can be formed to be greater than the rotation angle of the actuating pulley.

[0014] In one embodiment of the present invention, among the rotation angles of the end tool jaw pulley generated by the rotation of the actuating pulley, when the tensioner is in contact with the first jaw wire or the second jaw wire, the rotation angle of the end tool jaw pulley generated by the rotation of the actuating pulley is defined as a first rotation angle, and when the tensioner is spaced apart from the first jaw wire or the second jaw wire, the rotation angle of the end tool jaw pulley generated by the rotation of the actuating pulley is defined as a second rotation angle. At this time, the first rotation angle can be formed to be greater than the second rotation angle.

[0015] In one embodiment of the present invention, the actuation operating part includes: a first actuation operating part and a second actuation operating part, wherein the first actuation operating part includes: a first actuation pulley, which is formed to be rotatable around a first actuation rotation axis; and a first handle component, which rotates together with the first actuation pulley by being fixedly combined, and the second actuation operating part may include: a second actuation pulley, which is formed to be rotatable around a second actuation rotation axis; and a second handle component, which rotates together with the second actuation pulley by being fixedly combined.

[0016] In one embodiment of the present invention, the end tool has a closed state, that is, a state in which the first jaw and the second jaw are in contact with each other, or an open state, that is, a state in which the first jaw is spaced apart from the second jaw, and the actuating operating part has an input angle defined by the angular relationship between the first handle component and the second handle component. When the actuating operating part has an input angle equal to or greater than a predetermined first angle, the end tool is in an open state, and when the actuating operating part has an input angle less than the predetermined first angle, the pressure between the first jaw and the second jaw may change.

[0017] In one embodiment of the present invention, when the actuating operating part has an input angle greater than the first angle, the tensioner does not contact the first jaw wire or the second jaw wire, and when the actuating operating part has an input angle less than the first angle, the tensioner can be in contact with the first jaw wire or the second jaw wire.

[0018] In one embodiment of the present invention, when the actuating operating part has an input angle equal to or greater than the predetermined first angle, elastic deformation does not occur in at least one of the first jaw wire and the second jaw wire, and when the actuating operating part has an input angle less than the predetermined first angle, elastic deformation may occur in at least one of the first jaw wire and the second jaw wire.

[0019] In one embodiment of the present invention, when the actuation operating portion has an input angle less than the predetermined first angle, in order to prevent plastic deformation of at least one of the first jaw wire and the second jaw wire, the input angle may be equal to or greater than the predetermined second angle.

[0020] In one embodiment of the present invention, the second angle may be formed when the first handle member is in contact with the second handle member.

[0021] In one embodiment of the present invention, when the actuating operating part has an input angle less than the predetermined first angle, the force acting on the first jaw wire and the second jaw wire may be greater than the force acting on the first jaw wire and the second jaw wire when the actuating operating part has an input angle greater than the predetermined first angle.

[0022] In one embodiment of the present invention, the end tool further includes a clamping state in which the first contact surface of the first jaw and the second contact surface of the second jaw are in contact with an external object. When the actuating operating part has an input angle equal to or greater than a second angle, the end tool is in an open state, and the angle between the first contact surface and the second contact surface changes with the rotation of at least one of the first handle component and the second handle component. When the actuating operating part has an input angle less than the second angle, the end tool maintains a clamping state, and the pressure between the first contact surface and the second contact surface and the external object can change with the rotation of at least one of the first handle component and the second handle component caused by user input.

[0023] Other aspects, features, and advantages in addition to those described above will become apparent from the following drawings, claims, and summary. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a perspective view showing a surgical instrument according to a first embodiment of the present invention.

[0025] Figure 2 It is shown Figure 1 A perspective view of the end tool of a surgical instrument.

[0026] Figure 3 and Figure 4 It is shown Figure 1 A perspective view of the operating portion of a surgical instrument.

[0027] Figure 5A and Figure 5BThe clamping and pressing mechanism of the surgical instrument according to the first embodiment of the present invention is described by the relationship between the operating portion and the end tool.

[0028] Fig. 6A and Figure 6B The object pressing mechanism of the surgical instrument according to the first embodiment of the present invention is described by the relationship between the operating portion and the end tool.

[0029] Figure 7 This is a diagram that only schematically shows the configuration to describe Figure 1 The movements of the end tool and operating part of the surgical instrument.

[0030] Figure 8 1 is a plan view showing a comparative technique to describe an actuation operation portion of a surgical instrument according to a first embodiment of the present invention.

[0031] Fig. 9 1 is a plan view showing an actuation operation portion of a surgical instrument according to a first embodiment of the present invention.

[0032] Fig.10 1 is a plan view showing an actuation operation portion of a surgical instrument according to a modified example of the first embodiment of the present invention. DETAILED DESCRIPTION

[0033] Embodiments of the present invention will now be described in detail, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements. In this regard, embodiments of the present invention may have different forms and should not be construed as being limited to those described herein. Therefore, embodiments of the present invention are described below only by reference to the accompanying drawings to explain various aspects thereof. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items. Expressions such as "at least one", when appearing before a list of elements, are modifications to the entire list of elements, rather than to a single element in the list.

[0034] Hereinafter, the following embodiments will be described in detail with reference to the accompanying drawings, and when describing with reference to the accompanying drawings, the same reference numerals will be given to the same or corresponding constituent elements, and repeated descriptions thereof will be omitted.

[0035] Since various modifications can be made to this embodiment, specific embodiments will be shown in the drawings and described in detail in the specific embodiments. The effects, features, and methods for implementing them of this embodiment will become clear by referring to the drawings and the following detailed description. However, this embodiment is not limited to the embodiments disclosed below and can be implemented in various forms.

[0036] In the case of describing the present invention, if it is determined that the detailed description of the related known art may obscure the gist of the present invention, the detailed description thereof will be omitted.

[0037] In the following embodiments, unless the context clearly states otherwise, singular expressions include plural expressions. Terms such as first and second can be used to describe various components, but the components should not be limited by the terms. The terms are only used to distinguish one component from other components.

[0038] In the following embodiments, the terms “including” or “having” and the like refer to the presence of features or constituent elements described in the specification, and do not preclude the possibility of adding one or more other features or constituent elements.

[0039] In the following embodiments, when a part of a unit, region, constituent element, etc. is described as being on or over another part, it not only refers to the case where it is directly on the other part but also includes the case where other units, regions, constituent elements, etc. are interposed therebetween.

[0040] In the following embodiments, terms such as “connected” or “coupled” do not necessarily mean a direct and / or fixed connection or coupling of two components, and do not mean to exclude the situation where another component is interposed between the two components, unless the context clearly indicates otherwise.

[0041] In the drawings, the size of the constituent elements may be enlarged or reduced for the convenience of description. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for the convenience of description, and therefore the following embodiments are not necessarily limited to the contents of the drawings.

[0042] A feature of the surgical instrument according to the present invention is that during an actuation action, when the operating portion rotates, the end tool rotates in a direction that is intuitively the same as the operating direction of the operating portion. In the description of the present invention, the actuation action of the surgical instrument will be mainly described, but the concept of the present invention is not limited thereto, and the surgical instrument can of course also perform at least one or more of the pitch and yaw actions. In addition, a feature of the surgical instrument capable of performing such complex actions is that during at least one or more of the pitch, yaw, and actuation actions, when the operating portion rotates in any direction, the end tool rotates in a direction that is intuitively the same as the operating direction of the operating portion.

[0043] Figure 1 is a perspective view showing a surgical instrument according to a first embodiment of the present invention, Figure 2 It is shown Figure 1 A perspective view of the end tool of a surgical instrument in FIG. Figure 3 and Figure 4 It is shown Figure 1 A perspective view of the operating portion of a surgical instrument.

[0044] First, see Figure 1, a surgical instrument 10 according to the first embodiment of the present invention includes an end tool 100 , an operating portion 200 , a power transmission portion (not shown), and a connecting portion 400 .

