Surgical instrument and method and apparatus for controlling position thereof

Abstract

The invention relates to a surgical instrument and a method and apparatus for controlling the posture thereof. A method according to an embodiment of the present disclosure may comprise the steps of: acquiring an operation value according to a user input for changing a posture of an end tool included in the surgical instrument; obtaining first posture information, wherein the first posture information is information related to the current posture of the end tool at the time point input by the user; and controlling an action of the end tool to achieve a target gesture according to the user input based on the operation value and the first gesture information.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10 - 2024 - 0004376, filed with the Korean Intellectual Property Office (KIPO) on January 10, 2024, the entire content of which is incorporated herein by reference. Technical field

[0003] This application relates to a surgical instrument and a method and apparatus for controlling its posture. Background art

[0004] Medical surgery refers to the use of medical devices to cut, incise, or manipulate the skin, mucous membranes, or other tissues to treat diseases. In particular, open - abdominal surgeries such as cutting and exposing the skin of the surgical site to treat, reshape, or excise internal organs can cause problems such as bleeding, side effects, patient pain, and scars. Therefore, in recent years, as an alternative, performing surgery by forming a predetermined hole in the skin and inserting only medical devices such as laparoscopes, surgical instruments, or microscopes for minimally invasive surgery, or using robots has received much attention.

[0005] Among them, a surgical robot refers to a robot having the function of performing surgical actions instead of a surgeon. These surgical robots have the advantages of being able to perform accurate and precise actions better than humans and being able to perform remote surgeries.

[0006] Currently, surgical robots being developed globally include orthopedic surgical robots, laparoscopic surgical robots, stereotactic surgical robots, etc. Among them, a laparoscopic surgical robot is a robot that uses a laparoscope and small surgical tools to perform minimally invasive surgery.

[0007] Laparoscopic surgery is an advanced surgical technique. By drilling one or more small holes in the abdomen and inserting a laparoscope to view the inside of the abdominal cavity and perform surgery, it is a field with great potential for future development. Recently, computer chips are installed in laparoscopes, which can obtain clearer and magnified images than naked - eye observation. And by watching the screen on a monitor while using specially designed laparoscopic surgical instruments, any surgery can be performed.

[0008] Moreover, the surgical scope is almost the same as that of open - abdominal surgery, but compared with open - abdominal surgery, there are fewer complications, treatment can start earlier, and the physical strength and immune function of the surgical patient can be maintained excellently. Therefore, laparoscopic surgery is gradually considered a standard surgery in the treatment of colon cancer and other aspects in the United States, Europe, and other places.

[0009] On the other hand, a surgical robot generally consists of a master robot and a slave robot. When an operator operates a joystick (e.g., a handle) provided on the master robot, a surgical tool attached to a robotic arm of the slave robot or a surgical tool grasped by the robotic arm is operated to perform a surgery. The above background art is technical information that the inventor has or obtained during the derivation of the present invention, and it is not necessarily prior art publicly available to the general public before the filing of the present invention application. Summary of the Invention

[0010] Technical Problem to be Solved by the Present Invention

[0011] Some embodiments according to the present application aim to provide a surgical instrument and a method and device for controlling its posture. The problems to be solved by the present invention are not limited to the problems mentioned above. Other problems and advantages not mentioned in the present invention can be understood through the following description and will be more clearly understood through the embodiments of the present invention. And it should be understood that the problems and advantages to be solved by the present invention can be achieved by the means and combinations pointed out in the claims.

[0012] Other aspects will be partly described subsequently, and partly will be obvious from the description, or can be learned through the practice of the embodiments presented in the present application.

[0013] Technical Solution

[0014] A first aspect of the present application provides a method for controlling the posture of a surgical instrument, the method comprising: obtaining an operation value input by a user to change the posture of an end tool included in the surgical instrument; obtaining first posture information related to the current posture of the end tool at the time point when the user input is obtained; and controlling the movement of the end tool based on the operation value and the first posture information to achieve a target posture according to the user input.

[0015] In the first aspect, the user input includes an input for at least one of roll rotation, pitch rotation, and yaw rotation.

[0016] In the first aspect, controlling the movement of the end tool may include: generating target direction information related to the target direction of the end tool based on the user input; and generating target posture information according to the user input based on the target direction information of the end tool and the position change of the surgical instrument.

[0017] In a first aspect, obtaining the first pose information may include: obtaining first joint information, where the first joint information is information related to the current joint information of the end effector at the time point when the user input is obtained; and calculating the first pose information based on the first joint information.

[0018] In a first aspect, controlling the movement of the end effector may include: generating first pose difference information, where the first pose difference information corresponds to the difference between the target pose information and the first pose information according to the user input; generating first joint difference information related to the joints of the end effector by calculating the first pose difference information; using the first joint difference information to generate second joint information by updating the first joint information, where the first joint information is information related to the current joints of the end effector at the time point when the user input is obtained; and generating a control value for driving the joints of the end effector according to the second joint information.

[0019] In a first aspect, the method may further include: in response to the first joint difference information being greater than a preset reference value, calculating second pose information based on the second joint information; and determining the joint information of the end effector for generating the control value by comparing the second pose information with the target pose information.

[0020] In a first aspect, determining the joint information may include: generating second pose difference information, where the second pose difference information corresponds to the difference between the target pose information and the second pose information; generating second joint difference information by calculating the second pose difference information; in response to the second joint difference information being less than the preset reference value, using the second joint difference information to generate third joint information by updating the second joint information; and generating a control value for driving the joints of the end effector according to the third joint information.

[0021] In a first aspect, the control value may include at least one of: a first control value for controlling the roll rotation of the end effector, a second control value for controlling the pitch rotation of the end effector, and a third control value for controlling the yaw rotation of the end effector.

[0022] In a first aspect, the operation value according to the user input may include at least one of an operation value for pitch rotation or an operation value for yaw rotation, and based on the operation value, the control value may include at least one of the following: a first control value for controlling the pitch rotation of the end effector; and a second control value for controlling the yaw rotation of the end effector.

[0023] In a first aspect, the operation value according to the user input may include at least one of an operation value for pitch rotation or an operation value for yaw rotation, and based on the operation value, the control value includes at least one of the following: a first control value for controlling the pitch rotation of the end effector; a second control value for controlling the yaw rotation of the end effector; and a third control value for controlling the roll rotation of the end effector.

[0024] In a first aspect, the first posture difference information of the end effector generated based on the user input and the second posture difference information of the end effector generated based on the control value may be part of the information for achieving the target posture. The first posture difference information may be generated according to a first coordinate system that defines the movement of the operation unit for receiving the user input, and the second posture difference information may be generated according to a second coordinate system that defines the movement of the end effector.

[0025] In a first aspect, even if the roll rotation angle included in the first posture information is not in the initial state, the target posture can be achieved in the end effector so as to intuitively correspond to the movement of the operation unit.

[0026] In a first aspect, the operation value according to the user input may be an operation value for roll rotation, and based on the operation value, the control value may include at least one of the following: a first control value for controlling the roll rotation of the end effector; a second control value for controlling the pitch rotation of the end effector; and a third control value for controlling the yaw rotation of the end effector.

[0027] In a first aspect, the first posture difference information of the end effector based on the user input and the second posture difference information of the end effector based on the control value may be part of the information for achieving the target posture. The first posture difference information may be generated according to a first coordinate system that defines the movement of the operation unit for receiving the user input, and the second posture difference information may be generated according to a second coordinate system that defines the movement of the end effector.

[0028] In a first aspect, when the end effector acts according to the second posture difference information, the axis of the end effector before performing the roll rotation and the axis of the end effector after performing the roll rotation may be parallel to each other.

[0029] A second aspect of the present application may provide a device for controlling the posture of a surgical instrument. The device may include: a memory that stores at least one program; and a processor configured to execute the at least one program. The processor is configured to: obtain an operation value input by a user to change the posture of a distal tool in the surgical instrument; obtain first posture information, where the first posture information is information related to the current posture of the distal tool at the time when the user input is obtained; and control the movement of the distal tool based on the operation value and the first posture information to achieve a target posture according to the user input.

[0030] A third aspect of the present application may provide a computer-readable recording medium that records a program for executing, on a computer, the method for controlling the posture of a surgical instrument according to the first aspect.

[0031] A fourth aspect of the present application provides a surgical instrument. The surgical instrument may include: a distal tool for performing a surgical action; an operation unit that receives a user input for changing the posture of the distal tool; a power generation unit that generates power for controlling the distal tool in response to receiving the user input; a power transmission unit that transmits the generated power to the distal tool; a connection unit that connects the operation unit and the distal tool by combining the power transmission unit at one end of the connection unit and the distal tool at the other end of the connection unit; and a control unit that controls the movement of the distal tool based on an operation value according to the user input to achieve a target posture. The control unit may be configured to: obtain an operation value according to the user input, where the user input is for changing the posture of the distal tool in the surgical instrument; obtain first posture information, where the first posture information is information related to the current posture of the distal tool at the time when the user input is obtained; and control the movement of the distal tool based on the operation value and the first posture information to achieve a target posture according to the user input.

[0032] In the fourth aspect, the operation unit may include any one of: receiving the user input for the roll rotation of the distal tool, the user input for the pitch rotation of the distal tool, and the user input for the yaw rotation of the distal tool.

[0033] In the fourth aspect, the operation unit may include: a first user interaction unit for receiving the user input for the pitch rotation and the yaw rotation of the distal tool; and a second user interaction unit for receiving the user input for the roll rotation of the distal tool.

[0034] Fourth aspect, the first user interaction unit may be implemented in the form of a joystick, and may receive the user input for the pitch rotation and the yaw rotation of the end effector within a range of 360 degrees.

[0035] Fourth aspect, the first user interaction unit may be attached to the operation unit on a virtual surface perpendicular to the direction in which the connection unit extends.

[0036] Fourth aspect, the first user interaction unit may be attached to the front surface portion or the rear surface portion of the operation unit.

[0037] Fourth aspect, the second user interaction unit may be attached to the operation unit on a virtual surface parallel to the direction in which the connection unit extends.

[0038] Fourth aspect, the second user interaction unit may include two switches capable of receiving the user input, and the second user interaction unit may be attached to the side surface portion of the operation unit.

[0039] Fourth aspect, one of the two switches in the second user interaction unit may be disposed on one side surface portion of the operation unit, and the other switch may be symmetrically disposed on the other side surface portion of the operation unit.

[0040] A fifth aspect of the present application may provide a surgical instrument, which includes: an operation unit that receives a user input for changing the posture of an end effector; a control unit that controls the movement of the end effector to achieve a target posture based on an operation value according to the user input; a power generation unit that generates power for changing the posture of the end effector based on a control value of the control unit; a power transmission unit that transmits the generated power to the end effector; a connection unit that connects the operation unit and the end effector by combining the power transmission unit at one end of the connection unit and combining the end effector at the other end of the connection unit; and an end effector that performs an action for changing the posture using the power, and the end effector performs an action to achieve a target posture according to the user input that is independent of the current posture of the end effector at the time of obtaining the user input.

[0041] Fifth aspect, the end effector may be configured to achieve the target posture of the end effector even if the roll rotation angle in the current posture of the end effector is not in the initial state, so as to intuitively correspond to the movement of the operation unit.

[0042] Fifth aspect, the end effector may be configured to: even if the pitch rotation angle or the yaw rotation angle in the current pose information of the end effector is not in the initial state, the end effector achieves the target pose so as to intuitively correspond to the movement of the operation unit.

[0043] Fifth aspect, when the end effector performs an action according to the second pose difference information to achieve the target pose based on the control value, the axis of the end effector before performing the roll rotation and the axis of the end effector after performing the roll rotation may be parallel to each other.

[0044] In addition, another method, another system, and a computer-readable recording medium storing a computer program for executing the method for implementing the present invention may be provided.

[0045] Other aspects, features, and advantages other than those described above will become apparent from the accompanying drawings, the claims, and the detailed description of the present invention.

[0046] Beneficial effects

[0047] According to an embodiment of the present application, considering the conversion between the coordinate system used by the operation unit and the coordinate system used by the end effector, a control value for changing the pose of the end effector is generated based on the user's input for changing the pose of the end effector. Thus, since the pose change of the end effector intended by the user and the actual pose change of the end effector can correspond one by one, the user can achieve intuitive and effective pose control.

[0048] The effects of the present invention are not limited to those mentioned above, and those skilled in the art will clearly understand other effects not mentioned from the following description. Description of the drawings

[0049] Figure 1 is a perspective view showing a surgical instrument according to an embodiment of the present invention.

[0050] Figure 2 is a top view of the surgical instrument viewed from the side Figure 1 of.

[0051] Figure 3 is a perspective view showing an example of an operation unit of a surgical instrument according to an embodiment.

[0052] Figure 4 is a top view of the surgical instrument viewed from the side Figure 3 of.

[0053] Figure 5 is a diagram for explaining the internal structure of a power transmission unit according to an embodiment of the present invention.

[0054] Figure 6 is a view showing the power transmission section as observed from the rear Figure 5 of the power transmission section.

[0055] Figure 7 is a view for explaining Figure 5 the arrangement of pulleys and wires of the power transmission section.

[0056] Figure 8 is a view showing the operation section and the power generation section according to an embodiment of the present invention.

[0057] Figure 9 is a view showing Figure 8 the three-dimensional view of the power generation section.

[0058] Figure 10 is a view showing the power generation section as observed from the rear Figure 9 of the power generation section.

[0059] Figure 11 is a view for explaining Figure 9 the gear structure of the power generation section.

[0060] Figure 12 is a view showing the front view Figure 11 of the power generation section.

[0061] Figure 13 is a view for explaining Figure 9 the rotation of the power generation section.

[0062] Figure 14 is a view for explaining the internal structure of the power transmission section according to another embodiment of the present invention.

[0063] Figure 15 is a view of the power transmission section as observed from the rear Figure 14 of the power transmission section.

[0064] Figure 16 is a view for explaining Figure 14 the arrangement of pulleys and wires of the power transmission section.

[0065] Figure 17 is a view showing the operation section and the power generation section according to another embodiment of the present invention.

[0066] Figure 18 is a view showing Figure 17 the three-dimensional view of the power generation section.

[0067] Figure 19 is a view of the power generation section as observed from the rear Figure 18 of the power generation section.

[0068] Figure 20 is a view for explaining Figure 18 the gear structure of the power generation section.

[0069] Figure 21 is a view observed from the front Figure 20 of the figure.

[0070] Figure 22 is for explaining Figure 18 the rotation of the power generation unit.

[0071] Figure 23 is a view for explaining the roll motion of the surgical instrument according to an embodiment of the present invention.

[0072] Figure 24 and Figure 25 is a view for explaining the coupling structure of the surgical instrument according to an embodiment of the present invention.

[0073] Figure 26 is a view showing the internal structure of the surgical instrument according to another embodiment of the present invention.

[0074] Figure 27 is a schematic perspective view of the surgical instrument according to another embodiment of the present invention.

[0075] Figure 28 is for explaining Figure 27 the end effector.

[0076] Figure 29 is a perspective view of the end effector observed from another direction Figure 28 of the end effector.

[0077] Figure 30 is Figure 27 a schematic perspective view of the end effector with the second jaw removed.

[0078] Figure 31 is Figure 30 a schematic perspective view of the end effector with the cartridge removed.

[0079] Figure 32 is Figure 31 a perspective view.

[0080] Figure 33 schematically shows Figure 27 the second jaw of the end effector.

[0081] Figure 34 schematically shows Figure 27 the first jaw of the end effector.

[0082] Figure 35 schematically shows Figure 27 the top view of the first jaw of the end effector.

[0083] Figure 36 is a perspective view of the working member of the end effector shown Figure 27 .

[0084] Figure 37 is a perspective view of the working member observed from another direction Figure 36 .

[0085] Figure 38 is a front view of the working member observed from one direction Figure 36 .

[0086] Figure 39 is a schematic perspective view of a part of the end effector shown Figure 27 .

[0087] Figure 40 is a front view of the one observed from one direction Figure 39 .

[0088] Figure 41 is a schematic top view for explaining the working member, fixed pulley, and forward wire of the end effector shown Figure 27 .

[0089] Figure 42 is a schematic perspective view for explaining the working member, fixed pulley, and forward wire of the end effector shown Figure 27 .

[0090] Figure 43 and Fig. 44 are schematic diagrams for explaining the operation of the working member of the end effector shown Figure 27 .

[0091] Figure 45 and Fig. 46 are diagrams of an alternative embodiment with a reverse wire added to the end effector shown Figure 27 .

[0092] Figure 47 is a perspective view of the first jaw and cartridge of the surgical instrument shown Figure 27 .

[0093] Figure 48 and Figure 49 are diagrams for explaining the change pulley, yaw pulley, and pitch pulley of the end effector of the surgical instrument shown Figure 27 .

[0094] Figure 50 is a perspective view of the first jaw and cartridge of the surgical instrument shown Figure 27 .

[0095] Fig. 51 and Figure 52 are cross-sectional views showing the stapling operation of the end effector of the surgical instrument shown Figure 27 as a whole.

[0096] Figures 53 to 57 It is a diagram showing the pitching rotation motion of a surgical instrument according to an embodiment of the present invention.

[0097] Figures 58 to 62 It is a diagram showing the yaw rotation motion of a surgical instrument according to an embodiment of the present invention.

[0098] Figures 63 to 67 It is a diagram showing the state in which a surgical instrument performs a pitching rotation motion and a yaw rotation motion according to an embodiment of the present invention.

[0099] Figure 68 It is a structural diagram for illustrating an example of the internal structure of a surgical instrument according to an embodiment of the present invention.

[0100] Figure 69 It is a flowchart for illustrating an example of a method for controlling the posture of a surgical instrument according to an embodiment.

[0101] Figure 70 It is a conceptual diagram for illustrating a method for controlling the posture of a surgical instrument according to an embodiment.

[0102] Figure 71 It is a flowchart for illustrating another example of a method for controlling the posture of a surgical instrument according to an embodiment.

[0103] Figure 72 A diagram for illustrating an example of controlling an end effector according to a control value for controlling the posture of a surgical instrument according to an embodiment. Detailed Description of the Embodiment

[0104] Since the present invention can be variously changed and can have various embodiments, specific embodiments will be shown in the drawings and described in detail in the specification. By referring to the embodiments described in detail below in conjunction with the drawings, the effects and features of the present invention and the methods for realizing them will become clear. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0105] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. When describing with reference to the drawings, the same or corresponding components will be given the same reference numerals, and their repeated description will be omitted.

[0106] In the following embodiments, terms such as "first" and "second" are used for the purpose of distinguishing one component from another without limiting meaning.

[0107] In the following embodiments, unless the context clearly dictates otherwise, singular expressions include plural expressions.

[0108] In the following embodiments, terms such as "comprising" or "having" indicate the presence of the features or components described in the specification, and do not exclude the possibility of adding one or more other features or components.

[0109] In the figures, for ease of explanation, the sizes of the components may be exaggerated or reduced. For example, since the sizes and thicknesses of each component shown in the figures are arbitrarily shown for ease of explanation, the present invention is not necessarily limited to the figures shown.

[0110] In the following embodiments, the x-axis, y-axis, and z-axis are not limited to the three axes on the Cartesian coordinate system and may be interpreted in a broad sense including these. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.

[0111] When implementing the embodiments in other ways, the specific process sequences may be executed in a manner different from the described order. For example, two consecutively described processes may be executed substantially simultaneously, or may be performed in the reverse order of the described order.

[0112] Next, based on the above principles, a surgical instrument according to the present invention will be described in detail with reference to the figures.

[0113] Figure 1 is a perspective view showing a surgical instrument according to an embodiment of the present invention, Figure 2 is a top view of the surgical instrument Figure 1 viewed from the side.

[0114] Referring to Figure 1 and Figure 2 a surgical instrument 1000 according to an embodiment of the present invention may include a distal tool 1100, an operating portion 1200, a power transmission portion 1300, and a connection portion 1400.

[0115] The end effector 1100 is formed at one end of the connecting portion 1400 and is inserted into the surgical site to perform the actions required for the surgery. As an example of such an end effector 1100, a pair of jaws (not shown) can be used to perform a grip action. This end effector 1100 is connected to the operating portion 1200 through the power transmission portion 1300 and the connecting portion 1400 described later, and receives the driving force of the operating portion 1200 through the power transmission portion 1300, thereby performing actions required for the surgery, such as gripping, cutting, suturing, and the like. However, the spirit of the present invention is not limited thereto, and various devices used for surgery can be used as the end effector 1100. For example, hereinafter, for the sake of convenience of explanation, the end effector 1100 used as a surgical clamp and the end effector 3100 used as a stapler will be described as examples, but not limited thereto, structures such as a surgical grasper, a vessel sealer, and a single-arm cauterizer can be used as the end effector.

[0116] The operating portion 1200 can control the actions of the end effector 1100. For example, the operating portion 1200 is configured to allow a user to input a signal for controlling the actions of the end effector 1100. Among them, the signal for controlling the actions of the end effector 1100 can be a mechanical operation such as pressing a button or a switch, can also be a mechanical operation such as rotation or movement of a specific member, and can also be an electrical signal generated by such a mechanical operation, but not limited thereto. The operating portion 1200 includes an interface that allows a doctor to directly manipulate. For example, it is formed in a shape such as a gun shape, a pliers shape, a rod shape, a control lever shape, etc. When a doctor manipulates it, the end effector 1100 connected to the corresponding interface and inserted into the body of the surgical patient performs a predetermined operation, thereby performing the surgery. Among them, in Figure 1 the operating portion 1200 is shown in a gun shape, but the spirit of the present invention is not limited thereto, and any various forms of operating portions that are connected to the end effector 1100 and operate on the end effector 1100 are acceptable.

[0117] The power transmission portion 1300 is formed at the other end of the connecting portion 1400 and can be used to transmit the power generated from the power generation portion described later to the end effector 1100. For example, the power transmission portion 1300 can be disposed between the end effector 1100 and the operating portion 1200. As described below, when a user such as a doctor operates the operating portion 1200, the power generation portion 1500 generates power to control the end effector 1100, and the generated power can be transmitted to the end effector 1100 through the power transmission portion 1300. The power transmission portion 1300 can include multiple wires, pulleys, linkages, joints, gears, etc.

[0118] The connecting part 1400 is in the shape of a hollow shaft, and one or more wires and electric wires can be accommodated therein. One end of the connecting part 1400 is coupled with the end effector 1100, and the other end is coupled with the power transmission part 1300, and the power transmission part 1300 can be connected to the operating part. That is, the connecting part 1400 can also function to connect the operating part 1200 and the end effector 1100.

[0119] On the other hand, a connector (not shown) can be formed on the operating part 1200. The connector (not shown) can be connected to an external power supply (not shown). In addition, the connector (not shown) is connected to the end effector 1100 through an electric wire, and can transmit the electric energy supplied from the external power supply (not shown) to the end effector 1100. And, in this way, the electric energy transmitted to the end effector 1100 can provide driving force to perform the yaw rotation action, pitch rotation action, actuation action, stapling action, etc. of the end effector 1100 described later. Or, the electric energy transmitted to the end effector 1100 can provide driving force to perform the cutting and cauterizing functions of the end effector 1100, for example, in a monopolar mode, bipolar mode or ultrasonic blade. In addition, such electric energy can also be supplied to drive the power transmission part 1300. Of course, a built-in battery can also be used.

[0120] The operating part 1200 can include a housing 1201 that forms the external shape of the operating part 1200. As described below, at least a part of the power generation part for generating power used to control the end effector 1100 can be accommodated inside the housing 1201. In addition, a circuit unit for controlling the operation of the power generation part and a slip ring for supplying electric energy to the power generation part or for connecting communication can be accommodated inside the housing 1201.

[0121] A handle 1202 can be formed on the operating part 1200. The handle 1202 is a part for the user to grip. Therefore, the user can use the surgical instrument 1000 according to the present invention while gripping the handle 1202 of the operating part 1200.

[0122] On the other hand, although not shown in the figure, it can also include buttons, switches, control levers, etc. of the operating part for controlling various actions of the end effector 1100.

[0123] Hereinafter, an embodiment of the operating part of the surgical instrument will be described in more detail Figure 1 and Figure 2 of the surgical instrument.

[0124] Figure 3is a perspective view showing an example of an operation part of a surgical instrument according to an embodiment. Figure 4 is a top view of the surgical instrument Figure 3 viewed from the side.

[0125] Referring to Figure 3 and Figure 4 a surgical instrument 2000 according to an embodiment of the present invention may include a distal tool 2100, an operation part 2200, a power transmission part 2300, and a connection part 2400.

[0126] According to an embodiment, the operation part 2200 may be configured to allow a user to input a signal for controlling the movement of the distal tool 2100. As an example, the user may input an input signal for controlling (or changing) the posture of the distal tool 2100 through the operation part 2200. In other words, the operation part 2200 may receive a user input for changing the posture of the distal tool 2100. Here, the posture represents the state of an object in space and may be expressed as a combination of orientation and position. As another example, the user may input a signal for the distal tool 2100 to perform actions such as clamping, stapling, firing, etc. through the operation part 2200. In other words, the operation part 2200 may receive a user input signal to allow the distal tool 2100 to perform actions such as clamping, stapling, firing, etc.

[0127] On the other hand, in the present application, the distal tool 2100 may have multiple degrees of freedom (DOFs). For example, the distal tool 2100 may have various combinations of degrees of freedom, such as two translational degrees of freedom, one translational degree of freedom and one rotational degree of freedom, two rotational degrees of freedom. However, the translational degrees of freedom of the distal tool 2100 can be operated by the user changing the position of the surgical instrument 2000 using the operation part 2200. Therefore, the degrees of freedom of the distal tool 2100 related to the operation part 2200 of the present application described below are rotational degrees of freedom.

[0128] Correspondingly, the end effector 2100 may have more than two rotational degrees of freedom. As an example, the end effector 2100 may have two rotational degrees of freedom for pitch rotation and yaw rotation. Alternatively, the end effector 2100 may have two rotational degrees of freedom for pitch rotation and roll rotation, or two rotational degrees of freedom for yaw rotation and roll rotation. As another example, the end effector 2100 may have three rotational degrees of freedom, in other words, may have a roll rotational degree of freedom, a pitch rotational degree of freedom, and a yaw rotational degree of freedom.

[0129] The end effector 2100 having three rotational degrees of freedom means that the user can control each rotation. That is, the user input received by the operation unit 2200 may mean a user input for at least one rotational movement among the roll rotation, pitch rotation, and yaw rotation of the end effector 2100.

[0130] On the other hand, the operation unit 2200 may include one or more user interaction units that receive the user's input for controlling the movement of the end effector 2100. For example, the operation unit 2200 may include a plurality of independently implemented user interaction units, and each user interaction unit may receive the user's input for controlling at least one rotational movement among the roll rotation, yaw rotation, and pitch rotation of the end effector 2100. The user interaction unit may be formed in a form capable of obtaining (or receiving) the user's operations or inputs such as a joystick, a button, a keyboard, a track ball, a foot pedal, a touch screen, etc., but is not limited to any form.

[0131] According to an embodiment, the operation unit 2200 may include a user interaction unit (not shown) capable of receiving the user's input for the roll rotation, pitch rotation, and yaw rotation of the end effector 2100. In other words, the user can input signals for controlling the roll rotation, pitch rotation, and yaw rotation of the end effector 2100 through the user interaction unit. As an example, the user interaction unit may separately receive the user's input for the roll rotation, pitch rotation, and yaw rotation according to the user's input method (for example, the area where the user interaction unit receives the input, the time (or period) of receiving the input, the method of receiving the input, etc.). As another example, the user interaction unit may receive at least one input among the user's input for the roll rotation, pitch rotation, and yaw rotation based on the user's input.

[0132] According to another embodiment, the operation unit 2200 may include a first user interaction unit 2210 capable of receiving user input for the pitch rotation and yaw rotation of the end effector 2100, and a second user interaction unit 2220 capable of receiving user input for the roll rotation of the end effector 2100. For example, the first user interaction unit 2210 is formed in the form of a joystick, the second user interaction unit 2220 is formed in the form of a knob, and can receive user input for pitch rotation, yaw rotation, and roll rotation within a 360-degree range. However, the form of the first user interaction unit 2210 (e.g., joystick) and the form of the second user interaction unit 2220 (e.g., knob) are not limited to Figure 3 and Figure 4 as shown.

[0133] According to still another embodiment, the operation unit 2200 is a third user interaction unit 2230 capable of receiving user input for controlling actions such as clamping, stapling, firing, etc. of the end effector 2100. For example, the third user interaction unit 2230 is implemented in the form of a button or a switch and can receive a pressing input from the user. However, the form of the third user interaction unit 2230 (e.g., button or switch) is not limited to Figure 3 and Figure 4 the form shown.

[0134] According to still another embodiment, the operation unit 2200 may include a fourth user interaction unit (not shown) capable of receiving user input that can be selected in consideration of a target pose according to user input when controlling the action of the end effector. For example, the fourth user interaction unit is implemented in the form of a button or a switch and can receive a pressing input from the user. For example, when the switch is turned on (ON) according to user input, the control unit described later may control the action of the end effector according to user input to achieve the target pose. Differently, when the switch is turned off (OFF) according to user input, the control unit described later may control the action of the end effector independently of the target pose. When controlling the action of the end effector independently of the target pose, the control unit may control the action of the end effector based on the current pose information of the end effector according to the operation value according to user input. This is similar to the Figure 70 pose control method 2510 described later.

[0135] On the other hand, the positions where the first user interaction unit 2210, the second user interaction unit 2220, and the third user interaction unit 2230 are attached to the operation unit 2200 are not limited to Figure 3 and Figure 4 the positions shown. For example, the attachment positions of the first user interaction unit 2210, the second user interaction unit 2220, and the third user interaction unit 2230 may be determined in consideration of the intuitive use by the user.

[0136] For example, for intuitive use by the user, the first user interaction unit 2210 may be attached to the front surface portion or the rear surface portion of the operation unit 2200 based on a virtual surface including the point where the first user interaction unit 2210 is attached to the operation unit 2200, such that the virtual surface is in a perpendicular relationship with the direction in which the connection unit 2400 extends ( Figure 3 the x-axis direction). In other words, the axis in the direction in which the connection unit 2400 extends may be perpendicular to the virtual surface. Described in another way, the first user interaction unit 2210 is attached to the front surface portion or the rear surface portion of the operation unit 2200 in such a manner that the direction in which the point where the first user interaction unit 2210 is attached to the operation unit 2200 extends is in a parallel relationship with the direction in which the connection unit 2400 extends ( Figure 3 the x-axis direction).

[0137] For example, as Figure 3 and Figure 4 shown, for intuitive use by the user, the second user interaction unit 2220 may be attached to the area where the operation unit 2200 is connected to the power transmission unit 2300, or to an area adjacent to the power transmission unit 2300 of the operation unit 2200. Alternatively, for intuitive use by the user, the second user interaction unit 2220 may be attached to the side surface portion of the operation unit 2200. At this time, based on a virtual surface including the point where the second user interaction unit 2220 is attached to the operation unit 2200, it may be attached to the side surface portion of the operation unit 2200 in such a manner that the virtual surface is in a parallel relationship with the direction in which the connection unit 2400 extends ( Figure 3 the x-axis direction). In other words, the axis in the direction in which the connection unit 2400 extends may be incident in a direction parallel to the virtual surface. Described in another way, the second user interaction unit 2220 is attached to the side surface portion of the operation unit 2200 in such a manner that the direction in which the point where the second user interaction unit 2220 is attached to the operation unit 2200 extends is in a perpendicular relationship with the direction in which the connection unit 2400 extends ( Figure 3 the x-axis direction).

[0138] According to another embodiment, the second user interaction unit may be formed in the form of a button (or a switch) etc. and may receive a pressing input from a user. For example, the second user interaction unit includes two switches. One switch may receive user input related to a rolling rotation in the clockwise direction, while the other switch may receive user input related to a rolling rotation in the counterclockwise direction. As an example, the two switches in the second user interaction unit may be disposed above and below at a position where the second user interaction unit is attached to the operation unit 2200 (e.g., the left surface or the right surface of the operation unit). As another example, of the two switches in the second user interaction unit, one switch may be disposed on one side surface of the operation unit, and the other switch may be symmetrically disposed on the other side surface of the operation unit. As yet another example, the second user interaction unit 2220 may be implemented in a form in which switch groups each including two switches are respectively attached to another position of the operation unit 2200. For example, the first switch group in the second user interaction unit 2220 may be disposed on one side surface of the operation unit, and the second switch group may be disposed on the other side surface of the operation unit.

[0139] For example, as Figure 3 and Figure 4 shown, for intuitive use by the user, the third user interaction unit 2230 may be attached to the front surface portion of the operation unit 2200. For example, as Figure 3 and Figure 4 shown, when the operation unit 2200 is in the shape of a gun, the third user interaction unit 2230 is in the shape of a trigger and is attached to the front surface portion of the operation unit 2200.

[0140] On the other hand, for the coordinate system used by the operation unit 2200 and the coordinate system used by the end effector 2100, in the initial state, that is, the state before the user operates the operation unit 2200 to change the posture of the end effector 2100, even if the reference points (or origins) of each coordinate system are different, the reference axes (e.g., the rolling rotation axis, the pitch rotation axis, and the yaw rotation axis) of each coordinate system may all face the same direction. In other words, in the initial state, the multiple reference axes in the coordinate system used by the operation unit 2200 and the coordinate system used by the end effector 2100 may all be in a parallel or perpendicular relationship. That is, in the initial state, the change in the user input corresponding to the user's intention in the coordinate system used by the operation unit 2200 may be the same as the change in the actual posture of the end effector 2100 in the coordinate system used by the end effector 2100.

[0141] In contrast, when the user operates the operation unit 2200 to change the posture of the end effector 2100, the direction of the reference axis in the coordinate system used by the end effector 2100 may be different from the direction in the coordinate system used by the operation unit 2200. In this case, the user input in the coordinate system used by the operation unit 2200 corresponding to the user's intention is different from the actual posture change of the end effector 2100 in the coordinate system used by the end effector 2100, so the intuitive operation of the end effector 2100 by the user may become difficult. For example, when the connecting part 2400 keeps rotating (for example, when the posture of the end effector 2100 has changed according to the rolling rotation), when the user inputs a signal for the subsequent pitch rotation to the operation unit 2200, the actual end effector 2100 may perform a yaw rotation against the user's intention.

[0142] As another example, when the user intends to perform a rolling rotation and operates the operation unit 2200, due to the difference between the coordinate system used by the operation unit 2200 and the coordinate system used by the end effector 2100, the posture of the end effector 2100 can change not only in the rolling direction, but also in the pitch direction and the yaw direction. In this case, due to the signal input for the user's rolling rotation, the axes of the pitch rotation and the yaw rotation of the end effector 2100 change, and the direction information related to the pitch rotation and the yaw rotation for aligning with the surgical site can change so that the end effector 2100 performs a surgical action.

[0143] In other words, in the above example, the difficulty encountered by the user can be caused by the operation of the end effector 2100 according to the signal input by the user through the operation unit 2200. That is, considering the conversion between the coordinate system used by the operation unit 2200 and the coordinate system used by the end effector 2100, when an action control signal is generated based on the signal input by the user through the operation unit 2200 and the generated action control signal is transmitted to the end effector 2100, the posture change of the end effector 2100 intended by the user can be the same as the actual posture change of the end effector 2100, so the inconvenience to the user can be reduced and the user can conveniently and intuitively change the posture of the end effector 2100.

[0144] Therefore, the present application describes a method and an apparatus for generating a control value (or a control signal) for changing the posture of the end effector 2100 based on the signal input by the user through the operation unit 2200. The following will refer to Figures 68 to 72 for a more detailed description.

[0145] Hereinafter, Figure 1 will be described in more detail Figure 2 、 Figure 3 and Figure 4The end effector, operating part, power transmission part, power generation part, etc. of the surgical instrument.

[0146] Figure 5 FIG. 4 is a diagram for explaining the internal structure of the power transmission part according to an embodiment of the present invention. Figure 6 FIG. 5 is a diagram showing the power transmission part viewed from the rear. Figure 5 FIG. 6 is a diagram for explaining the configuration of the pulleys and wires of the power transmission part. Figure 7 FIG. 7 is for explaining Figure 5 FIG. 8 is a diagram showing the configuration of the pulleys and wires of the power transmission part.

[0147] Referring to Figures 5 to 7 FIG. 9, the power transmission part 1300 according to an embodiment of the present invention may include a pulley frame 1310, at least one pulley, and at least one wire.

[0148] The pulley frame 1310 may form the overall frame of the power transmission part 1300.

[0149] At least one pulley may be disposed in the pulley frame 1310. Here, the disposition of the pulley should be interpreted in a broad sense. For example, the disposition of the pulley may mean that the pulley is directly connected to the pulley frame 1310, and may also mean that a rotating shaft is provided in the pulley frame 1310 and the pulley is connected to the rotating shaft. Or, the disposition of the pulley may mean that a separate member is provided in the pulley frame 1310 and the rotating shaft is connected to the separate member, and the pulley is connected to the rotating shaft. Or, the disposition of the pulley may mean that a hole is formed in the pulley frame 1310 and the rotating shaft is configured to penetrate the hole, and the pulley is provided on the rotating shaft.

[0150] The power transmission part 1300 may include at least one pulley.

[0151] A pulley is a member around which a wire is wound, and a groove capable of winding the wire may be formed on the pulley.

[0152] As an embodiment, the power transmission part 1300 may include a yaw pulley 1320 and a pitch pulley 1330. In addition, the power transmission part 1300 may include at least one yaw wire 1361, 1362 and at least one pitch wire 1363, 1364.

[0153] The yaw pulley 1320 is a pulley related to the yaw rotation of the end effector 1100, and the yaw wires 1361, 1362 are wires related to the yaw rotation of the end effector 1100.

[0154] The yaw pulley 1320 may be disposed in a region of the pulley frame 1310.

[0155] The yaw wires 1361, 1362 can be disposed in the end effector 1100 and extend from pulleys associated with the yaw rotation of the end effector 1100 towards the yaw pulley 1320.

[0156] As an example, the yaw wires 1361, 1362 can be formed as a pair. As described below, the yaw wires 1361, 1362 can be respectively connected to the upper side and the lower side of each yaw pulley 1320.

[0157] As a specific example, the yaw wires 1361, 1362 can include a first yaw wire 1361 and a second yaw wire 1362. The first yaw wire 1361 can extend to the upper side of the yaw pulley 1320 and be connected to the yaw pulley 1320 with respect to Figure 7 a reference. The second yaw wire 1362 can extend to the lower side of the yaw pulley 1320 and be connected to the yaw pulley 1320 with respect to Figure 7 a reference.

[0158] After the yaw wires 1361, 1362 are connected to the yaw pulley 1320, when the yaw pulley 1320 rotates, it can be wound around or unwound from the yaw pulley 1320. That is, when the yaw pulley 1320 rotates in one direction, one yaw wire is wound around the yaw pulley 1320 while the other yaw wire is unwound from the yaw pulley 1320. For example, when the yaw pulley 1320 rotates Figure 7 in a clockwise direction with respect to a reference, the first yaw wire 1361 is unwound from the yaw pulley 1320 and the second yaw wire 1362 is wound around the yaw pulley 1320. Conversely, when the yaw pulley 1320 rotates Figure 7 in a counterclockwise direction with respect to a reference, the first yaw wire 1361 is wound around the yaw pulley 1320 and the second yaw wire 1362 is unwound from the yaw pulley 1320.

[0159] Stated another way, when the yaw pulley 1320 rotates, the pair of yaw wires 1361, 1362 can also mean moving in opposite directions starting from the yaw pulley 1320.

[0160] In this way, when the yaw pulley 1320 rotates such that the pair of yaw wires 1361, 1362 move in different directions, the pulleys connected to the yaw wires 1361, 1362 on the end effector 1100 side rotate in the corresponding directions. Therefore, while the pulleys connected to the yaw wires 1361, 1362 on the end effector 1100 side rotate in one direction, the yaw rotation of the end effector 1100 can be achieved.

[0161] The pitch pulley 1330 is a pulley related to the pitch rotation of the end effector 1100, and the pitch wires 1363 and 1364 are wires related to the pitch rotation of the end effector 1100.

[0162] The pitch pulley 1330 can be disposed in a region of the pulley frame 1310.

[0163] As an embodiment, the pitch pulley 1330 can be disposed on the opposite side of the yaw pulley 1320. As a preferred embodiment, the pitch pulley 1330 and the yaw pulley 1320 can be symmetrically disposed on both sides with respect to the center of the pulley frame 1310. Thus, as described below, the yaw wires 1361 and 1362 and the pitch wires 1363 and 1364 extending through the auxiliary pulley 1350 can be substantially perpendicular to the yaw pulley 1320 and the pitch pulley 1330.

[0164] The pitch wires 1363 and 1364 can be disposed on the end effector 1100 and extend from the pulleys related to the pitch rotation of the end effector 1100 toward the pitch pulley 1330.

[0165] As an embodiment, the pitch wires 1363 and 1364 can be formed as a pair. As described below, the pitch wires 1363 and 1364 can be respectively connected to the upper side and the lower side of each pitch pulley 1330.

[0166] As a specific embodiment, the pitch wires 1363 and 1364 can include a first pitch wire 1363 and a second pitch wire 1364. The first pitch wire 1363 can extend to the lower side of the pitch pulley 1330 and be connected to the pitch pulley 1330 with Figure 7 as a reference. The second pitch wire 1364 can extend to the upper side of the pitch pulley 1330 and be connected to the pitch pulley 1330 with Figure 7 as a reference.

[0167] After the pitch wires 1363 and 1364 are connected to the pitch pulley 1330, the pitch wires 1363 and 1364 are wound around or unwound from the pitch pulley 1330 as the pitch pulley 1330 rotates. That is, when the pitch pulley 1330 rotates in one direction, one pitch wire is wound around the pitch pulley 1330, and the other pitch wire is unwound from the pitch pulley 1330. For example, when the pitch pulley 1330 rotates clockwise with Figure 7 as a reference, the first pitch wire 1363 is unwound from the pitch pulley 1330, and the second pitch wire 1364 is wound around the pitch pulley 1330. Conversely, when the pitch pulley 1330 rotates counterclockwise with Figure 7 as a reference, the first pitch wire 1363 is wound around the pitch pulley 1330, and the second pitch wire 1364 is unwound from the pitch pulley 1330.

[0168] Stated from another perspective, when the pitch pulley 1330 rotates, a pair of pitch wires 1363, 1364 can move in opposite directions with the pitch pulley 1330 as the starting point.

[0169] Like this, when the pitch pulley 1330 rotates and causes a pair of pitch wires 1363, 1364 to move in opposite directions, the pulleys connected to the pitch wires 1363, 1364 on the end effector 1100 side rotate in their corresponding directions. Therefore, while the pulleys connected to the pitch wires 1363, 1364 on the end effector 1100 side can rotate in one direction, the pitch rotation of the end effector 1100 can be achieved.

[0170] As an embodiment, the power transmission unit 1300 may further include at least one auxiliary pulley 1350. For example, the auxiliary pulley 1350 is connected to the yaw wires 1361, 1362 and the pitch wires 1363, 1364, and the auxiliary pulley 1350 may include a first auxiliary pulley 1351 for changing the paths of the yaw wires 1361, 1362 and the pitch wires 1363, 1364.

[0171] The first auxiliary pulley 1351 is disposed in the power transmission unit 1300 and can serve as the path for the yaw wires 1361, 1362 and the pitch wires 1363, 1364 extending from the end effector 1100 to the power transmission unit 1300 through the connection unit 1400.

[0172] An auxiliary pulley fixing portion 1311 may be formed in the pulley frame 1310. The auxiliary pulley fixing portion 1311 is the part for setting the first auxiliary pulley 1351. For example, the auxiliary pulley fixing portion 1311 may be integrally formed with the pulley frame 1310. Alternatively, the auxiliary pulley fixing portion 1311 may be formed as a separate member and may be combined or assembled to the pulley frame 1310.

[0173] As an embodiment, the auxiliary pulley fixing portion 1311 may include at least one through hole, and the rotation shaft of the first auxiliary pulley 1351 may be configured to penetrate through the through hole. Stated from another perspective, the first auxiliary pulley 1351 is configured to be parallel to and overlap with the through hole formed in the auxiliary pulley fixing portion 1311, and the rotation shaft is configured to penetrate through the first auxiliary pulley 1351 and the auxiliary pulley fixing portion 1311 simultaneously.

[0174] The auxiliary pulley fixing part 1311 can be formed in a shape protruding from the pulley frame 1310 towards the connecting part 1400. For example, the auxiliary pulley fixing part 1311 is formed to protrude from one surface of the pulley frame 1310 towards the connecting part 1400. As a preferred embodiment, the auxiliary pulley fixing part 1311 can be disposed at the center of the pulley frame 1310.

[0175] At this time, the yaw pulley 1320 and the pitch pulley 1330 can be respectively disposed on both sides with the auxiliary pulley fixing part 1311 as a reference. As a preferred embodiment, the yaw pulley 1320 and the pitch pulley 1330 can be disposed at positions symmetrical with the auxiliary pulley fixing part 1311 as a reference. Explaining this from another perspective, the yaw wires 1361, 1362 and the pitch wires 1363, 1364 entering the first auxiliary pulley 1351 can be distributed to both sides when passing through the auxiliary pulley fixing part 1311. Thus, the yaw wires 1361, 1362 can extend towards the yaw pulley 1320, and the pitch wires 1363, 1364 can extend towards the pitch pulley 1330.

[0176] Thus, the yaw wires 1361, 1362 can be close to being perpendicular to the yaw pulley 1320, and the pitch wires 1363, 1364 can be close to being perpendicular to the pitch pulley 1330. Preferably, the yaw wires 1361, 1362 can be close to being perpendicular to the yaw pulley 1320, and the pitch wires 1363, 1364 can be close to being perpendicular to the pitch pulley 1330. Expressing this from another perspective, the yaw wires 1361, 1362 can approach the yaw pulley 1320 in a way that forms a tangent to the yaw pulley 1320, and the pitch wires 1363, 1364 can also approach the pitch pulley 1330 in a way that forms a tangent to the pitch pulley 1330.