[0045] Here, the connecting part 400 is formed in a hollow shaft shape, and one or more wires or electric wires can be accommodated therein. The operating part 200 is coupled to one end of the connecting part 400, and the end tool 100 is coupled to the other end of the connecting part 400, so that the connecting part 400 can be used to connect the operating part 200 and the end tool 100.

[0046] Here, the connecting portion 400 of the surgical instrument 10 according to the first embodiment of the present invention is provided with a straight portion 401 and a curved portion 402, and the straight portion 401 is formed on the side combined with the end tool 100, and the curved portion 402 can be formed on the side combined with the operating portion 200. As described above, the end of the connecting portion 400 on the operating portion 200 side is formed in a curved manner, so that the actuating operating portion 203 is formed on the extension line of the end tool 100, or is formed adjacent to the extension line. Describing this from another perspective, it can be described as at least a portion of the operating portion 200 is accommodated in a recess formed by the curved portion 402. The shapes and movements of the operating portion 200 and the end tool 100 can be more intuitively consistent through the shape of the curved portion 402 as described above.

[0047] The operation part 200 is formed at one end of the connection part 400 and has an interface that can be directly manipulated by the doctor, such as a clip-shaped, rod-shaped, and bar-shaped interface. When the doctor manipulates it, the end tool 100 connected to the interface and inserted into the patient's body performs a predetermined action to perform surgery. Figure 3 As shown, the operating part 200 is formed in the shape of a handle that can be rotated by inserting a finger, but the concept of the present invention is not limited thereto, and various forms of operating parts 200 connected to the end tool 100 and capable of operating the end tool 100 are possible.

[0048] The end tool 100 is formed at the other end of the connection part 400 and is inserted into the surgical site to perform the required operation. As an example of the end tool 100 as described above, Figure 2The end tool 100 is a pair of jaws 103 shown in the figure for gripping. However, the concept of the present invention is not limited thereto, and various devices used for surgery can also be used as the end tool 100. For example, a structure such as a single-arm cauterizer can also be used as the end tool. The end tool 100 as described above is connected to the operating part 200 through a power transmission part, and receives the driving force of the operating part 200 through the power transmission part, thereby performing the actions required for the operation, such as gripping, cutting, and suturing actions.

[0049] Here, the end tool 100 of the surgical instrument 10 according to the first embodiment of the present invention is formed to be rotatable in at least one or more directions. For example, the end tool 100 can be formed to rotate around Figure 1 While the Y axis is pitching, Figure 1 The Z-axis performs yaw motion and actuation motion.

[0050] Here, pitch, yaw, and actuation actions used in the present invention are respectively defined as follows.

[0051] First, the pitch motion refers to the extension direction ( Figure 1 The X-axis direction in the vertical direction) is the movement of rotation around Figure 1 In other words, the pitch action refers to the movement of the end tool 100 rotating in the up-down direction around the Y-axis relative to the connection part 400, wherein the end tool 100 is moved from the connection part 400 to the extension direction of the connection part 400 ( Figure 1 The X-axis direction) is extended to form.

[0052] Next, the yaw motion refers to the extension direction ( Figure 1 The X-axis direction in the left and right directions (the X-axis direction in the right and left directions) is the rotation around Figure 1 In other words, the yaw motion refers to the motion of the end tool 100 rotating in the left-right direction around the Z axis relative to the connecting portion 400, wherein the end tool 100 moves from the connecting portion 400 to the extending direction of the connecting portion 400 ( Figure 1 That is, the yaw motion refers to the motion of the two jaws 103 formed on the end tool 100 rotating in the same direction around the Z axis.

[0053] Meanwhile, the actuation action refers to the action of the end tool 100 rotating around the same rotation axis as the yaw action, but the two jaws 103 rotate in opposite directions to each other, and the jaws contract or open. That is, the actuation action refers to the movement of the two jaws 103 formed on the end tool 100 rotating around the Z axis in opposite directions to each other.

[0054] That is, the first jaw and the second jaw may rotate independently of each other while changing the angle around the rotation axis 141. Here, the first jaw and the second jaw rotating independently of each other while changing the angle may be referred to as a "gripping action".

[0055] The power transmission part connects the operation part 200 and the end tool 100 to transmit the driving force of the operation part 200 to the end tool 100 , and may include a plurality of wires, pulleys, links, joints, gears, and the like.

[0056] Hereinafter, intuitive driving of the surgical instrument 10 of the present invention will be described.

[0057] First, the user can perform a pitch action by rotating the first handle 204 around the Y axis (i.e., the rotation axis P) while holding the first handle 204 with the palm, and can perform a yaw action by rotating the first handle 204 around the Z axis (i.e., the rotation axis Y). In addition, the user can perform an actuation action by operating the actuation operation unit 203 while inserting the thumb and index finger into the first handle member 252 and / or the second handle member 257 in the form of a wristband formed at one end of the actuation operation unit 203.

[0058] Here, in the surgical instrument 10 according to the first embodiment of the present invention, when the operating portion 200 rotates in any direction relative to the connecting portion 400, the end tool 100 can rotate in the 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 rotates in any direction, the end tool 100 also rotates in the direction that is intuitively the same as the one direction to perform a pitch motion or a yaw motion. Of course, the same direction here does not mean a direction that is perfectly consistent with the three-dimensional coordinates, but can be understood as, for example, 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.

[0059] The surgical instrument 10 according to the first embodiment of the present invention ensures that the operating direction of the operating part 200 and the operating direction of the end tool 100 are intuitively the same direction. To this end, as shown in the end tool 100, the part of the operating part 200 that actually moves for the actuation action, yaw action and pitch action can be formed to extend in the +X axis direction and exceed the rotation center of the corresponding joint for each action.

[0060] In the following, it will be described in more detail Figure 1 A power transmission part (not shown) of the surgical instrument 10.

[0061] The power transmission part of the surgical instrument 10 according to the first embodiment of the present invention may include one or more wires. Specifically, the power transmission part may include a first jaw wire 301 and a second jaw wire 302, wherein the first jaw wire 301 is connected to the operating part 200 and transmits the rotation of the operating part 200 to the first jaw 101, and the second jaw wire 302 is connected to the operating part 200 and transmits the rotation of the operating part 200 to the second jaw 102.

[0062] In addition, the power transmission part of the surgical instrument 10 according to an embodiment of the present invention may include a fastener (not shown) coupled to each end of each wire to couple the wire and the pulley. Here, each fastener may have various shapes, such as a ball shape or a tube shape, etc., as required.

[0063] The wire can be fixedly coupled to the pulley by coupling the fastener (not shown) to the pulley, so that the pulley can rotate as the wire is pulled and released.

[0064] As a result, when the pulley of the operation part 200 is rotated by a motor or human power, the wire connected to the pulley is pulled and released, so that the pulley of the end tool 100 can be rotated.

[0065] In the following, it will be described in more detail Figure 2 The end tool 100 of the surgical instrument 10 is shown in FIG.

[0066] See also Figure 1 to Figure 2 The end tool 100 of the first embodiment of the present invention has a pair of jaws for gripping, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102 or a component including the first jaw 101 and the second jaw 102 may be referred to as a jaw 103.

[0067] In addition, the end tool 100 may include a pulley 111 associated with the rotational movement of the first jaw 101 and a pulley 121 associated with the rotational movement of the second jaw 102. Here, the pulley 111 and the pulley 121 may be referred to as end tool jaw pulleys, which will be described later.

[0068] Here, although the drawings show that each pulley facing each other is formed in parallel with each other, the concept of the present invention is not limited thereto, and each pulley can be formed at various positions suitable for the configuration of the end tool and can also be formed into various sizes suitable for the configuration of the end tool.

[0069] In addition, the end tool 100 according to the first embodiment of the present invention may include an end tool center 180 .

[0070] A rotating shaft 141 described later is inserted through the end tool center 180, and at least a portion of the pulleys 111 and 121 coupled to the rotating shaft 141 may be accommodated inside the end tool center 180. Here, the rotating shaft 141 may be used as an end tool jaw pulley rotating shaft.