[0177] The first auxiliary pulley 1351 can be disposed on the auxiliary pulley fixing part 1311 and can change the paths of the yaw wires 1361, 1362 and the pitch wires 1363, 1364 extending to the power transmission part 1300.

[0178] Specifically, as Figure 7 shown, the first auxiliary pulley 1351 can be disposed between the yaw pulley 1320 and the pitch pulley 1330.

[0179] A plurality of first auxiliary pulleys 1351 can be provided. The first auxiliary pulley 1351 can be provided with a number corresponding to the number of wires entering the power transmission part 1300.

[0180] As an example, the yaw wires 1361 and 1362 can be provided in a pair to enter the upper side and the lower side of the yaw pulley 1320 respectively. Additionally, the pitch wires 1363 and 1364 can be provided in a pair and enter the upper side and the lower side of the pitch pulley 1330 respectively. That is, when there are four wires entering the power transmission unit 1300, four first auxiliary pulleys 1351 can be provided.

[0181] As an alternative embodiment, the plurality of first auxiliary pulleys 1351 can be parallel to each other. This can be to enable the plurality of wires (1361, 1362, 1363, 1364) passing around the first auxiliary pulleys 1351 to extend to the yaw pulley 1320 and / or the pitch pulley 1330 in a parallel or nearly parallel manner to each other.

[0182] Specifically, the plurality of wires (1361, 1362, 1363, 1364) extending from the end effector 1100 to the power transmission unit 1300 extend side by side with each other. Therefore, since the plurality of first auxiliary pulleys 1351 are arranged side by side, each of the plurality of wires (1361, 1362, 1363, 1364) passing around the first auxiliary pulleys 1351 extends to the yaw pulley 1320 and / or the pitch pulley 1330 in a parallel or at least nearly parallel manner to each other.

[0183] As an alternative embodiment, in the relationship between the yaw pulley 1320 and the pitch pulley 1330, the first auxiliary pulley 1351 can be configured such that the winding directions of the wires (1361, 1362, 1363, 1364) are nearly perpendicular to each other, and preferably, can be configured to be perpendicular to each other. Refer to Figure 7 , the winding directions of the plurality of wires (1361, 1362, 1363, 1364) around the first auxiliary pulley 1351 and the winding directions of the plurality of wires (1361, 1362, 1363, 1364) around the yaw pulley 1320 and the pitch pulley 1330 are perpendicular to each other. Explaining this from another perspective, the first auxiliary pulley 1351 can also be expressed as changing the traveling direction of the plurality of wires (1361, 1362, 1363, 1364) entering the first auxiliary pulley 1351 by 90°. Expressing this from yet another perspective, the grooves formed in the first auxiliary pulley 1351 and the grooves formed in the yaw pulley 1320 and the pitch pulley 1330 can also be expressed as being perpendicular to each other.

[0184] With this configuration, the plurality of wires (1361, 1362, 1363, 1364) entering the power transmission unit 1300 change their paths through the first auxiliary pulley 1351 and can be perpendicular or nearly perpendicular to the yaw pulley 1320 and the pitch pulley 1330.

[0185] Figure 8FIG. is a diagram showing an operation unit and a power generation unit according to an embodiment of the present invention, Figure 9 is a diagram showing Figure 8 a perspective view of the power generation unit of Figure 10 is a diagram showing the power generation unit of Figure 9 when viewed from the rear. Figure 11 is a diagram for explaining Figure 9 the gear structure of the power generation unit of Figure 12 is a diagram showing the power generation unit of Figure 11 when viewed from the front, Figure 13 is a diagram for explaining Figure 9 the rotation of the power generation unit of

[0186] Referring to Figures 8 to 13 According to an embodiment of the present invention, the surgical instrument 1000 may include a power generation unit 1500 that generates power for controlling the end effector 1100.

[0187] The power generation unit 1500 may be configured to be at least partially received in the housing 1201 of the operation unit 1200.

[0188] When the user operates the operation unit 1200, the power generation unit 1500 may generate power for controlling the end effector 1100 based on the operation.

[0189] The power generation unit 1500 may include a motor group 1510 that includes at least one motor.

[0190] The motor group 1510 may perform a roll rotation about an axis in the extending direction of the connection part 1400.

[0191] Herein, the roll motion used in the present invention is defined as follows.

[0192] The roll motion may refer to the rotation of the surgical instrument 1000 composed of the end effector 1100, the connection part 1400, the motor group 1510, etc. about an axis in the extending direction of the connection part 1400. In other words, it refers to the rotation without bending in the Y-axis direction or Figure 3 the X-axis direction of Figure 3 the extending direction of the connection part 1400 Figure 3 in the Z-axis direction.

[0193] Referring again to Figure 8, at least a part of the power generation unit 1500 may be accommodated inside the housing 1201 of the operation unit 1200. At this time, the motor set 1510 is accommodated inside the housing 1201 of the operation unit 1200. Herein, the motor set 1510 performing a roll rotation means rotating along the inner circumferential surface of the housing 1201 inside the housing 1201. Explaining this from another aspect, when the user holds the handle 1202 of the operation unit 1200 and performs an operation allowing the motor set 1510 to perform a roll rotation, with the housing 1201 and the handle 1202 of the operation unit 1200 fixed in place, the motor set 1510 may rotate inside the housing 1201 with the direction in which the connection unit 1400 extends as the axis. Explaining this from another perspective, it may also be expressed as when the user performs an operation to perform a roll action while holding the connection unit 1400, the housing 1201 and the handle 1202 rotate.

[0194] The motor set 1510 may include at least one motor.

[0195] The motor set 1510 may include a yaw drive motor 1511. The yaw drive motor 1511 may generate power allowing the end effector 1100 to perform a yaw rotation. For example, when the user operates the operation unit 1200 to allow the end effector 1100 to perform a yaw rotation, the yaw drive motor 1511 may generate a driving force allowing the end effector 1100 to perform a yaw rotation.

[0196] The driving force generated by the yaw drive motor 1511 may be transmitted to the power transmission unit 1300 and allow the yaw pulley 1320 to rotate, and the yaw wires 1361, 1362 may move by the rotation of the yaw pulley 1320 while allowing the end effector 1100 to perform a yaw rotation.

[0197] The yaw drive motor 1511 may include a yaw motor rotation shaft 15111 extending in one direction. The yaw motor rotation shaft 15111 is the part that starts to rotate when the yaw drive motor 1511 is driven. For example, the yaw motor rotation shaft 15111 may extend from the body of the yaw drive motor 1511 towards the power transmission unit 1300. As shown below, a yaw motor plate 1521 is disposed at one end of the yaw motor rotation shaft 15111, and when the yaw motor rotation shaft 15111 rotates, the yaw motor plate 1521 may rotate together. The yaw motor plate 1521 may be connected to the yaw pulley 1320, and as the yaw motor plate 1521 rotates, the driving force may be transmitted to the yaw pulley 1320.

[0198] The motor unit 1510 may include a pitch drive motor 1512. The pitch drive motor 1512 may generate power that allows the end effector 1100 to perform pitch rotation. For example, when the user operates the operation unit 1200 to cause the end effector 1100 to perform pitch rotation, the pitch drive motor 1512 may generate a driving force to allow the end effector 1100 to perform pitch rotation.

[0199] The driving force generated by the pitch drive motor 1512 is transmitted to the power transmission unit 1300 to rotate the pitch pulley 1330, and while the pitch wires 1363, 1364 move by the rotation of the pitch pulley 1330, the end effector 1100 may perform pitch rotation.

[0200] The pitch drive motor 1512 may include a pitch motor rotation shaft 15121 that extends in one direction. The pitch motor rotation shaft 15121 is the part that starts to rotate when the pitch drive motor 1512 is driven. For example, the pitch motor rotation shaft 15121 may extend from the body of the pitch drive motor 1512 toward the power transmission unit 1300. As shown below, a pitch motor plate 1522 may be disposed at one end of the pitch motor rotation shaft 15121, and when the pitch motor rotation shaft 15121 rotates, the pitch motor plate 1522 may rotate together. The pitch motor plate 1522 may be connected to the pitch pulley 1330, and as the pitch motor plate 1522 rotates, the driving force may be transmitted to the pitch pulley 1330.

[0201] The motor unit 1510 may include a roll drive motor 1514. The roll drive motor 1514 may generate power that allows the motor unit 1510 to perform roll rotation. For example, when the user operates the operation unit 1200 to cause the motor unit 1510 to rotate, the roll drive motor 1514 may generate a driving force that allows the motor unit 1510 to perform roll rotation.

[0202] The motor unit 1510 may include a base plate 1560. The base plate 1560 may be disposed in front of the yaw drive motor 1511, the pitch drive motor 1512, and the roll drive motor 1514. The base plate 1560 may be associated with the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512. Expressed from another perspective, the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 may also be connected to the base plate 1560. Expressed from yet another perspective, the base plate 1560 may be connected to the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 such that the roll drive motor 1514, the yaw drive motor 1511, and the pitch drive motor 1512 move or rotate integrally.

[0203] Therefore, when the base plate 1560 rotates by the driving force of the roll driving motor 1514, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 connected to the base plate 1560 can rotate simultaneously. That is, when the roll driving motor 1514 is driven, the base plate 1560 rotates, and when the base plate 1560 rotates, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 connected to the base plate 1560 rotate together with the base plate 1560. Among them, since the base plate 1560 rotates around the axis in the extending direction of the connecting portion 1400, the motor group 1510 including the base plate 1560, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 performs roll rotation around the axis in the extending direction of the connecting portion 1400.

[0204] As an embodiment, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 can be arranged side by side with each other. In addition, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 can be arranged to form a circular pattern.

[0205] As described above, the motor group 1510 can perform roll rotation inside the housing 1201 of the operation unit 1200. At this time, since the motor group 1510 includes a plurality of motors, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 are arranged to form a circular pattern with each other, so that the diameter of the space occupied when the motor group 1510 rotates can be minimized. That is, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 are arranged to form a circular pattern, so that the inner diameter inside the housing 1201 required for the rotation of the motor group 1510 can be designed to be smaller, which can contribute to the miniaturization and light weight of the surgical instrument 1000.

[0206] On the other hand, the fact that the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 are arranged to form a circular pattern means that the outer peripheral surfaces of the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 are arranged within a circle, rather than being arranged at the same interval from each other.

[0207] As an embodiment, the performances of the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 are different from each other. For example, among the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512, the magnitudes of the driving forces required to perform their respective functions are different. For this reason, the roll driving motor 1514, the yaw driving motor 1511, and the pitch driving motor 1512 can have different outputs or different sizes according to needs.

[0208] At least one through hole may be formed in the bottom plate 1560. For example, a through hole may be formed in the bottom plate 1560, and the number of through holes is at least corresponding to the number of motors in the motor group 1510. The through hole is the part through which the rotation shaft of each motor passes.

[0209] For example, the yaw motor rotation shaft 15111 extends from the body of the yaw drive motor 1511 and may extend in a way that penetrates the bottom plate 1560 (through the through hole). In addition, the pitch motor rotation shaft 15121 extends from the body of the pitch drive motor 1512 and may extend in a way that penetrates the bottom plate 1560 (through the through hole).

[0210] On the other hand, the roll drive motor 1514 may include a roll motor rotation shaft 15141 extending in one direction. The roll motor rotation shaft 15141 is the part that starts to rotate when the roll drive motor 1514 is driven. For example, the roll motor rotation shaft 15141 may extend forward from the body of the roll drive motor 1514. That is, the roll motor rotation shaft 15141 extends forward from the body of the roll drive motor 1514 and may extend in a way that penetrates the bottom plate 1560.

[0211] Hereinafter, the rotation principle of the motor group 1510 will be described in detail.

[0212] Referring to Figure 11 and Figure 12 , the power generation unit 1500 may include a circular first gear 1551 and a second gear 1552 meshing with the first gear 1551.

[0213] The first gear 1551 is circular with an inner hollow, and teeth may be formed on the inner circumferential surface of the circle. That is, the first gear 1551 may be an annular gear with teeth formed on the inner circumferential surface.

[0214] The second gear 1552 is a gear with teeth formed on the outer circumferential surface and may mesh with the first gear 1551. The second gear 1552 may be arranged on the roll motor rotation shaft 15141. That is, the roll motor rotation shaft 15141 extends forward from the body of the roll drive motor 1514 in a way that penetrates the bottom plate 1560, and the second gear 1552 may be arranged at the extending part of the roll motor rotation shaft 15141. At this time, the second gear 1552 is combined with the roll motor rotation shaft 15141, and when the roll motor rotation shaft 15141 rotates, the second gear 1552 may rotate together.

[0215] The first gear 1551 can be disposed in front of the bottom plate 1560. Additionally, the first gear 1551 can be fixed to the inner circumferential surface of the housing 1201. Thus, when the tumbling drive motor 1514 is driven, the motor unit 1510 can perform a tumbling rotation inside the housing 1201.

[0216] Specifically, when the tumbling drive motor 1514 is driven, the tumbling motor rotating shaft 15141 can rotate, and at the same time, the second gear 1552 disposed on the tumbling motor rotating shaft 15141 can rotate together. At this time, when the second gear 1552 rotates, the first gear 1551 engaged with the second gear 1552 is fixed to the inner circumferential surface of the housing 1201, so the second gear 1552 moves along the teeth of the first gear 1551. That is, when the tumbling drive motor 1514 starts to be driven, the first gear 1551 and the second gear 1552 rotate relative to each other. At this time, since the first gear 1551 is fixed to the housing 1201, relatively, the second gear 1552 moves along the first gear 1551. Additionally, the second gear 1552 is connected to the tumbling motor rotating shaft 15141, the tumbling drive motor 1514 is connected to the bottom plate 1560, and the bottom plate 1560 is connected to the yaw drive motor 1511 and the pitch drive motor 1512. Therefore, the motor unit 1510 can perform a relative rotation with respect to the housing 1201 through the actions of the first gear 1551 and the second gear 1552.

[0217] To explain this in more detail, the bottom plate 1560 can perform a relative rotation with respect to the housing 1201. That is, the second gear 1552 is connected to the bottom plate 1560 through the tumbling motor rotating shaft 15141. Thus, when the second gear 1552 moves, the second gear 1552 moves along the first gear 1551, so that the bottom plate 1560 performs a relative rotation with respect to the housing 1201. Among them, since the tumbling motor rotating shaft 15141 is eccentric with respect to the rotation axis of the bottom plate 1560, when the second gear 1552 moves along the first gear 1551, the bottom plate 1560 does not change its position along the second gear 1552, but performs a relative rotation with respect to the housing 1201.

[0218] On the other hand, as described below, similarly, the bearing plate 1540 can also be connected to the second gear 1552 with respect to the tumbling motor rotating shaft 15141. Therefore, when the second gear 1552 rotates, as the second gear 1552 moves along the first gear 1551, the bearing plate 1540 can perform a relative rotation with respect to the housing 1201. At this time, as described below, the first bearing 1541 for reducing the rotational friction of the bearing plate 1540 can be configured to be coaxial with the bearing plate 1540 and contact the inner circumferential surface of the housing 1201. Thereby, the bearing plate 1540 can rotate easily.

[0219] On the other hand, in the figure, the teeth of the first gear 1551 and the second gear 1552 are shown in the shape of spur gears, but are not limited thereto, and may be in various shapes, such as helical gears, herringbone gears, etc.

[0220] As an embodiment, the power generation unit 1500 may further include a bearing plate 1540 and a first bearing 1541. When the motor group 1510 rotates in a tumbling manner, the bearing plate 1540 and the first bearing 1541 can reduce the rotational friction between the motor group 1510 and the housing 1201.

[0221] The bearing plate 1540 may be disposed in front of the first gear 1551.

[0222] At least one through hole may be formed in the bearing plate 1540. The through hole may be a portion that allows each of the rotating shafts of the plurality of motors to pass through.

[0223] For example, the yaw motor rotating shaft 15111 may extend from the body of the yaw drive motor 1511 in a manner that penetrates the bottom plate 1560 and the bearing plate 1540. Additionally, the pitch motor rotating shaft 15121 may extend from the body of the pitch drive motor 1512 in a manner that penetrates the bottom plate 1560 and the bearing plate 1540. At this time, the roll motor rotating shaft 15141 may extend from the body of the roll drive motor 1514 in a manner that penetrates the bottom plate 1560, but may not extend to the bearing plate 1540.

[0224] In this way, the yaw motor rotating shaft 15111 and the pitch motor rotating shaft 15121 extend in a manner that penetrates the bearing plate 1540. Therefore, when the motor group 1510 rotates, the bottom plate 1560 and the bearing plate 1540 can rotate together.

[0225] The outer peripheral surface of the bearing plate 1540 may be provided with a first bearing 1541. For example, the first bearing 1541 may be configured to cover the outer peripheral surface of the bearing plate 1540. Therefore, when the motor group 1510 rotates in a tumbling manner, the bearing plate 1540 rotates together with the motor group 1510. At this time, the bearing plate 1540 and the first bearing 1541 can reduce the rotational friction between the motor group 1510 and the housing 1201.

[0226] As an embodiment, the power generation unit 1500 may further include a circuit board 1570 and a second bearing 1571. When the motor group 1510 rotates in a tumbling manner, the circuit board 1570 and the second bearing 1571 can reduce the rotational friction between the motor group 1510 and the housing 1201.

[0227] The circuit board 1570 may be disposed behind the motor group 1510.

[0228] As described below, the circuit board 1570 is a part connected to the circuit unit.

[0229] The circuit board 1570 is connected to the motor unit 1510 and can rotate together when the motor unit 1510 rotates.

[0230] A second bearing 1571 may be disposed on the outer circumferential surface of the circuit board 1570. Accordingly, when the motor unit 1510 performs a rolling rotation, the circuit board 1570 rotates together with the motor unit 1510. At this time, the circuit board 1570 and the second bearing 1571 can reduce the rotational friction between the motor unit 1510 and the housing 1201.

[0231] The power generation unit 1500 may further include a pulley coupling plate 1530.

[0232] The pulley coupling plate 1530 is a part connected to the power transmission unit 1300.

[0233] As an embodiment, the power transmission unit 1300 may be detachably fastened to the power generation unit 1500. For example, the power transmission unit 1300 may be detachably fastened to the pulley coupling plate 1530. Accordingly, the surgical instrument 1000 is used in the following manner: after a user uses a plurality of configurations (the power transmission unit 1300, the connection unit 1400, and the distal end tool 1100) in the direction from the power transmission unit 1300 toward the distal end portion, that portion is discarded, and a new product can be coupled again to the operation unit 1200 for accommodating the power generation unit 1500.

[0234] As an embodiment, at least one coupling member 1316 may be formed on the pulley frame 1310 of the power transmission unit 1300. A hook 13161 may be formed on the coupling member 1316. In addition, the pulley coupling plate 1530 may include an internal space for accommodating at least a part of the pulley frame 1310 and a wall surface formed along the periphery of the pulley coupling plate 1530 to define the internal space. At this time, a hook groove 1532 for hanging and fixing the hook 13161 may be formed on the wall surface. Accordingly, when the pulley frame 1310 is inserted into the internal space of the pulley coupling plate 1530, the hook 13161 can be inserted and fixedly coupled to the hook groove 1532.

[0235] As an embodiment, the pulley coupling plate 1530 may include coupling blocks 1531 formed to protrude, and the pulley frame 1310 may include insertion grooves for inserting the coupling blocks 1531. Thus, when the pulley coupling plate 1530 is coupled to the pulley frame 1310, the coupling blocks 1531 are inserted into the insertion grooves, so that the pulley coupling plate 1530 and the pulley frame 1310 can be coupled to each other at a specified position. In addition, since the coupling blocks 1531 are inserted into the insertion grooves, the rolling rotation force of the pulley coupling plate 1530 can be transmitted to the pulley frame 1310 through the coupling blocks 1531 and the insertion grooves. As an alternative embodiment, the coupling blocks 1531 may be formed in the shape of a bar, and in this case, the insertion grooves may be formed in corresponding shapes.

[0236] As an embodiment, although not shown in the figures, the surgical instrument 1000 according to the present invention may further include a waterproof structure.

[0237] As a specific embodiment, at least one O-ring may be provided inside the housing 1201. For example, a first O-ring may be provided between the outer peripheral surface of the pulley coupling plate 1530 and the housing 1201. The first O-ring may be configured to be in close contact between the outer peripheral surface of the pulley coupling plate 1530 and the housing 1201 to prevent water and the like from penetrating between the power generation unit 1500 and the housing 1201.

[0238] As another example, a second O-ring may be provided at least at one of the between the yaw motor plate 1521 and the pulley coupling plate 1530 and between the pitch motor plate 1522 and the pulley coupling plate 1530. The second O-ring may be configured to be in close contact between the yaw motor plate / pitch motor plate (1521, 1522) and the pulley coupling plate 1530 to prevent water and the like from penetrating between the yaw / pitch motor plate (1521, 1522) and the pulley coupling plate 1530.

[0239] As an embodiment, the pulley coupling plate 1530 and the bearing plate 1540 may be fastened by at least one bolt. At this time, in the bolt holes for inserting the bolts, at least one seal washer may be disposed below the bolts. The seal washer may prevent water and the like from penetrating through the bolt holes.

[0240] At least one through hole may be formed in the pulley coupling plate 1530. For example, two through holes may be formed in the pulley coupling plate 1530.

[0241] The yaw motor plate 1521 and the pitch motor plate 1522 may be disposed in the through holes formed in the pulley coupling plate 1530.

[0242] The yaw motor plate 1521 can rotate by the driving force generated by the yaw drive motor 1511. The yaw motor plate 1521 can be disposed at one end of the yaw motor rotating shaft 15111. For example, when the yaw motor rotating shaft 15111 rotates, the yaw motor plate 1521 can rotate together. Explaining this from another perspective, the yaw motor plate 1521 can be a member that transmits the driving force generated by the yaw drive motor 1511 to the power transmission unit 1300.

[0243] At least one first protrusion 15211 can be formed in the yaw motor plate 1521. The first protrusion 15211 is a part that protrudes outward from the yaw motor plate 1521. As described below, the first protrusion 15211 can be inserted into the first insertion port 13131 formed in the yaw pulley plate 1313.

[0244] The pitch motor plate 1522 can rotate by the driving force generated by the pitch drive motor 1512. The pitch motor plate 1522 can be disposed at one end of the pitch motor rotating shaft 15121. For example, when the pitch motor rotating shaft 15121 rotates, the pitch motor plate 1522 can rotate together. Explaining this from another perspective, the pitch motor plate 1522 can be a member that transmits the driving force generated by the pitch drive motor 1512 to the power transmission unit 1300.

[0245] At least one second protrusion 15221 can be formed in the pitch motor plate 1522. The second protrusion 15221 is a part that protrudes outward from the pitch motor plate 1522. As described below, the second protrusion 15221 can be inserted into the second insertion port 13141 formed in the pitch pulley plate 1314.

[0246] The yaw pulley plate 1313 and the pitch pulley plate 1314 can be disposed in the pulley frame 1310.