[0071] Pulley 111 is used as the first jaw pulley of the end tool, and pulley 121 is used as the second jaw pulley of the end tool. Pulley 111 can also be called the first jaw pulley, and pulley 121 can also be called the second jaw pulley, and these two components can also be collectively called the end tool jaw pulley.

[0072] The pulley 111 and the pulley 121 as the end tool jaw pulleys are formed to be opposite to each other, and are formed to be able to rotate independently of each other around a rotation axis 141 as the rotation axis of the end tool jaw pulley. Here, although the pulley 111 and the pulley 121 are formed to rotate around one rotation axis 141 in the drawings, each jaw pulley can of course be formed to be able to rotate around a separate axis. Here, the first jaw 101 is fixedly coupled to the pulley 111 so as to rotate together with the pulley 111, and the second jaw 102 is fixedly coupled to the pulley 121 so as to rotate together 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 , a yawing action is performed, and when the pulley 111 and the pulley 121 rotate in opposite directions around the rotation axis 141 , an actuating action is performed.

[0073] Here, the first jaw 101 and the pulley 111 may be formed as separate components to be combined with each other, or the first jaw 101 and the pulley 111 may be formed as a whole (one-body). Similarly, the second jaw 102 and the pulley 121 may be formed as separate components to be combined with each other, or the second jaw 102 and the pulley 121 may be formed as a whole (one-body).

[0074] Meanwhile, in the end tool 100, an auxiliary pulley may be further provided on one side of the pulleys 111 and 121 as the end tool jaw pulleys. That is, another rotating shaft is provided on one side of the rotating shaft 141 parallel to the center of the end tool, and an auxiliary pulley coupled to the rotating shaft may be further provided on one side of the end tool jaw pulley.

[0075] Hereinafter, various actions of the end tool 100 will be described in detail.

[0076] See also Figure 2 , the end tool 100 can perform an actuation action. As an example, the jaw of the end tool can perform a clamping action. As another example, the end tool 100 can perform a yaw action. As yet another example, the end tool 100 can perform a pitch action.

[0077] First, the clamping action of the end tool 100 is described, and the first jaw 101 and the second jaw 102 can rotate while changing the angle around the rotation axis 141. Here, the angle may refer to the relative angle formed by the first jaw 101 and the second jaw 102. That is, the angle may be the angle formed by the first contact surface 1011 of the first jaw 101 and the second contact surface 1021 of the second jaw 102.

[0078] In addition, here, the state in which the first jaw 101 and the second jaw 102 are in contact with each other can be expressed as a "closed state", and the state in which the first jaw 101 and the second jaw 102 form an angle exceeding 0 degrees can be expressed as an "open state". Describing this from another perspective, the closed state can refer to a state in which the first contact surface 1011 and the second contact surface 1021 are in contact with each other. In addition, the open state can refer to a state in which the first contact surface 1011 and the second contact surface 1021 are spaced apart from each other.

[0079] In addition, in order to rotate the first jaw 101 and the second jaw 102 , the end tool 100 includes a pulley 111 coupled to the first jaw 101 and a pulley 121 coupled to the second jaw 102 , and the pulley 111 and the pulley 121 can rotate around a rotation axis 141 .

[0080] In addition, the end tool 100 can perform a clamping action within a predetermined range. Here, the predetermined range for performing the clamping action can be determined in various ways. For example, the predetermined range can be determined by a fixedly combined pulley-wire structure. Specifically, the predetermined range can refer to the rotation range of the first jaw 101 and the second jaw 102 in which no elastic deformation occurs in the wire. That is, the predetermined range can refer to the range in which the first jaw 101 and the second jaw 102 rotate freely. Alternatively, the predetermined range can be determined by the positional relationship between the first jaw 101 / the second jaw 102 and other components (for example, the end tool center 180). That is, the predetermined range can be the rotation range until the first jaw 101 and the second jaw 102 contact the end tool center 180.

[0081] Specifically, according to an embodiment, the first jaw 101 and the second jaw 102 can rotate in a manner of changing the angle within the clamping range G1. Here, the clamping range G1 may refer to the range between the first clamping boundary G2-1 and the second clamping boundary G2-2. Here, in the clamping action, the first clamping boundary G2-1 and the second clamping boundary G2-2 may define the boundaries of the rotation range of the first jaw 101 and the second jaw 102. As an example, the first clamping boundary G2-1 and the second clamping boundary G2-2 may refer to the time point at which elastic deformation occurs in the wire due to the rotation of the pulley 111 and the pulley 121. In other words, within the range between the first clamping boundary G2-1 and the second clamping boundary G2-2, the first jaw 101 and the second jaw 102 rotate freely, and therefore, the range may be described as a portion in which no elastic deformation occurs in the wire.

[0082] In addition, the angle formed by the first clamping boundary G2-1 and the second clamping boundary G2-2 may vary. As an example, the first clamping boundary G2-1 and the second clamping boundary G2-2 may form an angle of 180° with each other. Specifically, the first clamping boundary G2-1 may be relative to the straight portion 401 (see Figure 1 ) forms an angle of +90° with the longitudinal axis thereof, and the second clamping boundary G2-2 is relative to the straight portion 401 (see Figure 1) forms an angle of -90° with respect to the longitudinal axis of the first jaw 101 and the second jaw 102. In other words, the first jaw 101 and the second jaw 102 can perform a clamping movement while rotating until they are respectively relative to the straight portion 401 (see Figure 1 ) until the longitudinal axis forms ±90°.

[0083] In addition, the end tool 100 can perform a clamping-pressurizing action. Here, the clamping-pressurizing action may refer to the first jaw 101 and the second jaw 102 pressing each other when the end tool 100 is in a closed state. Specifically, the clamping-pressurizing action may refer to the first jaw 101 and the second jaw 102 pressing each other with a force corresponding to the additional tension applied to the wire when the first jaw 101 and the second jaw 102 are in contact. Here, the additional tension applied to the wire may be caused by an input applied to the operating part 200, and details about this will be described later.

[0084] See also Figures 1 to 4 According to the first embodiment of the present invention, the operating unit 200 of the surgical instrument 10 includes a first handle 204 for the user to grasp, an actuation operating unit 203 for controlling the actuation motion of the end tool 100, a yaw operating unit 202 for controlling the yaw motion of the end tool 100, and a pitch operating unit 201 for controlling the pitch motion of the end tool 100. Here, it can be understood that Figure 3 and Figure 4 Only the components related to the pitch / yaw / actuation movements of the surgical instrument 10 are shown.

[0085] The operating part 200 may include a pulley 210 and various pulleys related to the rotational movement of the first jaw 101. In addition, the operating part 200 may include a pulley 220 and various pulleys related to the rotational movement of the second jaw 102. In addition, the operating part 200 may include various pulleys related to the pitching movement, and may include a pulley as an intermediate pulley, which is provided at intervals in the curved portion 402 of the connecting part 400.

[0086] Here, although the drawings show that each pulley facing each other is formed in parallel, the concept of the present invention is not limited thereto, and each pulley can be formed at various positions suitable for the configuration of the operating portion and can also be formed into various sizes suitable for the configuration of the operating portion.

[0087] In addition, the operating part 200 of the first embodiment of the present invention may include a rotation axis 241 and a rotation axis 242. Here, the rotation axis 241 is used as the operating part first jaw actuation rotation axis, and the rotation axis 242 may be used as the operating part second jaw actuation rotation axis.

[0088] Pulley 210 serves as a first jaw actuating pulley, and pulley 220 serves as a second jaw actuating pulley, and these two constituent elements may be collectively referred to as actuating pulleys.

[0089] Hereinafter, each constituent element of the operation portion 200 will be described in more detail.

[0090] The first handle 204 is formed to be grasped by the user, and in particular, can be formed to be grasped by the user by wrapping the palm of his or her hand around the first handle 204. In addition, the actuation operation part 203 and the yaw operation part 202 are formed on the first handle 204, and the pitch operation part 201 is formed on one side of the yaw operation part 202. In addition, the other end of the pitch operation part 201 is connected to the bent part 402 of the connecting part 400.

[0091] 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 handle member 252, a first tensioner 210a (see Figure 7 ) and a first actuation gear 253. The second actuation operating portion 256 includes a rotation shaft 242, a pulley 220, a second handle member 257, a second tensioner 220a (see Fig. 9 ) and a second actuating gear 258.

[0092] Here, the tensioner is a structure that rotates together with the actuating pulley, and one of its characteristics is that it contacts the wire when the actuating pulley rotates, and can apply additional tension to the wire. This will be described in detail below.

[0093] In addition, here, the operation part 200 may further include a first ring member 254 and a second ring member 259 respectively connected to the first handle member 252 and the second handle member 257. Here, the first ring member 254 and the second ring member 259 are structures in which the user's fingers can be inserted and stabilized, and the first ring member 254 and the second ring member 259 may have various shapes. For example, the first ring member 254 and the second ring member 259 are formed in a bracelet shape and can be used as a second handle.

[0094] Here, the rotation axis 241 and the rotation axis 242 as the actuation rotation axis may be formed to form a predetermined angle with the XY plane formed with the connection portion 400. For example, the rotation axis 241 and the rotation axis 242 may be formed in a direction parallel to the Z axis, and 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 may be relatively changed. Of course, the idea of ​​the present invention is not limited thereto, and according to ergonomic design, the rotation axis 241 and the rotation axis 242 may be formed in multiple directions to fit the structure of the user's hand holding the actuation operation unit 203.

[0095] Meanwhile, the pulley 210, the first handle member 252 and the first actuating gear 253 may be formed to be fixedly coupled to each other so as to be able to rotate together around the rotation axis 241. Here, the pulley 210 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

[0096] Similarly, the pulley 220, the second handle member 257 and the second actuating gear 258 may be fixedly coupled to each other so as to rotate together around the rotation axis 242. Here, the pulley 220 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

[0097] Here, the first actuating gear 253 and the second actuating gear 258 are formed to be meshed with each other so as to be rotated together in opposite directions when either side is rotated.

[0098] Meanwhile, the first actuation rotation axis 241 and the second actuation rotation axis 242 may be formed on the first handle 204. At this time, the first actuation rotation axis 241 and the second actuation rotation axis 242 are directly formed on the first handle 204, so the first handle 204 and the actuation operating part 203 may be directly connected.

[0099] Meanwhile, although the drawings show that the connecting portion 400 has a curved portion 402 and is bent to have a predetermined curvature, the concept of the present invention is not limited thereto, and the connecting portion 400 may be formed as a straight line or bent once or multiple times as required. Even in this case, it can be described that the pitch operating portion 201 and the end tool 100 are formed on substantially the same or parallel axes. Figure 1 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 be formed on axes different from each other.

[0100] (Actuation action)

[0101] The actuation action in this embodiment is described as follows.

[0102] When the user puts the index finger into the hand loop formed on the first handle member 252 and then puts the thumb into the hand loop formed on the second handle member 257, when the first handle member 252 and the second handle member 257 are rotated with any one or two fingers, the first actuation pulley 210 and the first actuation gear 253 fixedly coupled to the first handle member 252 rotate around the first actuation rotation axis 241, and the second actuation pulley 220 and the second actuation gear 258 fixedly coupled to the second handle member 257 rotate around the second actuation rotation axis 242. At this time, the pulley 210 and the pulley 220 rotate in opposite directions to each other, so the first jaw wire 301, one end of which is fixedly coupled and wound around the pulley 210, and the second jaw wire 302, one end of which is fixedly coupled and wound around the pulley 220, also move in opposite directions to each other. In addition, the rotational force as described above is transmitted to the end tool 100 through a power transmission part (not shown), so that the two jaws 103 of the end tool 100 perform an actuation action.

[0103] Here, as described above, the actuation action refers to an action of opening or closing the two jaws (the first jaw 101 and the second jaw 102) while the two jaws (the first jaw 101 and the second jaw 102) rotate in opposite directions. That is, when the first handle member 252 and the second handle member 257 of the actuation operation unit 203 rotate in a direction approaching each other, the first jaw 101 rotates in a counterclockwise direction and the second jaw 102 rotates in a clockwise direction, thereby closing the end tool 100. On the contrary, when the first handle member 252 and the second handle member 257 of the actuation operation unit 203 rotate in a direction away from each other, the first jaw 101 rotates in a clockwise direction and the second jaw 102 rotates in a counterclockwise direction, thereby opening the end tool 100.

[0104] In this embodiment, the second handle is provided with a first handle member 252 and a second handle member 257 to perform the above-mentioned actuation operation, and can be operated by grasping with two fingers. However, unlike the above content, the configuration of the actuation operation part 203 can be implemented as various modifications, such as a configuration in which two actuation pulleys (pulley 210, pulley 220) are moved oppositely to each other by one actuation rotating part, etc., wherein the actuation operation part 203 is used for the actuation operation of opening and closing the two jaws of the end tool 100.

[0105] In summary, in the surgical instrument 10 according to an embodiment of the present invention, each joint point (actuation joint, yaw joint, pitch joint) is formed on a pulley, and a wire (first jaw wire or second jaw wire) is wound around these pulleys, and the rotation operation of the operating part (actuation rotation, yaw rotation, pitch rotation) moves each wire, thereby finally making the end tool 100 perform the desired action. 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.

[0106] Here, each pulley of the operating part 200 and each pulley of the end tool 100 form a corresponding relationship with each other. Here, the actuating pulley will be described.

[0107] In detail, the pulley 111 and the first actuating pulley 210 form a corresponding relationship with each other, wherein the pulley 111 performs a yaw / actuation motion while rotating around the jaw rotation axis 141 in the end tool 100, and the first actuating pulley 210 performs an actuation motion while rotating around the first actuating rotation axis 241 in the operating part 200. In addition, the pulley 121 and the second actuating pulley 220 form a corresponding relationship with each other, wherein the pulley 121 performs a yaw / actuation motion while rotating around the jaw rotation axis 141 in the end tool 100, and the second actuating pulley 220 performs an actuation motion while rotating around the second actuating rotation axis 242 in the operating part 200.

[0108] Here, the pulley 111 and the pulley 121 of the end tool 100 are pulleys that perform the above-mentioned yaw motion and also pulleys that perform the actuation motion.

[0109] As defined above, the pulley 111 and the pulley 121 of the end tool 100 are collectively referred to as end tool jaw pulleys. In addition, for convenience, the first actuating pulley 210 and the second actuating pulley 220 of the operating part 200 are collectively referred to as operating part actuating pulleys.

[0110] In summary, when the operating portion actuating pulley rotates about the first actuating rotation axis 241 and / or the second actuating rotation axis 242 , the end tool jaw pulley rotates about the jaw rotation axis 141 , thereby performing an actuating motion.

[0111] Here, in the present embodiment, the diameters of the end tool jaw pulley (at least a portion thereof) and the operating portion actuating pulley (at least a portion thereof) may be formed to be different from each other. In addition, as described above, the diameters of the end tool jaw pulley (at least a portion thereof) and the operating portion actuating pulley (at least a portion thereof) are formed to be different from each other, thereby enabling the rotation angle of the end tool jaw pulley (at least a portion thereof) and the rotation angle of the operating portion actuating pulley (at least a portion thereof) to be different from each other. Hereinafter, the content regarding this will be described in more detail.

[0112] When the operating part actuation pulley and the end tool jaw pulley rotate together, the "length" of the wire wound on these pulleys changes in the same way. Therefore, by adjusting the diameter of the pulleys wound with the wire, when the wire moves the same length, the rotation angles of the pulleys wound with the wire are different from each other.

[0113] In particular, even if the operating part actuating pulley rotates a little, the corresponding end tool jaw pulley must also rotate at a larger angle, so the diameter of the end tool jaw pulley (at least a portion thereof) can be formed to be smaller than the diameter of the operating part actuating pulley (at least a portion thereof).