[0247] The yaw pulley plate 1313 can be disposed in a rotatable manner. Specifically, the yaw pulley plate 1313 can be fastened to the yaw motor plate 1521 and can rotate together when the yaw motor plate 1521 rotates. The yaw pulley plate 1313 is a part connected to the yaw pulley 1320, and when the yaw pulley plate 1313 rotates, the yaw pulley 1320 can rotate together. Explaining this from another perspective, when the yaw pulley plate 1313 rotates by the power transmitted from the outside, the yaw pulley 1320 can rotate together. Explaining this from another perspective, the yaw pulley plate 1313 can also be a part that receives the driving force generated by the yaw drive motor 1511 and transmits it to the yaw pulley 1320.

[0248] The yaw pulley plate 1313 may include at least one first insertion port 13131. The first insertion port 13131 may be a portion into which the first protrusion 15211 of the yaw motor plate 1521 is inserted. In this way, the yaw motor plate 1521 and the yaw pulley plate 1313 may be stably coupled by the coupling of at least one first protrusion 15211 and the first insertion port 13131, and the driving force of the yaw drive motor 1511 may be effectively transmitted to the yaw pulley 1320.

[0249] The pitch pulley plate 1314 may be formed to be rotatable. Specifically, the pitch pulley plate 1314 may be fastened to the pitch motor plate 1522 and may rotate together when the pitch motor plate 1522 rotates. The pitch pulley plate 1314 is a portion connected to the pitch pulley 1330, and when the pitch pulley plate 1314 rotates, the pitch pulley 1330 may rotate together. Explaining this from another perspective, when the pitch pulley plate 1314 rotates by the power transmitted from the outside, the pitch pulley 1330 may rotate together. Stating this from another perspective, the pitch pulley plate 1314 may also be a portion that receives the driving force generated by the pitch drive motor 1512 and transmits it to the pitch pulley 1330.

[0250] The pitch pulley plate 1314 may include at least one second insertion port 13141. The second insertion port 13141 is a portion into which the second protrusion 15221 of the pitch motor plate 1522 is inserted. In this way, the pitch motor plate 1522 and the pitch pulley plate 1314 may be stably coupled by the coupling of at least one second protrusion 15221 and the second insertion port 13141, and the driving force of the pitch drive motor 1512 may be effectively transmitted to the pitch pulley 1330.

[0251] As an embodiment, the yaw drive motor 1511, the pitch drive motor 1512, and the roll drive motor 1514 may be independently driven from each other. Accordingly, the yaw drive motor 1511, the pitch drive motor 1512, and the roll drive motor 1514 may independently perform the yaw rotation of the end effector 1100, the pitch rotation of the end effector 1100, and the roll rotation of the motor assembly 1510.

[0252] Refer to again Figure 13, as the rolling drive motor 1514 drives, the pulley coupling plate 1530 can rotate in the A direction. At this time, since the yaw drive motor 1511 can be independently driven, regardless of the drive of the rolling drive motor 1514, it can be independently driven and the yaw motor plate 1521 is allowed to rotate in the B direction. In addition, the pitch drive motor 1512 can be independently driven, so regardless of the drives of the rolling drive motor 1514 and the yaw drive motor 1511, it can be independently driven and the pitch motor plate 1522 is allowed to rotate in the C direction. Explaining this from another perspective, the end effector 1100 can perform only any one of pitch rotation, yaw rotation, and roll rotation, or can perform multiple rotations simultaneously.

[0253] Figure 14 FIG. is a diagram for explaining the internal structure of the power transmission unit according to another embodiment of the present invention. Figure 15 is a view observed from the rear Figure 14 of the power transmission unit. Figure 16 is for explaining Figure 14 the configuration of the pulley and wire of the power transmission unit.

[0254] Referring to Figures 14 to 16 , the power transmission unit 3300 according to an embodiment of the present invention may include a pulley frame 3310, at least one pulley, and at least one wire.

[0255] The pulley frame 3310 may form an overall frame of the power transmission unit 3300.

[0256] At least one pulley may be disposed in the pulley frame 3310. Herein, the disposition of the pulley should be interpreted in a broad sense. For example, the disposition of the pulley may mean that the pulley is directly connected to the pulley frame 3310, and may also mean that a rotating shaft is provided in the pulley frame 3310 and the pulley is connected to the rotating shaft. Or, the disposition of the pulley may mean that a separate member is provided in the pulley frame 3310 and the rotating shaft is connected to the separate member, and the pulley is connected to the rotating shaft. Or, the disposition of the pulley may mean that a hole is formed in the pulley frame 3310 and the rotating shaft is configured to penetrate the hole, and the pulley is provided on the rotating shaft.

[0257] The power transmission unit 3300 may include at least one pulley.

[0258] The pulley is a member around which a wire is wound, and a groove capable of winding the wire may be formed on the pulley.

[0259] As an embodiment, the power transmission unit 3300 may include a yaw pulley 3320, a pitch pulley 3330, and a launch pulley 3340. Additionally, the power transmission unit 3300 may include at least one or more yaw wires 3361, 3362, at least one or more pitch wires 3363, 3364, and at least one or more launch wires 3365, 3366.

[0260] The yaw pulley 3320 is a pulley related to the yaw rotation of the end effector 3100, and the yaw wires 3361, 3362 are wires related to the yaw rotation of the end effector 3100.

[0261] The yaw pulley 3320 may be disposed in a region of the pulley frame 3310.

[0262] The yaw wires 3361, 3362 may be disposed in the end effector 3100 and extend from the pulley related to the yaw rotation of the end effector 3100 towards the yaw pulley 3320.

[0263] As an embodiment, the yaw wires 3361, 3362 may be formed as a pair. As described below, the yaw wires 3361, 3362 may be connected one by one to the upper side and the lower side of each yaw pulley 3320.

[0264] As a specific embodiment, the yaw wires 3361, 3362 may include a first yaw wire 3361 and a second yaw wire 3362. The first yaw wire 3361 may extend to the upper side of the yaw pulley 3320 with Figure 16 as a reference and be connected to the yaw pulley 3320. The second yaw wire 3362 may extend to the lower side of the yaw pulley 3320 with Figure 16 as a reference and be connected to the yaw pulley 3320.

[0265] After the yaw wires 3361, 3362 are connected to the yaw pulley 3320, when the yaw pulley 3320 rotates, it may be wound around the yaw pulley 3320 or unwound from the yaw pulley 1320. That is, when the yaw pulley 3320 rotates in one direction, one yaw wire is wound around the yaw pulley 3320, and the other yaw wire is unwound from the yaw pulley 3320. For example, when the yaw pulley 3320 rotates clockwise with Figure 16 as a reference, the first yaw wire 3361 is unwound from the yaw pulley 3320, and the second yaw wire 3362 is wound around the yaw pulley 3320. Conversely, when the yaw pulley 3320 rotates counterclockwise with Figure 16 as a reference, the first yaw wire 3361 is wound around the yaw pulley 3320, and the second yaw wire 3362 is unwound from the yaw pulley 3320.

[0266] Stating this from another perspective, when the yaw pulley 3320 rotates, a pair of yaw wires 3361, 3362 can also be said to move in opposite directions starting from the yaw pulley 3320.

[0267] In this way, when the yaw pulley 3320 rotates and causes a pair of yaw wires 3361, 3362 to move in different directions, the pulleys connected to the yaw wires 3361, 3362 on the end effector 3100 side rotate in the corresponding directions. Therefore, while the pulleys connected to the yaw wires 3361, 3362 on the end effector 3100 side can rotate in one direction, the yaw rotation of the end effector 3100 can be achieved.

[0268] The pitch pulley 3330 is a pulley related to the pitch rotation of the end effector 3100, and the pitch wires 3363, 3364 are wires related to the pitch rotation of the end effector 3100.

[0269] The pitch pulley 3330 can be arranged in an area of the pulley frame 3310.

[0270] As an embodiment, the pitch pulley 3330 can be arranged on the opposite side of the yaw pulley 3320. As a preferred embodiment, the pitch pulley 3330 and the yaw pulley 3320 can be symmetrically arranged on both sides with respect to the center of the pulley frame 3310. Thus, as described below, the yaw wires 3361, 3362 and the pitch wires 3363, 3364 extending through the auxiliary pulley 3350 can be approximately perpendicular to the yaw pulley 3320 and the pitch pulley 3330.

[0271] The pitch wires 3363, 3364 can be arranged on the end effector 3100 and extend from the pulleys related to the pitch rotation of the end effector 3100 towards the pitch pulley 3330.

[0272] As an embodiment, the pitch wires 3363, 3364 can be formed as a pair. As described below, the pitch wires 3363, 3364 can be respectively connected to the upper side and the lower side of each pitch pulley 3330.

[0273] As a specific embodiment, the pitch wires 3363, 3364 can include a first pitch wire 3363 and a second pitch wire 3364. The first pitch wire 3363 can extend Figure 16 to the lower side of the pitch pulley 3330 and be connected to the pitch pulley 3330. The second pitch wire 3364 can extend Figure 16 to the upper side of the pitch pulley 3330 and be connected to the pitch pulley 3330.

[0274] After the pitch wires 3363 and 3364 are connected to the pitch pulley 3330, the pitch wires 3363 and 3364 are wound around or unwound from the pitch pulley 3330 as the pitch pulley 3330 rotates. That is, when the pitch pulley 3330 rotates in one direction, one pitch wire is wound around the pitch pulley 3330, and the other pitch wire is unwound from the pitch pulley 3330. For example, when the pitch pulley 3330 rotates clockwise with Figure 16 as a reference, the first pitch wire 3363 is unwound from the pitch pulley 3330, and the second pitch wire 3364 is wound around the pitch pulley 3330. Conversely, when the pitch pulley 3330 rotates counterclockwise with Figure 16 as a reference, the first pitch wire 3363 is wound around the pitch pulley 3330, and the second pitch wire 3364 is unwound from the pitch pulley 3330.

[0275] Putting this another way, when the pitch pulley 3330 rotates, a pair of pitch wires 3363 and 3364 can move in opposite directions starting from the pitch pulley 3330.

[0276] In this way, when the pitch pulley 3330 rotates and causes a pair of pitch wires 3363 and 3364 to move in opposite directions, the pulleys connected to the pitch wires 3363 and 3364 on the end effector 3100 side rotate in their corresponding directions. Therefore, while the pulleys connected to the pitch wires 3363 and 3364 on the end effector 3100 side can rotate in one direction, the pitch rotation of the end effector 3100 can be achieved.

[0277] The launch pulley 3340 is a pulley related to the movement of the working member 3154 provided on the end effector 3100, and the launch wires 3365 and 3366 are wires related to the movement of the working member 3154 provided on the end effector 3100.

[0278] The launch pulley 3340 can be disposed in an area of the pulley frame 3310.

[0279] As a specific embodiment, the launch pulley 3340 can be disposed at a position not side by side with the yaw pulley 3320 and the pitch pulley 3330 of the pulley frame 3310. For example, it can be located at a position lower than the yaw pulley 3320 and the pitch pulley 3330. For example, as Figure 14 shown, the yaw pulley 3320 and the pitch pulley 3330 are disposed in the pulley frame 3310 and can be disposed side by side with each other, and the launch pulley 3340 can be disposed at a position lower than the yaw pulley 3320 and the pitch pulley 3330.

[0280] As an embodiment, the launch wires 3365 and 3366 can be connected to the moving member 3155 of the end effector 3100. At this time, the launch wires 3365 and 3366 can extend from the moving member 3155 toward the launch pulley 3340. As another embodiment, the launch wires 3365 and 3366 can also be directly connected to the working member 3154. At this time, the launch wires 3365 and 3366 can extend from the working member 3154 toward the launch pulley 3340. As yet another embodiment, when a pulley related to the concurrent movement of the working member 3154 is separately provided in the end effector 3100, the launch wires 3365 and 3366 can be connected to this pulley, and the launch wires 3365 and 3366 can extend from this pulley toward the launch pulley 3340.

[0281] As an embodiment, the launch wires 3365 and 3366 can be formed as a pair. As described below, the launch wires 3365 and 3366 can be respectively connected to one on each of the left and right sides of the launch pulley 3340.

[0282] As a specific embodiment, the launch wires 3365 and 3366 can include a first launch wire 3365 and a second launch wire 3366. The first launch wire 3365 can Figure 16 extend along the left side of the launch pulley 3340 with respect to a reference and be connected to the launch pulley 3340. The second launch wire 3366 can Figure 16 extend along the right side of the launch pulley 3340 with respect to a reference and be connected to the launch pulley 3340.

[0283] After the launch wires 3365 and 3366 are connected to the launch pulley 3340, when the launch pulley 3340 rotates, the launch wires 3365 and 3366 are wound around or unwound from the launch pulley 3340. That is, when the launch pulley 3340 rotates in one direction, one of the launch wires 3365 and 3366 is wound around the launch pulley 3340, while the other launch wire 3365 and 3366 is unwound from the launch pulley 3340. For example, when the launch pulley 3340 Figure 16 rotates clockwise with respect to a reference, the first launch wire 3365 is unwound from the launch pulley 3340, while the second launch wire 3366 is wound around the launch pulley 3340. Conversely, when the launch pulley 3340 Figure 16 rotates counterclockwise with respect to a reference, the first launch wire 3365 is wound around the launch pulley 3340, while the second launch wire 3366 is unwound from the launch pulley 3340.

[0284] Putting this in another way, when the launch pulley 3340 rotates, a pair of launch wires 3365 and 3366 can move in opposite directions with the launch pulley 3340 as the starting point.

[0285] In this way, when the launch pulley 3340 rotates and causes a pair of launch wires 3365, 3366 to move in opposite directions to each other, the working member 3154 of the end effector 3100 can move forward or backward correspondingly. As an example, if the working member 3154 moves dependently through the movement of the moving member 3155, when the launch pulley 3340 rotates, a pair of launch wires 3365, 3366 can move the moving member 3155 forward or backward, thereby allowing the working member 3154 to move forward or backward. As another example, if the working member 3154 is connected to the launch wires 3365, 3366 and moves directly forward or backward, when the launch pulley 3340 rotates, a pair of launch wires 3365, 3366 can move the working member 3154 directly forward or backward. However, not limited thereto, if a pulley related to the co-movement of the working member 3154 is separately formed in the end effector 3130, the launch wires 3365, 3366 are connected to the pulley and rotate the pulley, thereby allowing the working member 3154 to move forward or backward.

[0286] As an embodiment, the power transmission unit 3300 may further include at least one auxiliary pulley 3350. The auxiliary pulley 3350 can be used to change the paths of multiple wires entering the power transmission unit 3300.

[0287] As an embodiment, the auxiliary pulley 3350 is connected to the yaw wires 3361, 3362 and the pitch wires 3363, 3364, and the auxiliary pulley 3350 may include a first auxiliary pulley 3351 for changing the paths of the yaw wires 3361, 3362 and the pitch wires 3363, 3364. Additionally, the auxiliary pulley 3350 is connected to the launch wires 3365, 3366, and may include a second auxiliary pulley 3352 and a third auxiliary pulley 3353 for changing the paths of the launch wires 3365, 3366.

[0288] The first auxiliary pulley 3351 is disposed in the power transmission unit 3300 and can be used as the paths of the yaw wires 3361, 3362 and the pitch wires 3363, 3364 extending from the end effector 3100 to the power transmission unit 3300 through the connection unit 3400.

[0289] A first auxiliary pulley fixing part 3311 may be formed in the pulley frame 3310. The first auxiliary pulley fixing part 3311 is the part for setting the first auxiliary pulley 3351. For example, the first auxiliary pulley fixing part 3311 may be integrally formed with the pulley frame 3310. Or, the first auxiliary pulley fixing part 3311 may be formed as a separate member and may be combined or assembled to the pulley frame 3310.

[0290] As an embodiment, the first auxiliary pulley fixing part 3311 may include at least one through hole, and the rotation shaft of the first auxiliary pulley 3351 is arranged in a way that penetrates through the through hole. Explaining this from another perspective, the first auxiliary pulley 3351 is configured to be arranged side by side and overlapping with the through hole formed in the first auxiliary pulley fixing part 3311, and the rotation shaft is configured to penetrate through both the first auxiliary pulley 3351 and the auxiliary pulley fixing part 3311 simultaneously.

[0291] The first auxiliary pulley fixing part 3311 may be formed in a shape where at least a part of it extends from the pulley frame 3310 towards the connecting part 3400. For example, the first auxiliary pulley fixing part 3311 may be formed to extend from one surface of the pulley frame 3310 towards the connecting part 3400. As a preferred embodiment, the first auxiliary pulley fixing part 3311 may be arranged at the center of the pulley frame 3310.

[0292] At this time, the yaw pulley 3320 and the pitch pulley 3330 may be respectively arranged on both sides with the first auxiliary pulley fixing part 3311 as a reference. As a preferred embodiment, the yaw pulley 3320 and the pitch pulley 3330 may be arranged at symmetric positions with the first auxiliary pulley fixing part 3311 as a reference. Explaining this from another perspective, the yaw wires 3361, 3362 and the pitch wires 3363, 3364 entering the first auxiliary pulley 3351 may be distributed to both sides when passing through the first auxiliary pulley fixing part 3311. Thus, the yaw wires 3361, 3362 may extend towards the yaw pulley 3320, and the pitch wires 3363, 3364 may extend towards the pitch pulley 3330.

[0293] Thus, the yaw wires 3361, 3362 may be close to being perpendicular to the yaw pulley 3320, and the pitch wires 3363, 3364 may be close to being perpendicular to the pitch pulley 3330. Preferably, the yaw wires 3361, 3362 may be close to being perpendicular to the yaw pulley 3320, and the pitch wires 3363, 3364 may be close to being perpendicular to the pitch pulley 3330. Expressing this from another perspective, the yaw wires 3361, 3362 may approach the yaw pulley 3320 in a way that forms a tangent with respect to the yaw pulley 3320, and the pitch wires 3363, 3364 may also approach the pitch pulley 3330 in a way that forms a tangent with respect to the pitch pulley 3330.

[0294] The first auxiliary pulley 3351 may be arranged on the first auxiliary pulley fixing part 3311, and may change the paths of the yaw wires 3361, 3362 and the pitch wires 3363, 3364 extending to the power transmission part 3300.

[0295] Specifically, as Figure 16As shown, the first auxiliary pulley 3351 can be disposed between the yaw pulley 3320 and the pitch pulley 3330.

[0296] A plurality of first auxiliary pulleys 3351 can be provided. The number of first auxiliary pulleys 3351 provided can be corresponding to the number of wires entering the power transmission unit 3300.

[0297] As an example, a pair of yaw wires 3361, 3362 can be provided to enter the upper side and the lower side of the yaw pulley 3320 respectively. In addition, a pair of pitch wires 3363, 3364 can be provided to enter the upper side and the lower side of the pitch pulley 3330 respectively. That is, when there are four wires entering the power transmission unit 3300, four first auxiliary pulleys 3351 can be provided.

[0298] As an alternative embodiment, the plurality of first auxiliary pulleys 3351 can be arranged side by side with each other. For example, the plurality of first auxiliary pulleys 3351 can be parallel to each other. This can be to enable the plurality of wires coming out of the first auxiliary pulley 3351 to extend to the yaw pulley 3320 and the pitch pulley 3330 in a parallel or nearly parallel manner to each other.

[0299] Specifically, the plurality of wires extending from the end effector 3100 to the power transmission unit 3300 extend side by side with each other. Therefore, since the plurality of first auxiliary pulleys 3351 are arranged side by side with each other, each of the plurality of wires wound around the first auxiliary pulley 3351 extends to the yaw pulley 3320 and / or the pitch pulley 3330 in a parallel or at least nearly parallel manner to each other.

[0300] As an alternative embodiment, in relation to the yaw pulley 3320 and the pitch pulley 3330, the first auxiliary pulley 3351 can be configured such that the wire winding directions are nearly perpendicular to each other, and preferably, can be configured to be perpendicular to each other. Refer to Figure 16 , the directions in which the plurality of wires are wound around the first auxiliary pulley 3351 and the directions in which the plurality of wires are wound around the yaw pulley 3320 and the pitch pulley 3330 are perpendicular to each other. Explaining this from another perspective, the first auxiliary pulley 3351 can also be represented as changing the traveling direction of the wires entering the first auxiliary pulley 3351 by 90°. Expressing this from yet another perspective, the grooves formed in the first auxiliary pulley 3351 and the grooves formed in the yaw pulley 3320 and the pitch pulley 3330 can also be represented as being perpendicular to each other.

[0301] With this configuration, the plurality of wires entering the power transmission unit 3300 change their paths through the first auxiliary pulley 3351 and can be perpendicular or nearly perpendicular to the yaw pulley 3320 and the pitch pulley 3330.

[0302] The second auxiliary pulley 3352 is disposed in the power transmission unit 3300 and can be used to change the path of the emission wires 3365, 3366 extending from the end effector 3100 to the power transmission unit 3300 through the connection unit 3400.

[0303] The third auxiliary pulley 3353 is disposed in the power transmission unit 3300 and can be used to change the path of the emission wires 3365, 3366 extending from the second auxiliary pulley 3352.

[0304] Referring again to Figure 14 , the second auxiliary pulley 3352 can guide the emission wires 3365, 3366 that enter the power transmission unit 3300 from the end effector 3100 through the connection unit 3400 to the upper side. Specifically, the second auxiliary pulley 3352 can guide the emission wires 3365, 3366 in a direction opposite to the direction in which the emission pulley 3340 is located by changing the path of the emission wires 3365, 3366 entering the power transmission unit 3300. The third auxiliary pulley 3353 can guide the emission wires 3365, 3366 toward the emission pulley 3340 by changing the path of the emission wires 3365, 3366 extending from the second auxiliary pulley 3352.

[0305] Thus, the emission wires 3365, 3366 can extend away from the emission pulley 3340 through the second auxiliary pulley 3352 and then extend toward the emission pulley 3340.

[0306] As described above, the emission pulley 3340, the emission wires 3365, 3366 are related to the movement of the working member 3154 of the end effector 3100. At this time, preferably, the number of times the emission wires 3365, 3366 are wound around the emission pulley 3340 is greater than the number of times the emission wires 3365, 3366 are wound around the yaw wires 3361, 3362 or the pitch wires 3363, 3364. This is related to the movement of the working member 3154. For example, it is because the lengths by which the yaw wires 3361, 3362 and the pitch wires 3363, 3364 and the emission wires 3365, 3366 are wound or unwound for the movement of the working member 3154 are longer than the lengths by which they are wound or unwound for the yaw movement and the pitch movement of the end effector 3100.

[0307] At this time, since the groove formed in the emission pulley 3340 is formed in the shape of a screw groove, the more times the emission wires 3365, 3366 are wound around the emission pulley 3340, the more the emission wires 3365, 3366 move in the axial direction of the emission pulley 3340. This means that the angle of the emission wires 3365, 3366 from the third auxiliary pulley 3353 to the emission pulley 3340 increases (connected obliquely). At this time, relatively strong stress can be applied to the emission wires 3365, 3366.