[0114] As a specific numerical example, when the diameter of the end tool jaw pulley is φ5 and the diameter of the operating part actuating pulley is φ15, (diameter of the end tool jaw pulley: diameter of the operating part actuating pulley) can be (1:3). To describe this from another perspective, (rotation angle of the operating part actuating pulley: rotation angle of the end tool jaw pulley) can be (1:3).

[0115] As described above, by making the diameters and rotation angles of the end tool jaw pulley (at least a portion thereof) and the operating portion actuating pulley (at least a portion thereof) different from each other, the convenience of user operation can be improved while maintaining the level of fineness and accuracy of the operation.

[0116] See also Figure 3 , the operating part 200 can perform a clamping action by receiving user input. Specifically, the first actuation operating part 251 and the second actuation operating part 256 can rotate independently along the first actuation rotation axis 241 and the second actuation rotation axis 242. Here, the first actuation operating part 251 and the second actuation operating part 256 can rotate while changing the angle. Specifically, the first actuation operating part 251 includes a first handle member 252 operably connected to the first actuation pulley 210, and the second actuation operating part 256 includes a second handle member 257 operably connected to the second actuation pulley 220, and the first actuation operating part 251 and the second actuation operating part 256 can rotate while changing the angle between the first handle member 252 and the second handle member 257.

[0117] The user input may refer to various inputs. For example, the user input may refer to the force applied by the user's hand to the surgical instrument 10. Alternatively, the user input may refer to an input signal applied to the operating part to drive the surgical robot.

[0118] Here, the input angle may refer to an angle formed by the first actuation operator 251 and the second actuation operator 256 according to a user input. That is, the input angle may be defined by the mutual angular relationship between the first handle member 252 and the second handle member 257.

[0119] See again Figure 3 , in the XY plane (see Figure 1 ), the first handle member 252 and the second handle member 257 can rotate around the first actuation rotation axis 241 and the second actuation rotation axis 242, respectively, individually or together. Figure 3 In the embodiment, the first handle member 252 and the second handle member 257 are opened at an angle corresponding to the handle-pressurizing range G14, so the angle formed by one handle member relative to the other handle member can be described as an input angle. Fig. 9 As shown in FIG. 1 , the input angle may refer to an angle formed by the first handle member 252 based on a virtual line L1 formed between the first actuation operating portion 251 and the second actuation operating portion 256, wherein the virtual line L1 is parallel to the extending direction of the connecting portion 400 ( Figure 1 Similarly, the input angle may refer to an angle formed by the second handle member 257 based on the virtual line L1.

[0120] In addition, when the clamping action is performed, the first actuation operation part 251 and the second actuation operation part 256 can be rotated independently within the first operating range G10-1 and the second operating range G10-2, respectively. Here, the input angle can be changed as the first actuation operation part 251 and the second actuation operation part 256 are rotated independently within the first operating range G10-1 and the second operating range G10-2, respectively. In other words, the input angle can be changed as the first actuation operation part 251 and the second actuation operation part 256 are rotated independently within the first operating range G10-1 and the second operating range G10-2 according to the user input.

[0121] At this time, within the first operating range G10-1 and the second operating range G10-2, the first actuation operating part 251 and the second actuation operating part 256 are free to rotate, and the range can be described as a portion of the wire where no elastic deformation occurs. As described above, when the input angle changes according to the user input, the end tool (see Figure 1 Various actions of 100) will be described later in detail.

[0122] See again Figure 3 , the operating part 200 can perform a handle-pressurizing action. Here, the handle-pressurizing action may refer to the first actuating operating part 251 and the second actuating operating part 256 further rotating within the handle-pressurizing range G14. Specifically, the handle-pressurizing action may refer to the first actuating operating part 251 and the second actuating operating part 256 further rotating to a rotation range equivalent to the first actuating pulley 210 and the second actuating pulley 220, wherein the rotation range refers to the rotation range increased due to the elastic deformation occurring in the wire outside the first operating range G10-1 and the second operating range G10-2 (i.e., the rotation range predetermined according to the fixedly combined pulley-wire structure).

[0123] To describe this from another perspective, the handle-pressurizing action may refer to the first actuation operator 251 and the second actuation operator 256 further rotating to the rotation range between the first pressurizing boundary G15-1 and the second pressurizing boundary G15-2. In other words, the first handle member 252 and the second handle member 257 rotate in a direction closer to each other.

[0124] Here, the first pressurization boundary G15-1 and the second pressurization boundary G15-2 may refer to different boundaries of the clamping action, i.e., the position where elastic deformation of the wire begins to occur. In addition, the handle-pressurization range G14 may have a predetermined rotation range to prevent plastic deformation of the wire. That is, the first actuation operation part 251 and the second actuation operation part 256 may rotate according to the user input with the input angle changed within the handle-pressurization range G14.

[0125] Figure 5A and Figure 5B The clamping-pressing mechanism of the surgical instrument according to the first embodiment of the present invention is illustrated by the relationship between the operating portion and the end tool. Fig. 6A and Figure 6B The object pressing mechanism of the surgical instrument according to the first embodiment of the present invention is described by the relationship between the operating portion and the end tool.

[0126] See also Figure 5A and Figure 5B, when the user input is applied to the operating part 200, the end tool 100 can perform a clamping action and a pressurizing action. Specifically, the first jaw 101 and the second jaw 102 can be rotated by responding to the first actuation operating part 251 and the second actuation operating part 256 rotated by the user input. More specifically, when the first actuation operating part 251 and the second actuation operating part 256 are rotated in the first operating range G10-1 and the second operating range G10-2, respectively, the first jaw 101 and the second jaw 102 can be rotated in the clamping range G1 by responding to the rotation angle of the first actuation operating part 251 and the second actuation operating part 256.

[0127] Here, when the first actuation operator 251 and the second actuation operator 256 rotate to the first and second pressurization boundaries G15-1 and G15-2, the first jaw 101 and the second jaw 102 may be in a closed state. In the closed state, the first jaw pulley 111 and the second jaw pulley 112 can no longer rotate.

[0128] In this state, when the first actuation operator 251 and the second actuation operator 256 are further rotated within the first handle-pressurization range G14-1 and the second handle-pressurization range G14-2, respectively, the first jaw 101 and the second jaw 102 can pressurize each other while in contact with each other. Specifically, the first jaw 101 and the second jaw 102 can pressurize each other with a force P1 and a force P2 corresponding to the rotation of the first actuation operator 251 and the second actuation operator 256 within the first handle-pressurization range G14-1 and the second handle-pressurization range G14-2.

[0129] More specifically, when the end tool 100 is in a closed state, the first jaw pulley 111 and the second jaw pulley 121, which are respectively operably connected to the first jaw 101 and the second jaw 102, are no longer able to rotate. In this state, when the first actuation operator 251 and the second actuation operator 256 are further rotated within the first handle-pressurization range G14-1 and the second handle-pressurization range G14-2, while the first jaw pulley 111 and the second jaw pulley 121 are fixed, tension is applied to the wire connected to the first jaw pulley 111 and the second jaw pulley 121 due to the additional rotation of the first jaw pulley 111 and the second jaw pulley 121, so that elastic deformation of the wire occurs. In addition, as described above, the first contact surface (see Figure 2 1011 in) and the second contact surface (see Figure 21021 in) presses each other with a force P1 and a force P2 corresponding to the tension applied to the wire. In addition, here, the first actuation operator 251 and the second actuation operator 256 can be rotated to the maximum pressurization boundary G17-1 and the maximum pressurization boundary G17-2. The details about this will be described later.

[0130] Here, the rotation amount of the first actuation operation part 251 and the second actuation operation part 256 within the first handle pressurization range G14-1 and the second handle pressurization range G14-2 may be related to the first contact surface and the second contact surface (see Figure 2 In addition, here, the rotation amount of the first actuation operation part 251 and the second actuation operation part 256 in the first handle pressurization range G14-1 and the second handle pressurization range G14-2 can correspond to the elastic deformation amount of the wire.

[0131] Although elastic deformation of the wire does not occur when the first actuation operating part 251 and the second actuation operating part 256 rotate within the first clamping range G10-1 and the second clamping range G10-2, elastic deformation of the wire occurs when the first actuation operating part 251 and the second actuation operating part 256 rotate within the first handle-pressurizing range G14-1 and the second handle-pressurizing range G14-2, so when the first actuation operating part 251 and the second actuation operating part 256 rotate within the first handle-pressurizing range G14-1 and the second handle-pressurizing range G14-2, a larger user input can be applied.

[0132] That is, when the actuation operating portion 203 reaches a maximum grip, the grip force may be increased.

[0133] Fig. 6A and Figure 6B The mechanism of applying pressure to an object by the surgical instrument 10 according to the first embodiment of the present invention is described through the relationship between the operating portion and the end tool.

[0134] See also Fig. 6A and Figure 6B , the end tool 100 can clamp the object 2 by responding to the action of the operating part 200.

[0135] When the end tool 100 is in a state of clamping the object 2, if an additional user input is applied to the operating part 200, the end tool 100 can pressurize the object 2. Specifically, the first jaw 101 and the second jaw 102 can pressurize the object 2 by the first actuation operating part 251 and the second actuation operating part 256 rotating in response to the user input. More specifically, when the first actuation operating part 251 and the second actuation operating part 256 rotate within the first object pressurization range G16-1 and the second object pressurization range G16-2, respectively, the first jaw 101 and the second jaw 102 can pressurize the object 2 with a force P corresponding to the rotation of the first actuation operating part 251 and the second actuation operating part 256. 11 and power P 22 To pressurize object 2.

[0136] The action of the end tool 100 applying pressure to the object 2 can be performed similarly to the action of the first jaw 101 and the second jaw 102 applying pressure to each other. That is, in the state where the end tool 100 clamps the object 2, the first jaw pulley 111 and the second jaw pulley 121 operably connected to the first jaw 101 and the second jaw 102, respectively, cannot rotate. In this state, when additional force is applied through user input, the first actuation operating part 251 and the second actuation operating part 256 cause elastic deformation of the wires operably connected to the first jaw pulley 111 and the second jaw pulley 121, and can further rotate within the first object pressurization range G16-1 and the second object pressurization range G16-2. In short, the first contact surface (see Figure 2 1011 in) and the second contact surface (see Figure 2 1021) by the force P corresponding to the tension applied to the wire due to the additional rotation of the first jaw pulley 111 and the second jaw pulley 121 11 and power P 22 To pressurize the object 2. In addition, here, the first actuation operator 251 and the second actuation operator 256 may be rotated to the maximum pressurization boundary G17-1 and the maximum pressurization boundary G17-2. Details about this will be described later.

[0137] Here, the rotation amounts of the first actuation operator 251 and the second actuation operator 256 within the first object pressurizing range G16-1 and the second object pressurizing range G16-2 may correspond to the first contact surface and the second contact surface of the end tool 100 (see Figure 2 The force P exerted by 1011 and 1021 on object 2 11 and power P 22In addition, here, the rotation amount of the first actuation operator 251 and the second actuation operator 256 within the first object pressurizing range G16-1 and the second object pressurizing range G16-2 may be proportional to the elastic deformation amount of the wire.

[0138] Here, although the first actuation operating portion 251 and the second actuation operating portion 256 are in the first clamping range and the second clamping range (see Figure 5A and Figure 5B When the first actuation operating part 251 and the second actuation operating part 256 rotate within the first object pressurization range G16-1 and the second object pressurization range G16-2, elastic deformation of the wire does not occur, but when the first actuation operating part 251 and the second actuation operating part 256 rotate within the first object pressurization range G16-1 and the second object pressurization range G16-2, elastic deformation of the wire occurs. Therefore, when the first actuation operating part 251 and the second actuation operating part 256 rotate within the first object pressurization range G16-1 and the second object pressurization range G16-2, a larger user input can be applied to the first actuation operating part 251 and the second actuation operating part 256.

[0139] That is, when the actuation operating portion 203 reaches a maximum grip, the grip force may be increased.

[0140] Hereinafter, the tensioner included in the actuation operation portion 203 in the surgical instrument 10 according to the first embodiment of the present invention will be described in more detail.

[0141] Figure 7 This is a diagram that only schematically shows the configuration to describe Figure 1 The movements of the end tools and operating parts of surgical instruments, Figure 8 1 is a plan view showing a comparative technique to describe an actuation operation portion of a surgical instrument according to a first embodiment of the present invention. Fig. 9 is a plan view showing an actuation operation portion of a surgical instrument according to a first embodiment of the present invention, Fig.10 1 is a plan view showing an actuation operation portion of a surgical instrument according to a modified example of the first embodiment of the present invention.

[0142] See also Figures 7 to 10 As described above, in the surgical instrument 10 according to the first embodiment of the present invention, the actuating operating part 203 includes a tensioner that rotates as the actuating pulley rotates, and the tensioner can contact the first jaw wire 301 or the second jaw wire 302 as the actuating pulley rotates, and can apply additional tension to the first jaw wire 301 or the second jaw wire 302.

[0143] Specifically, in the first actuation operating part 251, the first actuation pulley 210 rotates around the first actuation rotation axis 241, and the first handle member 252 can rotate therewith. In addition, the first tensioner 210a can rotate around the same rotation axis 241 as the first actuation pulley 210 and the first handle member 252 rotate.

[0144] Similarly, in the second actuation operating portion 256, the second actuation pulley 220 rotates around the second actuation rotation axis 242, and the second handle member 257 can rotate accordingly. In addition, the second tensioner 220a can rotate around the same rotation axis 242 as the second actuation pulley 220 and the second handle member 257 rotate.

[0145] Will see Figure 7 Describe the action and effect of the tensioner rotating with the rotation of the actuating pulley. Describe this again, Figure 7 It is shown in a simple structure Figure 1 1 is a plan view of the actuation operating portion 203 and the end tool 100 .

[0146] In addition, in order to easily describe the control of the actuation operation part 203 of the operation part 200 and the movement of the jaw 103 of the end tool 100, the relationship between the first actuation operation part 251 and the first jaw 101 of the end tool 100 will be described as an example. Of course, the relationship between the second actuation operation part 256 and the second jaw 102 of the end tool 100 is also applicable within the corresponding range.

[0147] See also Figure 7 The operating part 200 according to the first embodiment of the present invention is provided with a first actuating pulley 210 and a second actuating pulley 220 for actuating the operating part 203, and is provided with a yaw pulley 211 located at one side of the operating part 200. In addition, the first handle member 252 is combined with the first actuating pulley 210, and the first ring member 254 can be formed at the end of the first handle member 252 along the direction of the end tool 100. In addition, the first jaw wire 301 can be connected to the first actuating pulley 210 through the yaw pulley 211.

[0148] Meanwhile, the end tool 100 includes a first jaw 101 that rotates with the pulley 111, and the end tool 100 may be located on the X-axis (see Figure 1 ).

[0149] As described above, in the relationship between the actuating pulley and the end tool jaw pulley connected by one or more wires, when the diameter of the actuating pulley is larger than the diameter of the end tool jaw pulley, the rotation angle of the end tool jaw pulley can be larger than the rotation angle of the actuating pulley.

[0150] That is, when the radius of the first jaw pulley 111 is rA and the radius of the first actuating pulley 210 is rB, the rotation ratio of the pulley rA and the pulley rB is rB: rA. That is, when the radius rB of the first actuating pulley 210 is greater than the radius rA of the first jaw pulley 111, even if the first actuating operating part 251 rotates less, the first jaw 101 can rotate more.

[0151] like Figure 7 As shown, when the first handle member 252 coupled to the first actuating pulley 210 rotates counterclockwise by an angle b, the first jaw 101 of the end tool 100 rotates counterclockwise by an angle a. At this time, the relationship between the rotation angles a and b can be expressed as a:b=rB:rA.

[0152] Here, the first handle member 252 rotates by angle b so that the first jaw 101 rotates by angle a, which means that the first jaw 101 rotates within the clamping range and is in a closed state. To describe this from another perspective, it can be described as the first handle member 252 rotating within the first operating range G10-1 and rotating to the first pressurization boundary G15-1.