[0308] Therefore, the second auxiliary pulley 3352 guides the launch wires 3365 and 3366 in a direction opposite to that of the launch pulley 3340, and the third auxiliary pulley 3353 guides the launch wires 3365 and 3366 toward the launch pulley 3340 again, so that the lengths of the launch wires 3365 and 3366 extending from the third auxiliary pulley 3353 to the launch pulley 3340 can be ensured. As a result, the angular change of the launch wires 3365 and 3366 entering the launch pulley 3340 can be reduced.

[0309] A second auxiliary pulley fixing portion 3312 may be formed in the pulley frame 3310. The second auxiliary pulley fixing portion 3312 is a portion for arranging the third auxiliary pulley 3353. For example, the second auxiliary pulley fixing portion 3312 may be integrally formed with the pulley frame 3310. Alternatively, the second auxiliary pulley fixing portion 3312 may be formed as a separate member and may be coupled or assembled to the pulley frame 3310.

[0310] As an embodiment, the second auxiliary pulley fixing portion 3312 may include at least one through hole, and a rotation shaft of the third auxiliary pulley 3353 may be disposed therethrough in a manner of passing through the through hole. From another perspective, the third auxiliary pulley 3353 is configured to be parallel to and overlap with the through hole formed in the second auxiliary pulley fixing portion 3312, and the rotation shaft is configured to pass through both the third auxiliary pulley 3353 and the second auxiliary pulley fixing portion 3312 at the same time.

[0311] The second auxiliary pulley fixing portion 3312 may be formed to protrude from the pulley frame 3310 toward the connecting portion 3400. For example, the second auxiliary pulley fixing portion 3312 may protrude from one surface of the pulley frame 3310 toward the connecting portion 3400. As a preferred embodiment, the second auxiliary pulley fixing portion 3312 may be disposed on the upper side of the pulley frame 3310. For example, it may be disposed on the opposite side of the launch pulley 3340 with respect to the center of the pulley frame 3310.

[0312] As an embodiment, the second auxiliary pulley 3352 and the third auxiliary pulley 3353 may each be formed as a pair. For example, the second auxiliary pulley 3352 may include a pulley connected to the first launch wire 3365 and a pulley connected to the second launch wire 3366. In addition, the third auxiliary pulley 3353 may include a pulley connected to the first launch wire 3365 and a pulley connected to the second launch wire 3366.

[0313] As an alternative embodiment, the two second auxiliary pulleys 3352 may be parallel to each other. This is to enable the multiple wires 3365 and 3366 coming out of the second auxiliary pulley 3352 to extend to the third auxiliary pulley 3353 in a parallel or nearly parallel manner to each other.

[0314] Specifically, a plurality of wires 3365 and 3366 extending from the end effector 3100 to the power transmission unit 3300 extend side by side with each other. Therefore, two second auxiliary pulleys 3352 are arranged side by side with each other, and thus each of the plurality of wires 3365 and 3366 wound around the second auxiliary pulley 3352 extends to the third auxiliary pulley 3353 in a parallel or at least nearly parallel manner to each other.

[0315] As an alternative embodiment, two third auxiliary pulleys 3353 may be parallel to each other. This may be to enable the plurality of wires 3365 and 3366 exiting from around the third auxiliary pulley 3353 to extend to the launch pulley 3340 in a parallel or nearly parallel manner to each other.

[0316] Specifically, a plurality of wires 3365 and 3366 extending from the second auxiliary pulley 3352 to the third auxiliary pulley 3353 extend side by side with each other. Therefore, two third auxiliary pulleys 3353 are arranged side by side with each other, and thus each of the plurality of wires 3365 and 3366 wound around the third auxiliary pulley 3353 extends to the launch pulley 3340 in a parallel or at least nearly parallel manner to each other.

[0317] As an alternative embodiment, the second auxiliary pulley 3352 and the third auxiliary pulley 3353 may be configured such that the winding directions of the plurality of wires 3365 and 3366 are nearly perpendicular to each other, preferably perpendicular to each other, in the relationship with the launch pulley 3340. Referring to Figure 14 , the winding directions of the plurality of wires 3365 and 3366 around the second auxiliary pulley 3352 and the third auxiliary pulley 3353 are perpendicular to the winding direction of the plurality of wires 3365 and 3366 around the launch pulley 3340. Expressed from another perspective, the groove formed in the first auxiliary pulley 1351 and the grooves formed in the yaw pulley 1320 and the pitch pulley 1330 may also be expressed as perpendicular to each other.

[0318] With this configuration, the paths of the plurality of wires 3365 and 3366 exiting from around the second auxiliary pulley 3352 and the third auxiliary pulley 3353 are changed and can be perpendicular or nearly perpendicular to the launch pulley 3340.

[0319] Figure 17 is a diagram showing the operation unit and the power generation unit according to another embodiment of the present invention, Figure 18 is showing Figure 17 a perspective view of the power generation unit of Figure 19 is a view of the power generation unit of Figure 18 viewed from the rear. Figure 20 is for explaining Figure 18 the gear structure of the power generation unit ofFigure 21 is a view observed from the front Figure 20 of the figure, Figure 22 is a figure for explaining Figure 18 the rotation of the power generation unit.

[0320] Referring to Figures 17 to 22 , a surgical instrument according to an embodiment of the present invention may include a power generation unit 3500 that generates power for controlling the end effector 3100.

[0321] The power generation unit 3500 may be configured such that at least a part of it is accommodated in the housing 3201 of the operation unit 3200.

[0322] When the user operates the operation unit 3200, the power generation unit 3500 may generate power for controlling the end effector 3100 based on this operation.

[0323] The power generation unit 3500 may include a motor set 3510 that includes at least one motor.

[0324] The motor set 3510 may perform a roll rotation about an axis in the extending direction of the connecting portion 3400.

[0325] Herein, the roll motion used in the present invention is defined as follows.

[0326] The roll motion may refer to an operation in which the surgical instrument 3000 composed of the end effector 3100, the connecting portion 3400, the motor set 3510, etc. rotates about an axis in the extending direction of the connecting portion 3400. In other words, it refers to an operation in which it does not bend in the Y-axis direction or Figure 3 the X-axis direction of the extending direction of the connecting portion 3400 Figure 3 in the Z-axis direction, but rotates. Figure 3 of the extending direction of the connecting portion 3400.

[0327] Referring again to Figure 17, at least a part of the power generation unit 3500 may be accommodated inside the housing 3201 of the operation unit 3200. At this time, the motor set 3510 is accommodated inside the housing 3201 of the operation unit 3200. Herein, the motor set 3510 performing a roll rotation means rotating along the inner circumferential surface of the housing 3201 inside the housing 3201. Explaining this from another aspect, when the user holds the handle 3202 of the operation unit 3200 and performs an operation allowing the motor set 3510 to perform a roll rotation, with the housing 3201 and the handle 3202 of the operation unit 3200 fixed in place, the motor set 3510 can rotate inside the housing 3201 with the direction in which the connection unit 3400 extends as the axis. Explaining this from another perspective, it can also be expressed as when the user performs an operation to perform a roll action while holding the connection unit 3400, the housing 3201 and the handle 3202 rotate.

[0328] The motor set 3510 may include at least one motor.

[0329] The motor set 3510 may include a yaw drive motor 3511. The yaw drive motor 3511 may generate power allowing the end effector 3100 to perform a yaw rotation. For example, when the user operates the operation unit 3200 to allow the end effector 3100 to perform a yaw rotation, the yaw drive motor 3511 may generate a driving force allowing the end effector 3100 to perform a yaw rotation.

[0330] The driving force generated by the yaw drive motor 3511 may be transmitted to the power transmission unit 3300 and allow the yaw pulley 3320 to rotate, and the yaw wires 3361, 3362 may move by the rotation of the yaw pulley 3320 while allowing the end effector 3100 to perform a yaw rotation.

[0331] The yaw drive motor 3511 may include a yaw motor rotating shaft 35111 extending in one direction. The yaw motor rotating shaft 35111 is the part that rotates when the yaw drive motor 3511 is driven. For example, the yaw motor rotating shaft 35111 may extend from the body of the yaw drive motor 3511 towards the power transmission unit 3300. As shown below, a yaw motor plate 3521 is disposed at one end of the yaw motor rotating shaft 35111, and when the yaw motor rotating shaft 35111 rotates, the yaw motor plate 3521 may rotate together. The yaw motor plate 3521 may be connected to the yaw pulley 3320, and as the yaw motor plate 3521 rotates, the driving force may be transmitted to the yaw pulley 3320.

[0332] The motor unit 3510 may include a pitch drive motor 3512. The pitch drive motor 3512 may generate power that allows the end effector 3100 to perform a pitch rotation. For example, when a user operates the operation unit 3200 to cause the end effector 3100 to perform a pitch rotation, the pitch drive motor 3512 may generate a driving force to allow the end effector 3100 to perform a pitch rotation.

[0333] The driving force generated by the pitch drive motor 3512 is transmitted to the power transmission unit 3300 to rotate the pitch pulley 3330, and while the pitch wires 3363 and 3364 move by the rotation of the pitch pulley 3330, the end effector 3100 may perform a pitch rotation.

[0334] The pitch drive motor 3512 may include a pitch motor rotating shaft 35121 that extends in one direction. The pitch motor rotating shaft 35121 is a part that rotates when the pitch drive motor 3512 is driven. For example, the pitch motor rotating shaft 35121 may extend from the body of the pitch drive motor 3512 toward the power transmission unit 3300. As shown below, a pitch motor plate 3522 may be disposed at one end of the pitch motor rotating shaft 35121, and when the pitch motor rotating shaft 35121 rotates, the pitch motor plate 3522 may rotate together. The pitch motor plate 3522 may be connected to the pitch pulley 3330, and as the pitch motor plate 3522 rotates, the driving force may be transmitted to the pitch pulley 3330.

[0335] The motor unit 3510 may include a roll drive motor 3514. The roll drive motor 3514 may generate power that allows the motor unit 3510 to perform a roll rotation. For example, when a user operates the operation unit 3200 to cause the motor unit 3510 to rotate, the roll drive motor 3514 may generate a driving force that allows the motor unit 3510 to perform a roll rotation.

[0336] The motor unit 3510 may include a launch drive motor 3513. The launch drive motor 3513 may generate power that allows the working member 3154 provided on the end effector 3100 to linearly move. For example, when a user operates the operation unit 3200 to allow the working member 3154 of the end effector 3100 to linearly move, the launch drive motor 3513 may generate a driving force that allows the working member 3154 to linearly move.

[0337] The launch drive motor 3513 may include a launch motor rotating shaft 35131 that extends in one direction. The launch motor rotating shaft 35131 is the part that rotates when the launch drive motor 3513 is driven. For example, the launch motor rotating shaft 35131 may extend from the body of the launch drive motor 3513 toward the power transmission unit 3300. As described below, a launch motor plate 3523 may be disposed at one end of the launch motor rotating shaft 35131, and when the launch motor rotating shaft 35131 rotates, the launch motor plate 3523 may rotate together. The launch motor plate 3523 may be connected to the launch pulley 3340, and when the launch motor plate 3523 rotates, the driving force may be transmitted to the launch pulley 3340.

[0338] The motor set 3510 may include a bottom plate 3560. The bottom plate 3560 may be disposed in front of the yaw drive motor 3511, the pitch drive motor 3512, the roll drive motor 3514, and the launch drive motor 3513. The bottom plate 3560 may be connected to the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513. Expressed from another perspective, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 are connected in the bottom plate 3560. Expressed from yet another perspective, the bottom plate 3560 may also be connected to the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 such that the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 move or rotate integrally.

[0339] Therefore, when the bottom plate 3560 rotates, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 connected to the bottom plate 3560 may rotate simultaneously. Among them, since the bottom plate 3560 rotates about the axis in the extending direction of the connecting portion 3400, the motor set 3510 including the bottom plate 3560, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 performs a roll rotation about the axis in the extending direction of the connecting portion 3400.

[0340] As an embodiment, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 may be disposed side by side with each other. In addition, the roll drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 may be configured to form a circular pattern.

[0341] As described above, the motor set 3510 can perform tumbling rotation inside the housing 3201 of the operation unit 3200. At this time, since the motor set 3510 includes a plurality of motors, the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 are configured to form a circular pattern with each other, so that the diameter of the space occupied when the motor set 3510 rotates can be minimized. That is, the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 are configured to form a circular pattern, so that the inner diameter inside the housing 3201 required for the rotation of the motor set 3510 can be designed to be smaller, which can contribute to the miniaturization and light weight of the surgical instrument 3000.

[0342] On the other hand, the fact that the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 are configured to form a circular pattern means that the outer peripheral surfaces of the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 are arranged within a circle, rather than being arranged at the same interval from each other.

[0343] As an embodiment, the performances of the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 are different from each other. For example, among the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513, the magnitudes of the driving forces required to perform their respective functions are different. For this reason, the tumbling drive motor 3514, the yaw drive motor 3511, the pitch drive motor 3512, and the launch drive motor 3513 can have different outputs or different sizes according to needs.

[0344] At least one through hole may be formed in the bottom plate 3560. For example, a through hole may be formed in the bottom plate 3560, and the through hole is formed in at least a number corresponding to the number of motors in the motor set 3510. This through hole is the part through which the rotation shaft of each motor passes.

[0345] For example, the yaw motor rotation shaft 35111 extends from the body of the yaw drive motor 3511 and can extend in a way that penetrates the bottom plate 3560 (through the through hole). In addition, the pitch motor rotation shaft 35121 extends from the body of the pitch drive motor 3512 and can extend in a way that penetrates the bottom plate 3560 (through the through hole). In addition, the launch motor rotation shaft 35131 extends from the body of the launch drive motor 3513 and can extend in a way that penetrates the bottom plate 3560 (through the through hole).

[0346] On the other hand, the tumbling drive motor 3514 may include a tumbling motor rotating shaft 35141 that extends in one direction. The tumbling motor rotating shaft 35141 is a part that starts to rotate when the tumbling drive motor 3514 is driven. For example, the tumbling motor rotating shaft 35141 may extend forward from the body of the tumbling drive motor 3514. That is, the tumbling motor rotating shaft 35141 extends forward from the body of the tumbling drive motor 3514 and may extend in a manner that penetrates the bottom plate 3560.

[0347] Next, the rotation principle of the motor group 3510 will be described in detail.

[0348] Referring to Figure 20 and Figure 21 , the power generation unit 3500 may include a circular first gear 3551 and a second gear 3552 that meshes with the first gear 3551.

[0349] The first gear 3551 is circular with an inner cavity, and teeth may be formed on the inner circumferential surface of the circle. That is, the first gear 3551 may be an annular gear with teeth formed on the inner circumferential surface.

[0350] The second gear 3552 is a gear with teeth formed on the outer circumferential surface and may mesh with the first gear 3551. The second gear 3552 may be disposed on the tumbling motor rotating shaft 35141. That is, the tumbling motor rotating shaft 35141 extends forward from the body of the tumbling drive motor 3514 in a manner that penetrates the bottom plate 3560, and the second gear 3552 may be disposed on the extended portion of the tumbling motor rotating shaft 35141. At this time, the second gear 3552 is coupled to the tumbling motor rotating shaft 35141, and when the tumbling motor rotating shaft 35141 rotates, the second gear 3552 may rotate together.

[0351] The first gear 3551 may be disposed in front of the bottom plate 3560. In addition, the first gear 3551 may be fixed to the inner circumferential surface of the housing 3201. Therefore, when the tumbling drive motor 3514 is driven, the motor group 3510 may perform a tumbling rotation inside the housing 3201.

[0352] Specifically, when the tumbling drive motor 3514 is driven, the tumbling motor rotating shaft 35141 can rotate, and the second gear 3552 disposed on the tumbling motor rotating shaft 35141 can rotate together. At this time, when the second gear 3552 rotates, the first gear 3551 engaged with the second gear 3552 is fixed to the inner peripheral surface of the housing 3201, so the second gear 3552 moves along the teeth of the first gear 3551. That is, when the tumbling drive motor 3514 starts to be driven, the first gear 3551 and the second gear 3552 rotate relative to each other. At this time, since the first gear 3551 is fixed to the housing 3201, relatively, the second gear 3552 moves along the first gear 3551. In addition, the second gear 3552 is connected to the tumbling motor rotating shaft 35141, and the tumbling drive motor 3514 is connected to the bottom plate 3560, and the bottom plate 3560 is connected to the yaw drive motor 3511 and the pitch drive motor 3512. Therefore, the motor group 3510 can rotate relative to the housing 3201 through the actions of the first gear 3551 and the second gear 3552.

[0353] To explain this in more detail, the bottom plate 3560 can rotate relative to the housing 3201. That is, the second gear 3552 is connected to the bottom plate 3560 through the tumbling motor rotating shaft 35141. Therefore, when the second gear 3552 moves, the second gear 3552 moves along the first gear 3551, so that the bottom plate 3560 rotates relative to the housing 3201. Among them, since the tumbling motor rotating shaft 35141 is eccentric with respect to the rotating shaft of the bottom plate 3560, when the second gear 3552 moves along the first gear 3551, the bottom plate 3560 does not change its position along the second gear 3552, but rotates relative to the housing 3201.

[0354] On the other hand, as described below, the bearing plate 3540 can also be connected to the second gear 3552 through the tumbling motor rotating shaft 35141. Therefore, when the second gear 3552 rotates, as the second gear 3552 moves along the first gear 3551, the bearing plate 3540 can rotate relative to the housing 3201. At this time, as described below, the bearing 3541 for reducing the rotational friction of the bearing plate 3540 can be configured to be coaxial with the bearing plate 3540 and in contact with the inner peripheral surface of the housing 3201. Thereby, the bearing plate 3540 can rotate easily.

[0355] On the other hand, in the figure, the teeth of the first gear 3551 and the second gear 3552 are shown in the shape of spur gears, but are not limited thereto, and can be in various shapes, such as helical gears, herringbone gears, etc.

[0356] As an embodiment, the power generation unit 3500 may further include a bearing plate 3540 and a first bearing 3541. When the motor set 3510 rotates in a rolling manner, the bearing plate 3540 and the first bearing 3541 may reduce the rotational friction between the motor set 3510 and the housing 3201.

[0357] The bearing plate 3540 may be disposed in front of the first gear 3551.

[0358] At least one through hole may be formed in the bearing plate 3540. The through hole may be a portion that allows each of the rotating shafts of the plurality of motors to pass through.

[0359] For example, the yaw motor rotating shaft 35111 may extend from the body of the yaw drive motor 3511 in a manner that penetrates the bottom plate 3560 and the bearing plate 3540. Additionally, the pitch motor rotating shaft 35121 may extend from the body of the pitch drive motor 3512 in a manner that penetrates the bottom plate 3560 and the bearing plate 3540. Additionally, the launch motor rotating shaft 35131 may extend from the body of the launch drive motor 3513 in a manner that penetrates the bottom plate 3560 and the bearing plate 3540. At this time, the roll motor rotating shaft 35141 may extend from the body of the roll drive motor 3514 in a manner that penetrates the bottom plate 3560, but may not extend to the bearing plate 3540.

[0360] In this way, the yaw motor rotating shaft 35111, the pitch motor rotating shaft 35121, and the launch motor rotating shaft 35131 extend in a manner that penetrates the bearing plate 3540. Therefore, when the motor set 3510 rotates, the bottom plate 3560 and the bearing plate 3540 may rotate together.

[0361] The outer peripheral surface of the bearing plate 3540 may be provided with the first bearing 3541. For example, the first bearing 3541 may be configured to cover the outer peripheral surface of the bearing plate 3540. Therefore, when the motor set 3510 rotates in a rolling manner, the bearing plate 3540 rotates together with the motor set 3510. At this time, the bearing plate 3540 and the first bearing 3541 may reduce the rotational friction between the motor set 3510 and the housing 3201.

[0362] As an embodiment, the power generation unit 3500 may further include a circuit board 3570 and a second bearing 3571. When the motor set 3510 rotates in a rolling manner, the circuit board 3570 and the second bearing 3571 may reduce the rotational friction between the motor set 3510 and the housing 3201.

[0363] The circuit board 3570 may be disposed behind the motor set 3510.

[0364] As described below, the circuit board 3570 is a part connected to the circuit unit 3600.

[0365] The circuit board 3570 is connected to the motor unit 3510 and can rotate together when the motor unit 3510 rotates.

[0366] A second bearing 3571 may be disposed on the outer circumferential surface of the circuit board 3570. Thus, when the motor unit 3510 performs a rolling rotation, the circuit board 3570 rotates together with the motor unit 3510. At this time, the circuit board 3570 and the second bearing 3571 can reduce the rotational friction between the motor unit 3510 and the housing 3201.

[0367] The power generation unit 3500 may further include a pulley coupling plate 3530.

[0368] The pulley coupling plate 3530 is a part connected to the power transmission unit 3300.

[0369] Figure 24 and Figure 25 A view of the coupling structure of the surgical instrument according to an embodiment of the present invention. Referring simultaneously to Figure 24 and Figure 25 , as an embodiment, the power transmission unit 3300 may be detachably fastened to the power generation unit 3500. For example, the power transmission unit 3300 may be detachably fastened to the pulley coupling plate 3530. Thus, the surgical instrument 3000 is used in the following manner: after a user uses a plurality of configurations (the power transmission unit 3300, the connection unit 3400, and the distal tool 3100) in the direction from the power transmission unit 3300 toward the distal end portion, that portion is discarded, and a new product can be re-coupled to the operation unit 3200 for accommodating the power generation unit 3500.

[0370] As an embodiment, at least one coupling member 3316 may be formed on the pulley frame 3310 of the power transmission unit 3300. A hook 33161 may be formed in the coupling member 3316. In addition, the pulley coupling plate 3530 may include an internal space for accommodating at least a part of the pulley frame 3310 and a wall surface formed along the periphery of the pulley coupling plate 3530 to define the internal space. At this time, a hook groove 3532 for hanging and fixing the hook 33161 may be formed on the wall surface. Thus, when the pulley frame 3310 is inserted into the internal space of the pulley coupling plate 3530, the hook 33161 can be inserted and fixedly coupled to the hook groove 3532.

[0371] As an embodiment, the pulley coupling plate 3530 may include coupling blocks 3531 formed to protrude, and the pulley frame 3310 may include insertion grooves for inserting the coupling blocks 3531. Therefore, when the pulley coupling plate 3530 is coupled to the pulley frame 3310, the coupling blocks 3531 are inserted into the insertion grooves, so that the pulley coupling plate 3530 and the pulley frame 3310 can be coupled to each other at a specified position. In addition, since the coupling blocks 3531 are inserted into the insertion grooves, the rolling rotational force of the pulley coupling plate 3530 can be transmitted to the pulley frame 3310 through the coupling blocks 3531 and the insertion grooves. As an alternative embodiment, the coupling blocks 3531 may be formed in the shape of a bar, and in this case, the insertion grooves may be formed in a corresponding shape.

[0372] As an embodiment, although not shown in the drawings, the surgical instrument 3000 according to the present invention may further include a waterproof structure.

[0373] As a specific embodiment, at least one O-ring may be provided inside the housing 3201. For example, a first O-ring may be provided between the outer circumferential surface of the pulley coupling plate 3530 and the housing 3201. The first O-ring may be configured to be in close contact between the outer circumferential surface of the pulley coupling plate 3530 and the housing 3201 to prevent water and the like from infiltrating between the power generation unit 3500 and the housing 3201.

[0374] As another example, a second O-ring may be provided at least at one of between the yaw motor board 3521 and the pulley coupling plate 3530 and between the pulley motor board 3522 and the pulley coupling plate 3530. The second O-ring may be configured to be in close contact between the yaw motor board / pitch motor board (3521, 3522) and the pulley coupling plate 3530 to prevent water and the like from infiltrating between the yaw / pitch motor board (3521, 3522) and the pulley coupling plate 3530.

[0375] As an embodiment, the pulley coupling plate 3530 and the bearing plate 3540 may be fastened by at least one bolt. At this time, in the bolt holes for inserting the bolts, at least one seal washer may be disposed below the bolts. The seal washer may prevent water and the like from infiltrating through the bolt holes.

[0376] At least one or more through holes may be formed in the pulley coupling plate 3530. For example, three through holes may be formed in the pulley coupling plate 3530.

[0377] The yaw motor board 3521, the pitch motor board 3522, and the emission motor board 3523 may be disposed in the through holes formed in the pulley coupling plate 3530.

[0378] The yaw motor plate 3521 can rotate by the driving force generated by the yaw drive motor 3511. The yaw motor plate 3521 can be disposed at one end of the yaw motor rotating shaft 35111. For example, when the yaw motor rotating shaft 35111 rotates, the yaw motor plate 3521 can rotate together. Explaining this from another perspective, the yaw motor plate 3521 can be a member that transmits the driving force generated by the yaw drive motor 3511 to the power transmission unit 3300.

[0379] At least one first protrusion 35211 can be formed in the yaw motor plate 3521. The first protrusion 35211 is a part that protrudes outward from the yaw motor plate 3521. As described below, the first protrusion 35211 can be inserted into the first insertion port 33131 formed in the yaw pulley plate 3313.

[0380] The pitch motor plate 3522 can rotate by the driving force generated by the pitch drive motor 3512. The pitch motor plate 3522 can be disposed at one end of the pitch motor rotating shaft 35121. For example, when the pitch motor rotating shaft 35121 rotates, the pitch motor plate 3522 can rotate together. Explaining this from another perspective, the pitch motor plate 3522 can be a member that transmits the driving force generated by the pitch drive motor 3512 to the power transmission unit 3300.

[0381] At least one second protrusion 35221 can be formed in the pitch motor plate 3522. The second protrusion 35221 is a part that protrudes outward from the pitch motor plate 3522. As described below, the second protrusion 35221 can be inserted into the second insertion port 33141 formed in the pitch pulley plate 3314.

[0382] The launch motor plate 3523 can rotate by the driving force generated by the launch drive motor 3513. The launch motor plate 3523 can be disposed at one end of the launch motor rotating shaft 35131. For example, when the launch motor rotating shaft 35131 rotates, the launch motor plate 3523 can rotate together. Explaining this from another perspective, the launch motor plate 3523 can be a member that transmits the driving force generated by the launch drive motor 3513 to the power transmission unit 3300.

[0383] At least one third protrusion 35231 can be formed in the launch motor plate 3523. The third protrusion 35231 is a part that protrudes outward from the launch motor plate 3523. As described below, the third protrusion 35231 can be inserted into the third insertion port 33151 formed in the launch pulley plate 3315.

[0384] The yaw pulley plate 3313, the pitch pulley plate 3314, and the launch pulley plate 3315 can be disposed in the pulley frame 3310.

[0385] The yaw pulley plate 3313 can be formed in a rotatable manner. Specifically, the yaw pulley plate 3313 can be fastened to the yaw motor plate 3521 and can rotate together when the yaw motor plate 3521 rotates. The yaw pulley plate 3313 is a part connected to the yaw pulley 3320, and when the yaw pulley plate 3313 rotates, the yaw pulley 3320 can rotate together. Explaining this from another perspective, when the yaw pulley plate 3313 rotates by the power transmitted from the outside, the yaw pulley 3320 can rotate together. Stating this from another angle, the yaw pulley plate 3313 can also be the part that receives the driving force generated by the yaw drive motor 3511 and transmits it to the yaw pulley 3320.

[0386] The yaw pulley plate 3313 can include at least one first insertion port 33131. The first insertion port 33131 can be the part where the first protrusion 35211 of the yaw motor plate 3521 is inserted. In this way, the yaw motor plate 3521 and the yaw pulley plate 3313 can be stably combined through the engagement of at least one first protrusion 35211 and the first insertion port 33131, and the driving force of the yaw drive motor 3511 can be effectively transmitted to the yaw pulley 3320.

[0387] The pitch pulley plate 3314 can be formed in a rotatable manner. Specifically, the pitch pulley plate 3314 can be fastened to the pitch motor plate 3522 and can rotate together when the pitch motor plate 3522 rotates. The pitch pulley plate 3314 is a part connected to the pitch pulley 3330, and when the pitch pulley plate 3314 rotates, the pitch pulley 3330 can rotate together. Explaining this from another perspective, when the pitch pulley plate 3314 rotates by the power transmitted from the outside, the pitch pulley 3330 can rotate together. Stating this from another angle, the pitch pulley plate 3314 can also be the part that receives the driving force generated by the pitch drive motor 3512 and transmits it to the pitch pulley 3330.

[0388] The pitch pulley plate 3314 can include at least one second insertion port 33141. The second insertion port 33141 is the part where the second protrusion 35221 of the pitch motor plate 3522 is inserted. In this way, the pitch motor plate 3522 and the pitch pulley plate 3314 can be stably combined through the engagement of at least one second protrusion 35221 and the second insertion port 33141, and the driving force of the pitch drive motor 3512 can be effectively transmitted to the pitch pulley 3330.

[0389] The launch pulley plate 3315 may be formed to be rotatable. Specifically, the launch pulley plate 3315 may be fastened to the launch motor plate 3523 and may rotate together when the launch motor plate 3523 rotates. The launch pulley plate 3315 is a part connected to the launch pulley 3340, and when the launch pulley plate 3315 rotates, the launch pulley 3340 may rotate together. Explaining this from another perspective, when the launch pulley plate 3315 rotates by the power transmitted from the outside, the launch pulley 3340 may rotate together. Stating this from another angle, the launch pulley plate 3315 may also be a part that receives the driving force generated by the launch driving motor 3513 and transmits it to the launch pulley 334.

[0390] The launch pulley plate 3315 may include at least one third insertion port 33151. The third insertion port 33151 is a part for inserting the third protrusion 35231 of the launch motor plate 3523. In this way, the launch motor plate 3523 and the launch pulley plate 3315 may be stably combined through the engagement of at least one third protrusion 35231 with the third insertion port (33151, 33131), and the driving force of the launch driving motor 3513 may be effectively transmitted to the launch pulley 3340.

[0391] As an embodiment, the yaw driving motor 3511, the pitch driving motor 3512, the roll driving motor 3514, and the launch driving motor 3513 may be independently driven from each other. Thus, the yaw driving motor 3511, the pitch driving motor 3512, the roll driving motor 3514, and the launch driving motor may independently perform the yaw rotation of the end effector 3100, the pitch rotation of the end effector 3100, the roll rotation of the motor group 3510, and the linear movement of the working member 3154.

[0392] Refer back to Figure 22, as driven by the roll drive motor 3514, the pulley coupling plate 3530 can rotate in the A direction. At this time, since the yaw drive motor 3511 can be independently driven, it can be independently driven regardless of the drive of the roll drive motor 3514 and allows the yaw motor plate 3521 to rotate in the B direction. Additionally, the pitch drive motor 3512 can be independently driven, so it can be independently driven regardless of the drives of the roll drive motor 3514 and the yaw drive motor 3511 and allows the pitch motor plate 3522 to rotate in the C direction. Moreover, the firing drive motor 3513 can be independently driven, thus it can be independently driven regardless of the drives of the roll drive motor 3514, the yaw drive motor 3511, and the pitch drive motor 3512 and allows the firing motor plate 3523 to rotate in the D direction. Explaining this from another perspective, the end effector 3100 can perform only any one of pitch rotation, yaw rotation, roll rotation, and the linear movement of the working member 3154, or can perform multiple rotations simultaneously.

[0393] Figure 23 FIG. is for illustrating the roll motion of a surgical instrument according to an embodiment of the present invention.

[0394] Refer to Figure 23 , the motor set 3510 of the surgical instrument according to an embodiment of the present invention can be configured to perform roll rotation.

[0395] Among them, the power generation part including the motor set 3510 can include a pulley frame 3310 coupled to the power transmission part at the foremost. The pulley frame 3310 can be coupled to the power transmission part. Thus, the power transmission part 3300 can perform roll rotation together with the pulley coupling plate 3530 in a state of being fastened to the pulley coupling plate 3530.

[0396] In addition, the connection part 3400 can be connected to the power transmission part 3300. Therefore, the connection part 3400 can perform roll rotation together with the roll rotation of the power transmission part 3300.

[0397] In addition, the end effector 1100 disposed on one side of the connection part 3400 can be connected to the connection part 3400. Therefore, the end effector 1100 can perform roll rotation together with the rotation of the connection part 3400.

[0398] As a result, according to the present invention, when the user operates the operation part 3200 to drive the roll drive motor 3514, the components other than the operation part 3200 can perform roll rotation about the length direction in which the connection part 3400 extends.

[0399] Figure 26 FIG. shows the internal structure of a surgical instrument according to another embodiment of the present invention.

[0400] Referring to Figure 26 , an internal space 3203 of the operation unit 3200 may be provided inside the operation unit 3200.

[0401] A circuit unit 3600 may be disposed in the internal space 3203 of the operation unit.

[0402] The circuit 3600 is a configuration including an electronic circuit for controlling the driving of the motor group 3510. As an example, the circuit unit 3600 may include a motor driver, a motor controller, and a micro controller unit, but is not limited thereto, and any circuit unit 3600 that is intended to drive the motor group 3510 may be used.

[0403] The circuit unit 3600 may be disposed behind the motor group 3510. Specifically, the circuit unit 3600 may be connected to the circuit board 3570 of the power generation unit 3500. Therefore, when the motor group 3510 performs a rolling rotation, the circuit unit 3600 may rotate together with the motor group 3510.

[0404] Although not shown in the figure, the circuit unit 3600 and the motor group 3510 may be connected by a plurality of electric wires to drive the motor group 3510. Therefore, as the motor group 3510 rolls and rotates, the circuit unit 3600 also rotates together, thereby preventing problems such as entanglement of multiple electric wires of the motor group 3510 and the circuit unit 3600.

[0405] As an embodiment, a slip ring 3700 may be disposed on one side of the circuit unit 3600. The slip ring 3700 is a configuration that connects or connects and communicates the circuit unit 3600 that controls the motor group 3510 or the driving of the motor group 3510 with various electrical / electronic components. For example, the slip ring 3700 electrically connects the circuit unit that controls the motor group 3510 or the driving of the motor group 3510 to a power source, a switch, a button, an OLED screen, and other circuit units. Among them, the power source, the switch, the button, the OLED screen, other circuit units, etc. may be disposed inside the surgical instrument 3000 according to the present invention, or may be disposed outside the surgical instrument 3000. In addition, the slip ring 3700 may connect the communication between a plurality of components for the operation of the surgical instrument 3000. For example, the slip ring 3700 may connect the communication between at least some of the operation unit 3200, the power transmission unit 3300, the power generation unit 3500, and the circuit unit 3600. At this time, the communication type is not limited, and any type capable of communicatively connecting a plurality of components of the surgical instrument 3000 may be adopted.

[0406] As described above, the motor unit 3510 and the circuit unit 3600 are formed to be capable of rolling and rotating. Additionally, the motor unit 3510 and / or the circuit unit 3600 can be electrically connected to various electrical / electronic components. At this time, if the motor unit 3510 and / or the circuit unit 3600 are connected to the electrical / electronic components through electric wires or the like, there may be a problem that the wires are wound together due to the rotation of the motor unit 3510 and the circuit unit 3600.

[0407] Therefore, a slip ring 3700 is disposed on one side of the circuit unit 3600, so that even when the circuit unit 3600 rotates, the wires for connecting the motor unit 3510 and / or the circuit unit 3600 to various electrical / electronic components are not wound together. For example, the wires of the motor unit 3510 and the circuit unit 3600 are not wound together, so that power can be stably received from an external power source.

[0408] As an embodiment, although not shown in the figure, the surgical instrument may further include at least one sub-circuit unit. The sub-circuit unit may be disposed inside the operation unit 3200. As a preferred embodiment, the sub-circuit unit may be disposed in the handle ( Figure 17 3202) portion of the operation unit 3200. At this time, even when the motor unit 3510 rotates, the sub-circuit unit may not rotate.

[0409] The sub-circuit unit may initially receive and process various signals for controlling the motor unit 3510. And, the sub-circuit unit may transmit the initially processed signals to the circuit unit 3600. For this purpose, the circuit unit 3600 and the sub-circuit unit may be connected to each other through serial communication or the like, but not limited thereto, and the circuit unit 3600 and the sub-circuit unit may be connected in various ways. Therefore, the number of wires that must be connected to the circuit unit 3600 through the slip ring 3700 can be reduced.

[0410] As a specific example, assume that the operation unit 3200 has four buttons for operations, and two electric wires (e.g., a ground wire and a communication wire) are required to send and receive signals to each button. Then, at least five electric wires are required to be connected to the circuit unit 3600. That is, even if the ground wire is shared, for the electric wires used for the operations of the operation unit 3200, at least one ground wire and four communication wires are required. At this time, as in this embodiment, when a sub-circuit unit is included, if the signals of at least five electric wires are pre-processed once in the sub-circuit unit, then through the communication connection function of the slip ring 3700, only two electric wires enable the circuit unit 3600 and the four buttons of the operation unit 3200 to communicate. Therefore, through such a configuration, the configuration of the electric wires can be simplified, and the size of the slip ring 3700 can also be minimized. However, such an example is only one of the multiple functions of the sub-circuit unit. In addition, the sub-circuit unit can pre-process the signals of multiple electric wires. Therefore, the technical content of the present invention is not limited to the foregoing description.

[0411] As an embodiment, although not shown in the figure, the surgical instrument may further include a configuration for setting the zero point of the tumbling rotation of the motor group 3510 or the like. For example, the surgical instrument may further include at least one encoder for measuring the tumbling rotation angle of the motor group 3510 or the like. Alternatively, the surgical instrument may further include a touch sensor, a Hall effect sensor, an optoelectronic sensor, etc. to measure the tumbling rotation angle of the motor group 3510 or the like. However, but not limited thereto, if it is for measuring the tumbling rotation angle of the motor group 3510 or the like, it can be set in the surgical instrument of the present invention.

[0412] Figure 27 is a schematic perspective view of a surgical instrument according to another embodiment of the present invention. Figure 28 is for explaining Figure 27 a schematic perspective view of the end effector. Figure 29 is a perspective view of the end effector viewed from another direction Figure 28 of. Figure 30 is a schematic perspective view with the second jaw of the end effector removed. Figure 31 is Figure 30 a schematic perspective view of the end effector with the staple cartridge removed. Figure 32 is Figure 31 a perspective view of. Figure 33 is schematically showing Figure 27 a perspective view of the second jaw of the end effector. Figure 34 is schematically showing Figure 27 a perspective view of the first jaw of the end effector. Figure 35 is schematically showing Figure 27 a top view of the first jaw of the end effector. Figure 36 is showing Figure 27Stereogram of the working component of the end effector. Figure 37 is a stereogram of the working component viewed from another direction Figure 36 of the working component. Figure 38 is a view of the working component from one direction Figure 36 of the front view of the working component. Figure 39 shows Figure 27 a schematic stereogram of a part of the end effector. Figure 40 is a view from one direction Figure 39 of the front view. Figure 41 is for explaining Figure 27 the working component of the end effector, the fixed pulley, and the schematic top view of the forward (forward movement) wire. Figure 42 is for explaining Figure 27 the working component of the end effector, the fixed pulley, and the schematic stereogram of the forward wire. Figure 43 and Figure 44 are schematic diagrams for explaining Figure 27 the movement of the working component of the end effector. Figure 45 and Figure 46 are for explaining Figure 27 the optional embodiment of the end effector with the addition of a reverse (backward movement) wire. Figure 47 shows Figure 27 a stereogram of the first jaw and the cartridge of the surgical instrument. Figure 48 and Figure 49 are for explaining Figure 27 the conversion pulley, the yaw pulley, and the pitch pulley of the end effector of the surgical instrument.

[0413] According to this embodiment, the surgical instrument 5000 may include an end tool 5100, an operating portion 5200, and a connecting portion 5400.

[0414] Among them, the connecting portion 5400 has a hollow shaft shape, and one or more wires and multiple electric wires can be accommodated therein. One end portion of the connecting portion 5400 is coupled to the operating portion 5200, and the other end portion is coupled to the end tool 5100, and the connecting portion 5400 can be used to connect the operating portion 5200 and the end tool 5100. As an example, the connecting portion 5400 may include a straight portion 5401, and although not shown, may also include one or more bending portions to facilitate the configuration of use and control of the operation.

[0415] The operating portion 5200 is formed at one end portion of the connecting portion 5400 and includes an interface that allows a doctor to directly manipulate it. For example, it is formed in the shape of pliers, a rod, a control lever, etc. When the doctor manipulates it, the end tool 5100 connected to the corresponding interface and inserted into the body of the surgical patient performs a certain operation, thereby performing the surgery. Among them, Figure 27In [the figure], the operation unit 5200 is shown in the form of a handle that allows a finger to be placed thereon and perform one or more actions (e.g., push or pull), but the spirit of the present invention is not limited thereto, and any various forms of operation unit that is connected to the end effector 5100 and operates on the end effector 5100 will suffice.

[0416] The end effector 5100 is formed at the other end of the connection unit 5400 and is inserted into the surgical site to perform actions required for the surgery. As an example of such an end effector 5100, a pair of jaws 5103 can be used to perform a gripping action. However, the spirit of the present invention is not limited thereto, and various devices used for surgery can be used as the end effector 5100. For example, a configuration such as a single-arm cautery can also be used as the end effector. Such an end effector 5100 is connected to the operation unit 5200 through a power transmission unit (not shown, e.g., a wire, etc.) and receives the driving force of the operation unit 5200 through the power transmission unit, thereby performing actions required for the surgery, such as gripping, cutting, suturing actions, etc.

[0417] Hereinafter, Figure 27 the end effector 5100 of the surgical instrument 5000 will be described in more detail.

[0418] Figure 28 is a schematic perspective view for explaining Figure 27 the end effector. Figure 29 is a perspective view of the end effector viewed from another direction. Figure 28 of Figure 30 is a schematic perspective view with the second jaw of the end effector removed. Figure 31 is Figure 30 a schematic perspective view of the end effector with the cartridge removed. Figure 32 is Figure 31 a perspective view.

[0419] The end effector 5100 may include jaws 5103, a plurality of fixed pulleys 5120, and a plurality of positive wires 5110. The plurality of fixed pulleys 5120 may include two or more pulleys, for example, may include a first fixed pulley 5121 and a second fixed pulley 5122. The plurality of positive wires 5110 may include two or more wires, for example, may include a first positive wire 5111 and a second positive wire 5112.

[0420] The jaw 5103 can perform various functions, such as a gripping action, and as a specific example, it can include a pair of jaws, namely a first jaw 5101 and a second jaw 5102. Among them, the constituent elements that respectively include the first jaw 5101 and the second jaw 5102, or that include the first jaw 5101 and the second jaw 5102 at the same time, can be referred to as the jaw 5103.

[0421] The first jaw 5101 and the second jaw 5102 are configured to face each other, and can approach each other or move away from each other through movement. For example, they can rotate around an axis (JX).

[0422] The staple cartridge 5500 can be configured to be accommodated in the first jaw 5101, and a plurality of staples are arranged inside the staple cartridge 5500. In a state where the first jaw 5101 and the second jaw 5102 are close to each other, for example, in a state where body tissue is clamped therebetween and the first jaw 5101 and the second jaw 5102 are closed, when the working member 5140 receives a force from a plurality of positive wires 5110, it moves in the direction of the distal end 5101d of the first jaw 5101 and pushes the staple upward, thereby allowing stapling. At this time, in a state where one or more clamps 5146, 5147 of the working member 5140 protrude from the outside of the first jaw 5101 and the second jaw 5102, while applying pressure to the outer surfaces of the first jaw 5101 and the second jaw 5102 and moving forward, the stapling process can be smoothly performed. As an alternative embodiment, the staple cartridge 5500 can have a cartridge 5520 corresponding to the bottom, and the cartridge 5520 can be arranged in the first jaw 5101.

[0423] On the other hand, the working member 5140 can be used together with a wedge WDG. For example, the wedge WDG can be separately prepared with the working member 5140 and can be arranged adjacent to the working member 5140 in the first jaw 5101. Additionally, as another example, the working member 5140 can also be integrally formed with the wedge WDG. The wedge WDG can be arranged on at least one side of the main body portion 5142 of the working member 5140 and can have a predetermined inclined surface. That is, the wedge WDG can be formed to be inclined by a specified degree in the extending direction of the end effector 5100. In other words, the height on the proximal end 5101p side is higher than the height on the distal end 5101d side of the first jaw 5101.

[0424] Such a wedge WDG is formed to be able to sequentially contact the extraction member ( Figure 47 of 5535) or a plurality of staples ( Figure 47 of 5530) arranged in the staple cartridge 5500, and can be used to sequentially push the staple 5530 upward.

[0425] A plurality of fixed pulleys 5120 may be arranged on the first jaw 5101 in a manner closer to the distal end portion 5101d of the first jaw 5101 than the front of the staple cartridge 5500 (i.e., the staple cartridge 5500). For example, a plurality of fixed pulleys 5120 may be arranged in the front space portion 5101c of the first jaw 5101, and specific details will be described later.

[0426] In addition, the end effector 5100 of the surgical instrument of the present embodiment may include one or more members connecting the jaw 5103 and the connecting portion 5400, for example, an articulating member. Additionally, as an alternative embodiment, the end effector 5100 may include an end effector hub 5108 and a pitch hub 5107.

[0427] The end effector hub 5108 may be configured to connect the linear portion 5401 of the end effector 5100 and the connecting portion 5400.

[0428] As an example, the end effector hub 5108 may correspond to the pulley shaft JX4, and such a pulley shaft JX4 may be a pitch rotation axis. As a specific example, the end effector 5100 may rotate up and down about the pulley shaft JX4 as shown in the figure. Additionally, one or more pulleys may be arranged adjacent to the pulley shaft JX4.

[0429] The end effector hub 5108 may be formed in the shape of a bar protruding relatively long from the surface corresponding to the connecting portion 5400 (for example, from the center of the disc-shaped main area), and this bar area may additionally include the pulley shaft JX4 and another pulley shaft JX5.