[0153] If the first actuation operator 251 does not include the first tensioner 210a, the first jaw wire 301 passing through the first actuation pulley 210 may be located at the same Figure 7 The first jaw follows the same path as the wire 301 shown as a solid line.

[0154] At this time, when the first handle member 252 is further rotated in the counterclockwise direction by an angle c, the first jaw 101 of the end tool 100 can be in a state where it can no longer move in a closed state. That is, in a fixed state where the first jaw pulley 111 can no longer rotate, an additional rotation of the first jaw pulley 111 is applied, thereby applying tension to the first jaw wire 301 connected to the first jaw pulley 111, resulting in elastic deformation of the wire. In addition, as described above, the first contact surface 1011 and the second contact surface 1021 press each other with a force corresponding to the tension applied to the wire.

[0155] At the same time, since the first actuation operating part 251 of the surgical instrument 10 according to the first embodiment of the present invention includes the first tensioner 210a, the first jaw wire 301 passing through the first actuation pulley 210 can be located at the same position as the first tensioner 210a. Figure 7 The first jaw follows the same path as the wire 301 shown as a dashed line.

[0156] That is, when the first actuation operating part 251 has an input angle greater than a predetermined first angle, the first tensioner 210a is in a state of not contacting the first jaw wire 301, and when the first actuation operating part 251 has an input angle less than the first angle, the first tensioner 210a can be in a state of contacting the first jaw wire 301.

[0157] To describe this from another perspective, it can be described that when the first actuation operating part 251 has an input angle equal to or greater than the predetermined first angle, the first jaw wire 301 does not undergo elastic deformation, and when the first actuation operating part 251 has an input angle less than the predetermined first angle, the first jaw wire 301 undergoes elastic deformation.

[0158] In other words, since the distance from the rotating shaft 241 to the first tensioner 210a is greater than the radius of the first actuating pulley 210, when the first actuating pulley 210 rotates, the path of the wire is changed by pushing the first jaw wire 301 outward to be spaced apart from the first actuating pulley 210, and additional tension can be applied to the wire.

[0159] To describe this from another perspective, the following effect can be achieved: the path that the first jaw wire 301 passes through becomes longer due to the first tensioner 210a, and the wire is pulled with a longer length. That is, it can be described that while reducing the rotation amount of the first actuating pulley 210, the same tension as the rotation amount of the existing pulley can be applied to the wire.

[0160] At the same time, when the first tensioner 210a is in contact with the first jaw wire 301, the rotation angle of the first jaw pulley 111 of the end tool according to the rotation of the first actuating pulley 210 is defined as the first rotation angle, and when the first tensioner 210a is spaced apart from the first jaw wire 301, the rotation angle of the first jaw pulley 111 of the end tool according to the rotation of the first actuating pulley 210 is defined as the second rotation angle. At this time, the first rotation angle can be formed to be greater than the second rotation angle.

[0161] To describe this from another perspective, when the first tensioner 210a comes into contact with the first jaw wire 301 due to the rotation of the first actuating pulley 210, the first jaw wire 301 has the effect of being wound around the actuating pulley of a larger diameter. Therefore, in a state where the first tensioner 210a comes into contact with the first jaw wire 301, the rotation angle of the end tool first jaw pulley 111 according to the rotation of the first actuating pulley 210 is greater than the rotation angle of the end tool first jaw pulley 111 according to the rotation of the first actuating pulley 210 in a state where the first tensioner 210a is spaced apart from the first jaw wire 301. In other words, from the point in time when the first tensioner 210a comes into contact with the first jaw wire 301, the rotation angle of the first jaw pulley 111 according to the rotation of the first actuating pulley 210 can become larger.

[0162] That is, it can be described that the problem of the present invention is solved by changing the movement of the guide wire according to the action angle range, rather than moving the guide wire of the end tool at a certain ratio according to the action angle of the wristband.

[0163] See again Figure 7 As described above, when the first actuation operator 251 does not include the first tensioner 210a, the first actuation operator 251 can be rotated to the maximum pressurizing boundary G17-1 only when it is rotated by an angle c.

[0164] That is, according to the clamping-pressing mechanism, when the first actuating operating part 251 is further rotated counterclockwise so that the first jaw 101 and the second jaw 102 pressurize each other, the first actuating operating part 251 must rotate by angle c to rotate to a range corresponding to the maximum pressurization boundary G17-1.

[0165] On the other hand, when the first actuation operator 251 includes the first tensioner 210a, even if the first actuation operator 251 rotates by an angle less than the c angle, a force corresponding to the rotation of the first actuation operator 251 by the c angle may be applied.

[0166] In other words, it can be described that since the amount of rotation required to apply a force corresponding to rotating the first actuation operator 251 to the extent of the maximum pressurizing boundary G17 - 1 is reduced, the first actuation operator 251 can be rotated by a smaller angle.

[0167] Meanwhile, the maximum pressurization boundary G17-1 may refer to the boundary of the rotatable range in which the first actuation operator 251 can rotate within the pressurization range until plastic deformation begins to occur in the wire. Here, when the first actuation operator 251 and the second actuation operator 256 are in contact with each other, the actuation operator can no longer rotate, thereby preventing plastic deformation of the wire. In addition, in order to prevent plastic deformation of the wire, the position of the state in which the first actuation operator 251 and the second actuation operator 256 are in contact with each other may be set as the maximum pressurization boundary G17-1 and the maximum pressurization boundary G17-2.

[0168] As described above, the back angle may refer to an angle (eg, c angle) rotatable within the range of the maximum pressurizing boundary G17 - 1 of the first actuation operator 251 .

[0169] Here, the surgical instrument 10 according to the first embodiment of the present invention can minimize the back angle range, and in addition to reducing the back angle range, the tension can be evenly or additionally transmitted to the guide wire through the tensioner. That is, the surgical instrument 10 according to the first embodiment of the present invention can amplify the grip force (Grip Force) when the actuating operating part 203 reaches the maximum grip (Grip). As described above, a smooth operation can be achieved while improving the usability of the operator.

[0170] As described above, the description of first actuation operator 251 is also applicable in the range corresponding to second actuation operator 256. In addition, from the perspective of input angle, when actuation operator 203 has an input angle less than a predetermined first angle, in order to prevent plastic deformation of at least one of first jaw wire 301 and second jaw wire 302, the input angle may be equal to or greater than a predetermined second angle, and at this time, the second angle may be formed in a state where the first handle member is in contact with the second handle member, wherein the input angle is defined by the relationship formed between first actuation operator 251 and second actuation operator 256, that is, the relationship formed between first handle member 252 and second handle member 257.

[0171] See also Figures 8 to 10 , Figure 8 The actuation operation portion C203 in the embodiment does not include a tensioner in the actuation pulley, and Fig. 9 The actuation operation portion 203 in the embodiment includes a second tensioner 220a, and Fig.10 The actuation operating portion 1203 in the embodiment includes a second tensioner 1220a.

[0172] like Fig. 9As shown, the second tensioner 220a of the surgical instrument 10 according to the first embodiment of the present invention is formed to rotate together with the second actuating pulley 220, and as an example, the second tensioner 220a may be formed on the second handle member 257. Specifically, the second tensioner 220a is formed to protrude from a surface of the second handle member 257 opposite to the second actuating pulley 220 toward a virtual plane where the second actuating pulley 220 is arranged, and may be formed in a longitudinal direction parallel to the second actuating rotation axis 242. Specifically, when the inner side surface of the second jaw wire 302 in contact with the second actuating pulley 220 is defined as the inner surface of the second jaw wire 302, the second tensioner 220a may be formed adjacent to the second actuating pulley 220 so as to enable the second tensioner 220a to contact the inner surface of the second jaw wire 302.

[0173] Likewise, although not shown in the drawings, the first tensioner 210 a is formed to rotate together with the first actuating pulley 210 , and like the second tensioner 220 a formed on the second handle member 257 , the first tensioner 210 a may be formed on the first handle member 252 .