[0430] The pitch hub 5107 is connected to the end effector hub 5108 and the jaw 5103. The pitch hub 5107 may be pivotally coupled to the end effector hub 5108 with respect to one pulley shaft JX4. The pitch hub 5107 may rotate about one pulley shaft JX4 while being connected to the end effector hub 5108. That is, the pitch hub 5107 of the end effector 5100 may rotate about one pulley shaft JX4 with respect to the end effector hub 5108, thereby performing a pitch motion.

[0431] In addition, the jaw 5103 of the end effector 5100 may be pivotally coupled to the pitch hub 5107 with respect to one pulley shaft JX1. The jaw 5103 may rotate about one pulley shaft JX1 while being connected to the pitch hub 5107. That is, the jaw 5103 of the end effector 5100 may rotate about one pulley shaft JX1 with respect to the pitch hub 5107, thereby performing a yaw motion.

[0432] As a result, during the yaw movement of the end effector 5100, the jaws 5103 rotate about a pulley axis JX1 with respect to the pitch hub 5107, and during the pitch movement of the end effector 5100, the pitch hub 5107 rotates about a pulley axis JX4 with respect to the end effector hub 5108. Thus, the jaws 5103 coupled to the pitch hub 5107 rotate with the pitch hub 5107.

[0433] The pitch hub 5107 may include a first hub 5107a and a second hub 5107b.

[0434] The first hub 5107a of the pitch hub 5107 is connected to the jaws 5103. As an example, it is formed in a long shape so as to be connected to a region of the first jaw 5101. As a specific example, it may include two bar shapes facing each other side by side, and a region of the first jaw 5101 is disposed and coupled therebetween.

[0435] The second hub 5107b of the pitch hub 5107 is connected to the end effector hub 5108. As an example, it may include two bar shapes facing each other side by side, and a region of the end effector hub 5108 is disposed and coupled therebetween.

[0436] As described above, another pulley axis JX5 that is spaced apart from the pulley axis JX4 and closer to the connecting portion 5400 than one pulley axis JX4 may be disposed on the end effector hub 5108. The pulley axis JX4 and the pulley axis JX5 may include axes in a direction parallel to each other. Figure 27 The pulley axis JX4 and the pulley axis JX5 may include axes in a direction parallel to each other.

[0437] Another pulley axis JX2 may be disposed on the pitch hub 5107 in a direction adjacent to and parallel to the pulley axis JX1. In a direction different from the pulley axis JX1 and the pulley axis JX2, for example, in a crossed or orthogonal direction, the pulley axis JX3 and the pulley axis JX4 are sequentially disposed along the direction of the connecting portion 5400 (or a direction away from the working member).

[0438] The pulley axis JX4 may be the pitch movement axis of the end effector 5100, and the pulley axis JX1 may be the yaw movement axis.

[0439] The pulley axis JX3 and the pulley axis JX5 may be pitch auxiliary pulley axes, and the pulley axis JX2 may be a yaw auxiliary pulley axis. One or more drive lines, for example, a wire for transmitting the driving force of the pitch movement or a wire for transmitting the driving force of the yaw movement, may be in contact with or wound around at least one region of the pulley axes JX1, JX2, JX3, JX4, JX5.

[0440] A plurality of pulley shafts JX2, JX3, JX5 adjacent to the pulley shaft JX4 as the pitch movement axis and the pulley shaft JX1 as the yaw movement axis can ensure the efficiency of the drive wire configuration, the transmission of the force through the drive wire, and the stability of the path by controlling the paths of the plurality of drive wires wound around the pulley shafts JX4 and JX1.

[0441] In addition, at least one region of the positive wire 5110 can contact or wind around the pulley shafts JX1, JX2, JX3, JX4, JX5.

[0442] The configuration of the pulley shafts JX1, JX2, JX3, JX4, JX5 will be described in more detail later.

[0443] One or more transformation pulley shafts AX1, AX2 can be configured in the end effector 5100, and one or more pulleys corresponding to the transformation pulley shafts AX1, AX2 can be configured.

[0444] For example, the transformation pulley shafts AX1, AX2 are arranged in the jaw 5103. Specifically, for example, they are arranged in the direction close to the distal end portion 5101d of the first jaw 5101, and are arranged at least closer to the distal end portion 5101d of the first jaw 5101 than the previously described pulley shafts JX1, JX2, JX3, JX4, JX5.

[0445] The transformation pulley shafts AX1, AX2 can be shafts arranged side by side with each other, and are configured to have different front and rear positions from each other. The transformation pulley shaft AX1 and the transformation pulley shaft AX2 are arranged in sequence with reference to the distal end portion 5101d of the first jaw 5101, and some regions can overlap.

[0446] The transformation pulley shafts AX1, AX2 are regions where at least one region of the positive wire 5110 is wound or contacted, and the positive wire 5110 is arranged and the path is guided before entering the pulley shafts JX1, JX2, JX3, JX4, JX5. The configuration of the transformation pulley shafts AX1, AX2 will be described in more detail later.

[0447] As Figure 32 shown, the first positive wire 5111 and the second positive wire 5112 are correspondingly wound around the first fixed pulley 5121 and the second fixed pulley 5122 in the first jaw 5101 and change direction, and are connected to the rear of the end effector 5100 through at least one region of the transformation pulley shafts AX1, AX2 and the pulley shafts JX1, JX2, JX3, JX4, JX5, and further extend to the operation portion through the connection portion 5400 ( Figure 27of 5200), so that it can be precisely controlled. Thus, precise motion control of the working member 5140 can be easily achieved, which will be described in detail later.

[0448] The jaws 5103 of the end effector 5100 will be described in more detail.

[0449] Figure 33 is schematically shown Figure 27 a perspective view of the second jaw of the end effector.

[0450] The second jaw 5102 is generally elongated in shape. For example, the second jaw 5102 may be strip-shaped and formed to correspond to at least the first jaw 5101 in one area. An anvil is formed on the distal end portion 5102d side of the second jaw 5102, and the proximal end portion 5102p may include an area for engaging with the first jaw 5101. As an example, it is formed to be rotatable relative to the first jaw 5101 about an axis JX of the proximal end portion 5102p.

[0451] As a specific example, an anvil is formed on the surface of the second jaw 5102 facing the first jaw 5101, and is in a flat shape, and a plurality of shapes corresponding to the shape of the staple 5530 described later may be formed on one of its surfaces. During the stapling operation, when the working member 5140 pushes the staple 5530 upward, the anvil of the second jaw 5102 supports the opposite side of the working member 5140, so it can be used as a support seat for bending the staple 5530.

[0452] The second jaw 5102 includes a guide groove 5102a. The guide groove 5102a may be formed to extend in an elongated shape along the length direction of the second jaw 5102.

[0453] The guide groove 5102a can be formed to guide the operating member 5140 and can be a groove that penetrates the area facing the operating member 5140. Through this, a region of the operating member 5140, for example, at least one region of the main body portion 5142 of the operating member 5140 or the first clamp 5146 connected thereto can pass through the guide groove 5102a and be discharged to the outside of the second jaw 5102. When the operating member 5140 moves forward, the first clamp 5146 passes through the guide groove 5102a of the second jaw 5102 and is exposed to the outside of the second jaw 5102, so that it can contact the upper surface of the second jaw 5102 or apply pressure to the upper surface. Through the movement of the operating member 5140, the first clamp 5146 applies pressure to the upper surface of the second jaw 5102, and at the same time, the second clamp 5147 described later applies pressure to the lower surface of the first jaw 5101, so that the distance between the second jaw 5102 and the first jaw 5101 is reduced, and the second jaw 5102 can naturally remain in a closed state relative to the first jaw 5101 (close).

[0454] Figure 34 is a schematic diagram showing Figure 27 a perspective view of the first jaw of the end effector. Figure 35 is a schematic diagram showing Figure 27 a top view of the first jaw of the end effector.

[0455] Referring to Figure 34 and Figure 35 etc., the first jaw 5101 is integrally formed in the shape of a long rod, and a rotating shaft is disposed at the proximal end, and the rotating shaft can correspond to the rotating shaft JX formed on the second jaw 5102. In addition, a cartridge ( Figure 28 5500 of ) can be accommodated on the side closer to the distal end 5101d than the rotating shaft.

[0456] For example, the first jaw 5101 is integrally formed in a shape in which one side surface (upper surface) is removed from a hollow box, and a cartridge accommodating portion 5101a capable of accommodating the cartridge 5500 can be formed inside the first jaw 5101. That is, the cross section of the first jaw 5101 can be formed in an approximate "U" shape.

[0457] On the bottom surface of the first jaw 5101, that is, the bottom surface opposite to the upper open area removed from one side surface, a guide groove 5101h can be formed. Specifically, the guide groove 5101h can be formed to guide the linear movement of the operating member 5140.

[0458] The guide groove 5101h can be formed as a guide operating member 5140 and can be a groove that penetrates the area facing the operating member 5140. Through this, a region of the operating member 5140, for example, at least one region of the main body portion 5142 of the operating member 5140 or the second clamp 5147 connected thereto can pass through the guide groove 5101h and be discharged to the outside of the first jaw 5101. When the operating member 5140 moves forward, the second clamp 5147 passes through the guide groove 5101h of the first jaw 5101 and is exposed to the outside of the first jaw 5101, so that it can contact the lower surface of the first jaw 5101 or apply pressure to the lower surface. Through the movement of the operating member 5140, the second clamp 5147 applies pressure to the lower surface of the first jaw 5101, and at the same time, the first clamp 5146 applies pressure to the upper surface of the second jaw 5102, so that the distance between the second jaw 5102 and the first jaw 5101 is reduced, and the second jaw 5102 can be naturally kept in a closed state relative to the first jaw 5101 (close).

[0459] As an alternative embodiment, the first jaw 5101 may include a window 5101b. After the operating member 5140 performs an operation or after using the end tool 5100, the second clamp 5147 of the operating member 5140 corresponds to the window 5101b and can release the coupling state between the first jaw 5101 and the operating member 5140.

[0460] The first jaw 5101 may include a front space portion 5101c located in front of the staple cartridge receiving portion 5101a.

[0461] For example, the front space portion 5101c may be configured at a position closer to the distal end portion 5101d of the first jaw 5101 than the staple cartridge receiving portion 5101a. A plurality of fixed pulleys 5120 may be arranged in the front space portion 5101c. For example, a first fixed pulley 5121 and a second fixed pulley 5122 may be arranged (for example, refer to Figures 28 to 32 ).

[0462] Each of the two outer side surfaces corresponding to the front space portion 5101c includes a first side surface 5101t1 and a second side surface 5101t2, and the first fixed pulley 5121 and the second fixed pulley 5122 corresponding to the first side surface 5101t1 and the second side surface 5101t2 may be arranged.

[0463] Both the first side surface 5101t1 and the second side surface 5101t2 can be formed into an inclined shape. For example, the first side surface 5101t1 and the second side surface 5101t2 may not be arranged side by side at the same pitch with each other, but may be formed into a shape in which the pitch decreases downward. As a specific example, the pitch between the first side surface 5101t1 and the second side surface 5101t2 may become narrower based on the direction away from the second jaw 5102.

[0464] The first fixed pulley 5121 and the second fixed pulley 5122 are respectively arranged corresponding to the first side surface 5101t1 and the second side surface 5101t2. Therefore, the arrangement pitch between the first fixed pulley 5121 and the second fixed pulley 5122 can also be configured into an inclined shape that becomes narrower based on the direction away from the second jaw ( Figure 28 5102). The first fixed pulley 5121 and the second fixed pulley 5122 may be of a symmetric shape and may have the same size.

[0465] In addition, a first channel 5101W1 and a second channel 5101W2 are formed adjacent to the front space portion 5101c. For example, they may be in the form of through holes formed in the barrier, and may respectively be regions through which the first positive wire 5111 and the second positive wire 5112 pass.

[0466] As an alternative embodiment, when a reverse wire is arranged (for example, refer to Figure 45 ), the first jaw 5101 may include a rear channel 5101R corresponding to the reverse wire.

[0467] In addition, the first jaw 5101 may include a coupling region 5101Z in the region adjacent to the proximal end portion 5101p. The coupling region 5101Z is a region coupled to the pitch hub 5107. For example, it may correspond to the first hub 5107a of the pitch hub 5107 and may be in the form of an extended plate. The coupling region 5101Z can be arranged and coupled between two strips of the first hub 5107a in the pitch hub 5107.

[0468] The working member 5140 will be described in detail.

[0469] Figure 36 is a perspective view of the working member of the end effector showing [[ID=2 . ​ is a perspective view of the working member viewed from another direction of ​ . ​ is a front view of the working member viewed from one direction of ​ .

[0470] The working member 5140 may include a body 5142, a first clamp 5146, and a second clamp 5147. On the other hand, the working member 5140 may be used together with a wedge (refer to ​ and ​ WDG). For example, the wedge WDG may be prepared separately from the working member 5140 and may be disposed in the working member 5140 adjacent to the first jaw 5101. Additionally, as another example, the working member 5140 may also be integrally formed with the wedge WDG. In this specification, for ease of explanation, the description and illustration are made assuming that the working member 5140 and the wedge WDG are prepared separately.

[0471] The wedge WDG may be disposed on at least one side of the body 5142 and may be formed with a predetermined inclined surface. That is, the wedge WDG may be formed to be inclined by a predetermined degree in the extending direction of the end effector 5100. In other words, the height on the proximal end portion 5101p side is higher than the height on the distal end portion 5101d side of the first jaw 5101.

[0472] Such a wedge WDG is formed to be able to sequentially contact the extraction member ( ​ 5535) or a plurality of staples ( ​ 5530) and can be used to sequentially push up the staples 5530.

[0473] The body 5142 may be in a long columnar shape, such as a plate-shaped column. Additionally, a blade area 5142a may be formed in one area of the body 5142, and a sharp edge portion for cutting tissue may be formed in the blade area 5142a. When at least a part of the edge portion formed in the blade area 5142a of the body 5142 is led out to the outside of the first jaw 5101 and the staple cartridge 5500, the tissue disposed between the first jaw 5101 and the second jaw 5102 can be cut.

[0474] The first clamp 5146 may be formed in one area of the body 5142, and the second clamp 5147 may be formed in another area. For example, the body 5142 may be disposed between the first clamp 5146 and the second clamp 5147.

[0475] The first clamp 5146 and the second clamp 5147 may have a region with a width at least larger than that of the body 5142. Thus, the first clamp 5146 is inserted into a guide groove 5102a formed along the length direction of the second jaw 5102, penetrates through the guide groove 5102a and is disposed on or in contact with the upper surface of the second jaw 5102. At the same time, the second clamp 5147 is inserted into a guide groove 5101h formed along the length direction of the first jaw 5101, penetrates through the guide groove 5101h and is disposed on or in contact with the lower surface of the first jaw 5101, so that the first clamp 5146 and the second clamp 5147 can move. Thus, when the working member 5140 moves, the first clamp 5146 and the second clamp 5147 can apply a force in the direction in which the second jaw 5102 and the first jaw 5101 approach each other.

[0476] As a result, when the working member 5140 moves from the proximal end portion 5101p of the first jaw 5101 toward the distal end portion 5101d, the action of the second jaw 5102 approaching the first jaw 5101, that is, the closing action of the jaws 5103, can be naturally achieved by the first clamp 5146 and the second clamp 5147.

[0477] The first clamp 5146 and the second clamp 5147 may be located at positions different from each other in the direction facing forward with respect to the body 5142. For example, the second clamp 5147 may be located in front of the first clamp 5146. For example, when the working member 5140 is disposed on the first jaw 5101, the second clamp 5147 may be located at a position closer to the distal end portion 5101d of the first jaw 5101 than the first clamp 5146. Thus, in the closed state of the first jaw 5101 and the second jaw 5102, when the working member 5140 moves forward and performs stitching, the first jaw 5101 and the second jaw 5102 can be held more effectively and stably.

[0478] In a region of the body 5142, for example, in a front region, as a specific example, a first connection region 5140P1 and a second connection region 5140P2 may be formed in a region facing the distal end portion 5101d of the first jaw 5101.

[0479] The first connection region 5140P1 and the second connection region 5140P2 can be regions respectively connected to the first positive wire 5111 and the second positive wire 5112. For example, they can be formed in a groove shape and be a region that accommodates or fixes each end of the first positive wire 5111 and the second positive wire 5112. When the first positive wire 5111 and the second positive wire 5112 are respectively connected to the first connection region 5140P1 and the second connection region 5140P2 and the first positive wire 5111 and the second positive wire 5112 are pulled, the force for pulling the first positive wire 5111 and the second positive wire 5112 can be transmitted to the working member 5140 through the first connection region 5140P1 and the second connection region 5140P2, so that the working member 5140 can move, that is, move forward.

[0480] As an alternative embodiment, the first connection region 5140P1 and the second connection region 5140P2 can be formed on the side portion 5143 of the working member 5140.

[0481] The side portion 5143 can be formed in a shape that protrudes from each outer side on both sides of the main body 5142. By forming the first connection region 5140P1 and the second connection region 5140P2 in the side portion 5143 formed in a shape that protrudes from both sides of the main body 5142, a space for connecting the first positive wire 5111 and the second positive wire 5112 to the first connection region 5140P1 and the second connection region 5140P2 respectively can be easily ensured.

[0482] In addition, the first connection region 5140P1 and the second connection region 5140P2 are formed on the side portions 5143 on both sides with the main body 5142 as the center, and the first positive wire 5111 and the second positive wire 5112 are connected to the first connection region 5140P1 and the second connection region 5140P2. With the main body 5142 as the center, the first positive wire 5111 and the second positive wire 5112 can be pulled to both sides, and in addition, they can be pulled at symmetric positions, so that the working member 5140 can be precisely controlled to move forward.

[0483] As an alternative embodiment, a connection region for the reverse wire can also be formed in the rear region of the main body 5142.

[0484] ​ is a schematic perspective view showing ​ a part of the end effector. ​ is a front view of ​ viewed from one direction.

[0485] Referring to ​ and ​, the first fixed pulley 5121 and the second fixed pulley 5122 are not arranged side by side with each other, but can be formed into an inclined shape. For example, according to the attached drawings, taking the direction away from the second jaw ( ​ which is 5102) as a reference, the first fixed pulley 5121 and the second fixed pulley 5122 are arranged such that the distance between the first fixed pulley 5121 and the second fixed pulley 5122 becomes narrower.

[0486] Specifically, the first fixed pulley 5121 and the second fixed pulley 5122 are arranged in a relative manner in the front space portion 5101c in front of the staple cartridge accommodating portion 5101a of the first jaw 5101. As a specific example, they can be arranged symmetrically with each other. In addition, the sizes of the first fixed pulley 5121 and the second fixed pulley 5122 can be the same.

[0487] Each of the two outer side surfaces corresponding to the front space portion 5101c includes a first side surface 5101t1 and a second side surface 5101t2, and the first fixed pulley 5121 and the second fixed pulley 5122 corresponding to the first side surface 5101t1 and the second side surface 5101t2 can be arranged.

[0488] Both the first side surface 5101t1 and the second side surface 5101t2 can be formed into an inclined shape. For example, the first side surface 5101t1 and the second side surface 5101t2 may not be arranged side by side at the same distance from each other, but can be formed into a shape in which the distance decreases downward. As a specific example, the distance between the first side surface 5101t1 and the second side surface 5101t2 can become narrower taking the direction away from the second jaw ( ​ which is 5102) as a reference. In addition, the first side surface 5101t1 and the second side surface 5101t2 can be formed into a symmetrical form with each other.

[0489] The first positive wire 5111 and the second positive wire 5112 are respectively symmetrically wound around the first fixed pulley 5121 and the second fixed pulley 5122, and the regions where they respectively wind out downward can face the first connection region 5140P1 and the second connection region 5140P2 of the aforementioned working member 5140.

[0490] With this form, the balance characteristics of the arrangement of the first fixed pulley 5121 and the second fixed pulley 5122 and the first positive wire 5111 and the second positive wire 5112 with respect to the movement direction of the working member 5140 can be improved. For example, a symmetrical form can be easily achieved. In addition, the vibration of the end effector 5100 can be reduced or prevented by reducing the wobbling or rotational torque generated when pulling the first positive wire 5111 and the second positive wire 5112.

[0491] In addition, the shape of the end effector 5100, for example, one side of the first jaw 5101 on one side of the jaw 5103, is formed, as a specific example, with a reduced width of its main region on the lower side, so that an overall compact structure of the end effector 5100 can be achieved.

[0492] The configuration relationship between the working member 5140, the plurality of positive wires 5110, and the plurality of fixed pulleys 5120 will be further described.

[0493] ​ is for explaining ​ a schematic top view of the working member, fixed pulley, and positive wire of the end effector. ​ is for explaining ​ a schematic perspective view of the working member, fixed pulley, and positive wire of the end effector.

[0494] As described above, the first fixed pulley 5121 and the second fixed pulley 5122 are arranged in the front space portion 5101c of the first jaw 5101. The first fixed pulley 5121 and the second fixed pulley 5122 can be respectively in a form fixed to the first jaw 5101 without movement, or in a form rotatably fixed about one axis.

[0495] The first positive wire 5111 and the second positive wire 5112 can be wound around the outer peripheral surfaces of the first fixed pulley 5121 and the second fixed pulley 5122. For this purpose, grooves can be formed on the outer peripheral surfaces of the first fixed pulley 5121 and the second fixed pulley 5122.

[0496] The first fixed pulley 5121 and the second fixed pulley 5122 can be arranged at least at a position closer to the distal end portion 5101d of the first jaw 5101 than the working member 5140.

[0497] The first positive wire 5111 can extend along the length direction of the first jaw 5101, and the region of one end extends to the proximal end portion 5101p of the first jaw 5101 and passes through the conversion pulley shafts AX1, AX2 or a plurality of conversion pulleys combined with the conversion pulley shafts AX1, AX2, and passes through the pulley shafts JX1, JX2, JX3, JX4, JX5 or a plurality of pulleys combined with the pulley shafts JX1, JX2, JX3, JX4, JX5 and is connected to the inside of the drive unit (for example, the operation unit ( ​ of 5200)), and by the operation of the operation unit 5200, the first positive wire 5111 can be pulled.

[0498] The other end of the first positive wire 5111 may extend along the length direction of the first jaw 5101 towards the distal end 5101d of the first jaw 5101, and contact a region of the first fixed pulley 5121, wind around it from the upper side and come out from the lower side, then extend towards the proximal end 5101p of the first jaw 5101, so as to be connected and fixed to the first connection region 5140P1 of the working member 5140.

[0499] As an alternative embodiment, the region extending towards the distal end 5101d of the first jaw 5101 in the region of the first positive wire 5111 and towards the upper side of the first fixed pulley 5121 may come out from the lower side of the first fixed pulley 5121 and then extend towards the proximal end 5101p of the first jaw 5101 and be parallel to the region towards the first connection region 5140P1 of the working member 5140.

[0500] Thus, when the first positive wire 5111 is pulled to the proximal end 5101d, the pulling force can be effectively transmitted to the working member 5140.

[0501] The second positive wire 5112 may extend along the length direction of the first jaw 5101, and the region of one end extends to the proximal end 5101p of the first jaw 5101 and passes through the conversion pulley shafts AX1, AX2, passes through a plurality of conversion pulleys combined with the conversion pulley shafts AX1, AX2, and passes through the pulley shafts JX1, JX2, JX3, JX4, JX5 or is connected to the inside of the drive part (for example, the operation part ( ​ of 1200)) through a plurality of pulleys combined with the pulley shafts JX1, JX2, JX3, JX4, JX5, and by operating the operation part 5200, the second positive wire 5112 can be pulled.