[0174] As described above, since the handle member is fixedly coupled to the actuating pulley and rotates together with the actuating pulley, the tensioner formed on the handle member can rotate together with the actuating pulley. That is, when the actuating pulley rotates, the tensioner contacts the wire and changes the path of the wire by pushing the wire outward to be spaced apart from the actuating pulley, and can apply additional tension to the wire.

[0175] Meanwhile, the second tensioner 220a of the surgical instrument 10 according to the modified example of the first embodiment of the present invention may be fixedly combined with the second actuating pulley 220. In addition, the second tensioner 220a and the second actuating pulley 220 may be formed as a whole.

[0176] As an example, Fig.10 As shown, the second actuating pulley 1220 may be a non-circular pulley. That is, a portion of the side of the pulley (i.e., the portion where the wire is wound around the pulley) may be protrudingly formed to have a radius greater than the radius of another portion of the side of the pulley. As described above, the protruding portion of the non-circular pulley 1220 may be used as the second tensioner 1220a. Similarly, although not shown in the drawings, the first actuating pulley 210 is formed as a non-circular pulley, and the protruding portion of the pulley may be used as the first tensioner 1210a. That is, when the actuating pulley rotates, the tensioner contacts the wire, and changes the path of the wire by pushing the wire outward to be spaced apart from the actuating pulley, and additional tension may be applied to the wire.

[0177] As described above, the surgical instrument according to one embodiment of the present invention can form a pulley-wire mechanism by adding a tensioner to the actuation operating part, which applies an additional force to the rotation of the end tool jaw pulley according to the rotation of the actuation operating part. Therefore, the operator's usability can be improved and a smooth operation can be achieved by amplifying the grip force (Grip Force) when the actuation operating part reaches the maximum grip (Grip).

[0178] So far, for the present invention, mainly preferred embodiments have been described. It will be appreciated by those skilled in the art that the present invention may 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 the equivalent range should be interpreted as being included in the present invention.

[0179] According to the present invention as described above, the surgical instrument can improve the operator's usability and achieve smooth surgery by maintaining the motion integrity of the operating portion and the end tool and amplifying the grip force (Grip Force) at the maximum grip (Grip).

[0180] It should be understood that the embodiments described herein should be considered only as illustrative and not for limiting purposes. The description of features or aspects in each embodiment should generally be considered as other similar features or aspects that can be used in other embodiments. Although one or more embodiments have been described with reference to the accompanying drawings, it will be understood by those skilled in the art that various modifications may be made to the form and details thereof without departing from the spirit and scope defined by the claims.

[0181] [Description of Reference Numerals]

[0182] 10: Surgical instruments

[0183] 100: end tool

[0184] 200: Operation Department

Claims

1. A surgical instrument, comprising: An end tool, the end tool comprising a first jaw and a second jaw, wherein the first jaw and the second jaw are rotatable; An operating portion, comprising an actuation operating portion configured to control the actuation movement of the first jaw and the second jaw, wherein the operating portion is configured to control the action of the end tool; a power transmission part, comprising a first jaw wire and a second jaw wire, The first jaw wire is connected to the operating part to transmit the rotation of the operating part to the first jaw, and the second jaw wire is connected to the operating part to transmit the rotation of the operating part to the second jaw, wherein, The actuation operating unit comprises: an actuating pulley rotatable about an actuating rotation axis; a handle member fixedly coupled to the actuating pulley, wherein the handle member and the actuating pulley are rotatable; and a tensioner configured to rotate with the rotation of the actuating pulley, Wherein, the tensioner is configured to contact the first jaw wire or the second jaw wire as the actuating pulley rotates to apply additional tension to the first jaw wire or the second jaw wire.

2. The surgical instrument according to claim 1, wherein: The tensioner is fixedly coupled to the actuating pulley.

3. The surgical instrument according to claim 1, wherein: The tensioner and the actuating pulley are formed as a whole, and the actuating pulley is a non-circular pulley.

4. The surgical instrument according to claim 1, wherein: The tensioner is disposed on the handle member.

5. The surgical instrument according to claim 1, wherein: The end tool further comprises an end tool jaw pulley, which is combined with the first jaw or the second jaw, and the end tool jaw pulley is rotatable around a jaw rotation axis. wherein the end tool jaw pulley and the actuating pulley are connected by one or more jaw wires of the first jaw wire and the second jaw wire, wherein the diameter of the end tool jaw pulley is formed to be smaller than the diameter of the actuating pulley, Wherein, when the one or more jaw wires move, the rotation angle of the end tool jaw pulley is formed to be greater than the rotation angle of the actuating pulley.

6. The surgical instrument according to claim 5, wherein: In a state where the tensioner is in contact with the first jaw wire or the second jaw wire, a rotation angle of the end tool jaw pulley generated by the rotation of the actuating pulley is defined as a first rotation angle, In a state where the tensioner is spaced apart from the first jaw wire or the second jaw wire, a rotation angle of the end tool jaw pulley according to rotation of the actuating pulley is defined as a second rotation angle, and, The first rotation angle is greater than the second rotation angle.

7. The surgical instrument according to claim 1, wherein: The actuation operation part includes: a first actuation operation part and a second actuation operation part, wherein: The first actuation operating portion includes: a first actuation pulley rotatable about a first actuation rotation axis; and a first handle member, which is fixedly coupled to the first actuating pulley and rotatable with the first actuating pulley, The second actuation operating portion includes: a second actuation pulley rotatable about a second actuation rotation axis; and The second handle member is fixedly coupled to the second actuating pulley and is rotatable with the second actuating pulley.

8. The surgical instrument according to claim 7, wherein: When the first jaw and the second jaw are in contact with each other, the end tool is in a closed state, and When the first jaw is spaced apart from the second jaw, the end tool is in an open state. wherein the actuation operator is configured to form an input angle defined by an angular relationship between the first handle member and the second handle member, Wherein, when the actuation operating portion has an input angle equal to or greater than a predetermined first angle, the end tool is configured to be in an open state, When the actuation operating portion has an input angle smaller than a predetermined first angle, the pressure between the first jaw and the second jaw changes.

9. The surgical instrument according to claim 8, wherein: When the actuation operator has an input angle greater than the predetermined first angle, the tensioner is configured to be spaced apart from the first jaw wire or the second jaw wire, When the actuation operator has an input angle less than the predetermined first angle, the tensioner is configured to contact the first jaw wire or the second jaw wire.

10. The surgical instrument according to claim 8, wherein: When the actuation operating portion has an input angle equal to or greater than the predetermined first angle, at least one of the first jaw wire and the second jaw wire is configured to maintain an elastic original state, When the actuation operator has an input angle less than the predetermined first angle, at least one of the first jaw wire and the second jaw wire is elastically deformed.

11. The surgical instrument according to claim 10, wherein: When the actuation operator has an input angle less than the predetermined first angle, the input angle is equal to or greater than a predetermined second angle to prevent plastic deformation of at least one of the first jaw wire and the second jaw wire.

12. The surgical instrument according to claim 11, wherein: The first handle member and the second handle member are configured to contact each other to form the predetermined second angle.

13. The surgical instrument according to claim 8, wherein: When the actuation operating portion has an input angle less than the predetermined first angle, the force acting on the first jaw wire and the second jaw wire is greater than the force acting on the first jaw wire and the second jaw wire when the actuation operating portion has an input angle greater than the predetermined first angle.

14. The surgical instrument according to claim 8, wherein: The end tool is further configured to have a clamping state when the first contact surface of the first jaw and the second contact surface of the second jaw are in contact with an external object, When the actuation operating portion has an input angle equal to or greater than a third angle, the end tool is in a released clamping state, and an angle between the first contact surface and the second contact surface changes with rotation of at least one of the first handle member and the second handle member, When the actuation operating portion has an input angle less than the third angle, the end tool is configured to maintain a clamped state, and the pressure between the first contact surface and the second contact surface and the external object changes with the rotation of at least one of the first handle member and the second handle member caused by a user input.

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