[0502] The other end of the second positive wire 5112 may extend along the length direction of the first jaw 5101 towards the distal end 5101d of the first jaw (5101), and contact a region of the second fixed pulley 5122, wind around it from the upper side and come out from the lower side, then extend towards the proximal end 5101p of the first jaw 5101, so as to be connected and fixed to the second connection region 5140P2 of the working member 5140.

[0503] As an alternative embodiment, the region extending towards the distal end 5101d of the first jaw 5101 in the region of the second positive wire 5112 and towards the upper side of the second fixed pulley 5122 may come out from the lower side of the second fixed pulley 5122 and then extend towards the proximal end 5101p of the first jaw 5101 and be parallel to the region towards the second connection region 5140P2 of the working member 5140.

[0504] Accordingly, when the second positive wire 5112 is pulled to the proximal end portion 5101p, the pulling force can be effectively transmitted to the working member 5140.

[0505] As ​ and ​ show, when the first positive wire 5111 and the second positive wire 5112 are pulled in the first direction D1, a region of the first positive wire 5111 and the second positive wire 5112 moves in the first direction D1. Accordingly, the region of the positive wire 5110 that is wound around the upper sides of the first fixed pulley 5121 and the second fixed pulley 5122 and exits from the lower sides moves in the direction opposite to the first direction D1, that is, in the second direction D2. Thus, the forces of the first positive wire 5111 and the second positive wire 5112 are transmitted to the first connection region 5140P1 and the second connection region 5140P2 connected to the first positive wire 5111 and the second positive wire 5112. And by this force, the working member 5140 also moves in the same direction K1 as the second direction D2, that is, moves forward.

[0506] ​ And FIGS. 44 are schematic diagrams for explaining ​ the operation of the working member of the end effector.

[0507] Referring to ​ and FIGS. 44, for ease of explanation, the first jaw 5101 is excluded, and the first positive wire 5111, the second positive wire 5112, the first fixed pulley 5121, the second fixed pulley 5122, and the working member 5140 are shown.

[0508] Taking ​ as a reference, the working member 5140 moves in the leftward direction, that is, moves forward along the distal end portion 5101d direction, and this forward movement is shown in the order of ​ , ​ , ​ .

[0509] As ​As shown, when the first positive wire 5111 and the second positive wire 5112 are pulled in the first direction D1, a region of the first positive wire 5111 and the second positive wire 5112 is pulled in the first direction D1 respectively. Thus, the regions of the first positive wire 5111 and the second positive wire 5112 that are wound from the upper side of the first fixed pulley 5121 and the second fixed pulley 5122 and come out from the lower side move in the direction opposite to the first direction D1, that is, in the second direction D2. Thereby, the forces of the first positive wire 5111 and the second positive wire 5112 are transmitted to the first connection region 5140P1 and the second connection region 5140P2 connected to the first positive wire 5111 and the second positive wire 5112 respectively. And by this force, the working member 5140 also moves in the same direction K1 as the second direction D2, that is, moves forward. Thus, the working member 5140 is located at ​ the forward movement position.

[0510] Then, as ​ shown, when the first positive wire 5111 and the second positive wire 5112 are further pulled in the first direction D1, a region of the first positive wire 5111 and the second positive wire 5112 is further pulled in the first direction D1. Thus, the regions of the first positive wire 5111 and the second positive wire 5112 that are wound from the upper side of the first fixed pulley 5121 and the second fixed pulley 5122 and come out from the lower side move in the direction opposite to the first direction D1, that is, move further in the second direction D2. Thereby, the forces of the first positive wire 5111 and the second positive wire 5112 are transmitted to the first connection region 5140P1 and the second connection region 5140P2 connected to the first positive wire 5111 and the second positive wire 5112 respectively. And by this force, the working member 5140 also moves further in the same direction K1 as the second direction D2, that is, moves forward to a position more forward than ​ and thus, as ​ shown, the working member 5140 moves forward to a position more forward than ​ and thus, as

[0511] Although not shown in the drawings, it should be understood that the form corresponding to the side view showing the operation of the working member can be applied to the end effector 5100 of the present embodiment as it is or with appropriate modifications.

[0512] ​ And FIG. 46 is a diagram for explaining an alternative embodiment of the end effector ​ with a reverse wire added.

[0513] Referring to ​ and FIG. 46, the end effector of the present embodiment may further include a reverse wire BRW.

[0514] For example,​ The structure can be a case where an additional reverse wire BRW is added to the structure of ​ the structure.

[0515] Referring to ​ and FIG. 46, for ease of explanation, the first jaw 5101 is excluded, and the first forward wire 5111, the second forward wire 5112, the first fixed pulley 5121, the second fixed pulley 5122, the working member 5140, and the reverse wire BRW are shown.

[0516] ​ Based on this, the working member 5140 can move in the right direction, that is, it can move backward in the direction of the proximal end 5101p, and such backward movement is shown in the ​ , ​ , ​ sequential form.

[0517] The reverse wire BRW can be connected to an area of the working member 5140. For example, at the rear of the working member. As a specific example, it can be connected to the opposite surface of the edge portion forming area of the blade area 5142a in the area of the body 5142.

[0518] The driving part or the driving transmission part (such as a wire or a pulley, etc.) that can pull the reverse wire BRW can be connected to the reverse wire BRW, and the reverse wire BRW can be allowed to act through manual or automatic operation. For example, the reverse wire BRW can be pulled by an operating part ( ​ 5200 of

[0519] By pulling the reverse wire BRW, the working member 5140 can move backward.

[0520] For example, as ​ shown, when the working member 5140 is adjacent to the distal end 5101d of the first jaw 5101 and the reverse wire BRW is pulled in the backward direction B1, the working member 5140 connected to the reverse wire BRW moves backward in this direction K2.

[0521] At this time, the first forward wire 5111 and the second forward wire 5112 can be in a state where no tensile force is applied.

[0522] When the working member 5140 moves backward by K2, the regions of the first positive wire 5111 and the second positive wire 5112 connected to the first connection region 5140P1 and the second connection region 5140P2 of the working member 5140 move in the same direction D1, and the regions of the first positive wire 5111 and the second positive wire 5112 that are wound from the lower side through the first fixed pulley 5121 and the second fixed pulley 5122 and arranged on the upper side can move in the opposite direction D2. Thus, compared with ​ the working member 5140 is located at a position where it moves backward to be adjacent to the proximal end portion 5101p. ​

[0523] Then, as ​ shown, when the reverse wire BRW is further pulled in the backward direction B1, the working member 5140 connected to the reverse wire BRW moves backward in this direction K2. At this time, the first positive wire 5111 and the second positive wire 5112 can be in a state where no tensile force is applied. The regions of the first positive wire 5111 and the second positive wire 5112 connected to the first connection region 5140P1 and the second connection region 5140P2 of the working member 5140 move in the same first direction D1, and the regions of the first positive wire 5111 and the second positive wire 5112 that are wound from the lower side through the first fixed pulley 5121 and the second fixed pulley 5122 and arranged on the upper side can move in the opposite direction D2. Thus, compared with ​ the working member 5140 is located at a position where it moves backward to be adjacent to the proximal end portion 5101p. ​

[0524] In addition, although not shown, of course, the above ​ configuration can be selectively applied to the end effector 5100 of this embodiment.

[0525] The cartridge 5500 and the stapling operation accommodated in the ​ end effector 5100 will be described in more detail.

[0526] ​ is a perspective view showing the first jaw and the cartridge of the ​ surgical instrument.

[0527] Referring to Figure 27 , Figure 28 , Figure 29 , Figure 30 and Figure 47 ​​etc., the staple cartridge 5500 can be configured in the first jaw 5101. For example, the staple cartridge 5500 is coupled to the staple cartridge receiving portion 5101a of the first jaw 5101. For example, in a state where the operating member 5140 is configured in the first jaw 5101, the staple cartridge 5500 can be integrally formed with the first jaw 5101. Additionally, as an alternative embodiment, the staple cartridge 5500 can also be formed to be installed in and separated from the first jaw 5101.

[0528] The staple cartridge 5500 includes a plurality of staples 5530 therein to perform tissue suturing and performs cutting through the operating member 5140. Among them, the staple cartridge 5500 can include a cover 5510, staples 5530, and a removal member 5535.

[0529] The cover 5510 can be formed to cover the upper portion of the staple cartridge receiving portion 5101a of the first jaw 5101. A plurality of staple holes 5510s through which the plurality of staples 5530 can be discharged to the outside can be formed in the cover 5510. Before driving the stapling, the staples 5530 accommodated inside the staple cartridge receiving portion 5101a are pushed upward by the operating member 5140 during the stapling operation, pass through the plurality of staple holes 5510s of the cover 5510, and are taken out of the outside of the staple cartridge 5500, thereby enabling stapling to be performed.

[0530] On the other hand, a slit 5510W can be formed in the cover 5510 along its length direction. The blade area 5142a of the body 5142 of the operating member 5140 can protrude to the outside of the staple cartridge 5500 through the slit 5510W. When the blade of the body 5142 of the operating member 5140 passes through the slit 5510W, the tissue that has completed stapling can be cut.

[0531] As an alternative embodiment, the staple cartridge 5500 can include a cartridge 5520. After the cartridge 5520 is configured in the staple cartridge receiving portion 5101a of the first jaw 5101, the staple cartridge 5500 can be configured in the cartridge 5520.

[0532] A plurality of staples 5530 can be configured inside the staple cartridge receiving portion 5101a of the first jaw 5101. When the operating member 5140 moves linearly in one direction, the plurality of staples 5530 are sequentially pushed from the inside of the staple cartridge receiving portion 5101a of the first jaw 5101 to the outside while performing suturing, that is, stapling can be performed. Among them, the material of the staples 5530 can include materials that are durable and do not cause abnormal effects on the human body. For example, it can include titanium, stainless steel, etc.

[0533] On the other hand, a removal member 5535 may be disposed between the cartridge receiving portion 5101a of the first jaw 5101 and the staples 5530. In other words, it may also be expressed that the staples 5530 are disposed above the removal member 5535. In this case, when the operating member 5140 moves linearly in one direction, the operating member 5140 pushes the removal member 5535 upward, and at the same time, the removal member 5535 can push a plurality of staples 5530 upward.

[0534] In this way, both the case where the operating member 5140 directly pushes a plurality of staples 5530 upward and the case where the operating member 5140 pushes the removal member 5535 upward and the removal member 5535 pushes a plurality of staples 5530 upward (i.e., the case where the operating member 5140 indirectly pushes a plurality of staples 5530 upward) are included, and it can be considered that the operating member 5140 pushes a plurality of staples 5530 upward.

[0535] As described above, the operating member 5140 may be disposed inside the cartridge receiving portion 5101a of the first jaw 5101. In addition, the operating member 5140 may include a wedge (WDG) or may be used together with the wedge WDG, and the wedge WDG moves together when the operating member 5140 moves, so that the wedge WDG directly pushes the staples 5530 upward, or the wedge WDG pushes the removal member 5535 upward, thereby pushing the staples 5530 upward.

[0536] As described above, due to the movement of the first positive wire 5111 and the second positive wire 5112, that is, the first positive wire 5111 and the second positive wire 5112 are pulled, and the operating member 5140 connected thereto moves forward in the direction of the distal end portion 5101d of the first jaw 5101.

[0537] Through the forward movement of the operating member 5140, the wedge WDG pushes the removal member 5535 upward, so that the staples 5530 also rise, and at the same time, cutting can be performed by the blade 5142 of the operating member 5140. In addition, as an alternative embodiment, in the case where the reverse wire BRW is connected to the end tool of the operating member 5140, the reverse wire BRW is pulled so that the operating member 5140 moves backward in the direction of the proximal end portion 5101p of the first jaw 5101.

[0538] Figure 48 and Figure 49 are diagrams for explaining Figure 27 the conversion pulley, yaw pulley, and pitch pulley of the end tool of the surgical instrument.

[0539] As described above, the end effector 5100 can be connected to the connecting portion 5400. The end effector 5100 rotates about one axis and another axis with respect to the connecting portion 5400 as a reference.

[0540] For example, the end effector 5100 can perform a pitch motion, that is, it can rotate up and down with Figure 28 and Figure 47 as a reference. The end effector 5100 can perform a yaw motion, that is, it can rotate left and right with Figure 28 and Figure 47 as a reference. The rotation axis of the pitch motion and the rotation axis of the yaw motion can be in a cross direction or an orthogonal direction.

[0541] As an example, the end effector 5100 can include one or more members connecting the connecting jaws 5103 and the connecting portion 5400. For example, it can include joint members and can include an end effector hub 5108 and a pitch hub 5107.

[0542] The end effector hub 5108 can be configured to connect to the linear portion 5401 of the end effector 5100 and the connecting portion 5400. As an example, the end effector hub 5108 can correspond to the pulley shaft JX4, and the pulley shaft JX4 can be the rotation axis of the pitch motion. As a specific example, the end effector 5100 can rotate about the pulley shaft JX4, the pitch hub 5107 rotates about the pulley shaft JX4, and the jaws 5103 are connected to the pitch hub 5107 and rotate integrally with the pitch hub 5107 about the pulley shaft JX4, that is, it can perform a pitch motion.

[0543] The pitch hub 5107 is connected to the end effector hub 5108 and the jaws 5103, and can be axially coupled to the end effector hub 5108 with respect to the pulley shaft JX4 and rotate about the pulley shaft JX4. In addition, the jaws 5103 can be axially coupled to the pitch hub 5107 with respect to a pulley shaft JX1. The jaws 5103 can rotate about a pulley shaft JX1 in a state of being connected to the pitch hub 5107, that is, it can perform a yaw motion.

[0544] In addition to the pulley shafts for the joint motion of the end effector 5100 at the rotation axis, that is, the pulley shaft JX4 for the pitch motion and the pulley shaft JX1 for the yaw motion, an auxiliary pulley shaft can be additionally provided.

[0545] For example, the pitching hub 5107 may be configured with another pulley shaft JX2 adjacent to and in the side-by-side direction of the pulley shaft JX1. The pulley shaft JX2 may include a shaft in a direction parallel to the pulley shaft JX1, and the pulley shaft JX2 may be configured at a position farther from the working member 5140 than the pulley shaft JX1, that is, at a position closer to the connecting portion 5400.

[0546] In addition, the pulley shaft JX3 may be configured on the pulley shaft JX4. In addition, a pulley shaft JX5 may also be configured.

[0547] For example, the pulley shaft JX3 and the pulley shaft JX5 are respectively arranged on both sides of the pulley shaft JX4 (that is, the pulley shaft JX4 is between the pulley shaft JX3 and the pulley shaft JX5), and the pulley shaft JX3 and the pulley shaft JX5 may have shafts in a direction parallel to the pulley shaft JX4.

[0548] As a specific example, the pulley shaft JX3 may be configured between the pulley shaft JX2 and the pulley shaft JX4, and may have a shaft in a direction intersecting or orthogonal to the pulley shaft JX2 and the pulley shaft JX1. The pulley shaft JX5 may be configured at a position farther from the working member 5140 than the pulley shaft JX4, that is, at a position closer to the connecting portion 5400.

[0549] One or more conversion pulley shafts AX1, AX2 may be configured, that is, a first conversion pulley shaft AX1 and a second conversion pulley shaft AX2 are configured, and they may be configured at a position closer to the working member 5140 than the pulley shafts JX1, JX2, JX3, JX4, JX5.

[0550] The first conversion pulley shaft AX1 and the second conversion pulley shaft AX2 may be parallel shafts and are configured to be offset from each other based on the width direction of the first jaw 5101, so that the first conversion pulley shaft AX1 and the second conversion pulley shaft AX2 are sequentially arranged based on the direction toward the distal end portion 5101d of the first jaw 5101, and some regions thereof may overlap.

[0551] One or more pulleys may be configured on the pulley shafts JX1, JX2, JX3, JX4, JX5 and the conversion pulley shafts AX1, AX2.

[0552] When described in sequence with reference to the direction from the proximal end portion of the first jaw 5101 toward the connecting portion 5400, one or more conversion pulleys AXP1 corresponding to the first conversion pulley shaft AX1 and one or more conversion pulleys AXP2 corresponding to the second conversion pulley shaft AX2 may be configured.

[0553] One or more of the transformation pulleys AXP1 corresponding to the first transformation pulley shaft AX1 and one or more of the transformation pulleys AXP2 corresponding to the second transformation pulley shaft AX2 can be located at positions overlapping with the first jaw 5101. For example, they can be arranged in a region of the coupling region 5101Z of the first jaw 5101 in a manner that does not overlap with the pitch hub 5107.

[0554] At least one region of the first positive wire 5111 and the second positive wire 5112 can be in contact with the transformation pulley AXP1 and the transformation pulley AXP2 respectively, and guide the path.

[0555] For example, the first positive wire 5111 can enter the outer side of the transformation pulley AXP1, wind around the inner side, and wind out from a region of the adjacent transformation pulley AXP2.

[0556] When at least one region of the second positive wire 5112 is in contact with the transformation pulley AXP2, the path can be guided, and the first positive wire 5111 and the second positive wire 5112 gathered together wind around one or more pulleys JXP1 corresponding to the pulley shaft JX1 described below in the same direction.

[0557] Thus, the first positive wire 5111 and the second positive wire 5112 are moved in one direction for each joint movement. For example, they can be gathered and arranged on one side rather than both sides of the pulley shaft and multiple pulleys for pitch movement and the pulley shaft and multiple pulleys for yaw movement, so that the first positive wire 5111 and the second positive wire 5112 can be precisely and easily controlled simultaneously.

[0558] To facilitate the path guidance of the first positive wire 5111 and the second positive wire 5112, the transformation pulley AXP1 and the transformation pulley AXP2 can have a structure that is symmetric with each other centered on the extension line of the working member 5140, that is, they can have a structure offset by the same distance based on the extension line of the working member 5140. Thus, by increasing the sizes of the transformation pulley AXP1 and the transformation pulley AXP2, the efficiency and stability of the path guidance of the first positive wire 5111 and the second positive wire 5112 can be improved.

[0559] One or more pulleys JXP1 are configured to correspond to the pulley shaft JX1, and one or more pulleys JXP2 corresponding to the pulley shaft JX2 are configured to be adjacent to the pulley shaft JX1. The pulleys JXP1 and the pulleys JXP2 can have parallel axes.

[0560] For example, the pulleys JXP1 and the pulleys JXP2 are arranged in the first hub of the pitch hub 5107 ( Figure 31of 5107a). One or more pulleys JXP2 guide the driving paths of multiple wires correspondingly configured with one or more pulleys JXP1, such that a clear path is ensured towards the pulley axis JX4 or closer, towards the pulley axis JX3 and its corresponding pulley JXP3.

[0561] In addition, one or more pulleys JXP3 are configured to correspond to the pulley axis JX3, and one or more pulleys JXP4 corresponding to the pulley axis JX4 are configured to be adjacent to the pulley axis JX3. For example, the pulley JXP3 and the pulley JXP4 are arranged in the second hub of the pitch hub 5107 ( Figure 31 of 5107b). In addition, one or more pulleys JXP5 can be configured to correspond to the pulley axis JX5. The pulleys JXP3, JXP4, and JXP5 can have axes parallel to each other, and can include axes that cross or are orthogonal to the pulleys JXP1 and JXP2.

[0562] On the other hand, as Figure 48 and Figure 49 shown, the paths of the first forward wire 5111 and the second forward wire 5112 are precisely controlled, so that the driving efficiency and control characteristics of the working member 5140 passing through the first forward wire 5111 and the second forward wire 5112 can be maximized.

[0563] As described above, the conversion pulley AXP1 and the conversion pulley AXP2 are arranged in front of the two joint movements for the end effector 5100, namely the pulley axis JX4 for pitching movement and the pulley axis JX1 for yaw movement, that is, at a position closer to the working member 5140.

[0564] As a specific example, the conversion pulley AXP1 and the conversion pulley AXP2 are arranged in front of the pulley JXP4 corresponding to the pulley axis JX4 for pitching movement, the pulley JXP1 corresponding to the pulley axis JX1 for yaw movement, the pulley JXP3 corresponding to the pitch auxiliary pulley, the pulley JXP5, and the pulley JXP2 as the yaw auxiliary pulley, that is, at a position closer to the working member 5140.

[0565] As a result, the conversion pulley AXP1 and the conversion pulley AXP2 can be arranged in front of the pulleys JXP1, JXP2, JXP3, JXP4, and JXP5, that is, at a position closer to the working member 5140.

[0566] Thus, the first forward wire 5111 can enter the outside of the conversion pulley AXP1 and be wound inside, and unwind from a region of the adjacent conversion pulley AXP2, and the first forward wire 5111 and the second forward wire 5112 can gather on one side of the conversion pulley AXP2, for example, the outside.

[0567] Moreover, after the first positive wire 5111 and the second positive wire 5112 gathered on the outer side of the conversion pulley AXP2 simultaneously correspond one by one to the outer side of the pulley JXP1 (corresponding to the pulley shaft JX1 of the yaw pulley shaft), thus changing the path, the winding path of the pulley JXP2 corresponding to the pulley shaft JX2 as the yaw auxiliary pulley shaft is changed. Then, after controlling the height of the path through the pulley JXP3 corresponding to the pulley auxiliary shaft JX3, it stably corresponds to the lower side of the pulley JXP4 (corresponding to the pulley JX4 as the pitch axis), and then can face the connection part 5400 after passing through the pulley JXP5.

[0568] That is, initially, the first positive wire 5111 and the second positive wire 5112 are gathered together by the conversion pulley AXP1 and the conversion pulley AXP2, and the first positive wire 5111 and the second positive wire 5112 simultaneously correspond to the rotation axis, pulley, and the assisting pulley for the joint movement of the end tool 5100, so that their paths are guided, thereby improving the accuracy and stability of the forward movement of the working member 5140.

[0569] In addition, before the gathered first positive wire 5111 and second positive wire 5112 face the pulley JXP4 corresponding to the pulley JX4 as the pitch axis, the height of the path is controlled by the pulley JXP3, so that the first positive wire 5111 and the second positive wire 5112 can be stably wound around the pulley JXP4 corresponding to the pulley JX4 as the pitch axis, and the degree of freedom in the size, design, and configuration of the pulley JXP4 can be increased.

[0570] As an alternative embodiment, as described above, a reverse wire BRW can also be configured. In this case, after the reverse wire BRW passes between the conversion pulley AXP1 and the conversion pulley AXP2, or passes through the common area of the conversion pulley AXP1 and the conversion pulley AXP2 in a contacting manner, it can correspond to and pass through multiple other pulleys (JXP1, JXP2, JXP3, JXP4, JXP5).

[0571] On the other hand, the reverse wire BRW can be wound in a direction opposite to the direction in which the first forward wire 5111 and the second forward wire 5112 are wound around a plurality of pulleys (JXP1, JXP2). For example, it can have a configuration in which when the first forward wire 5111 and the second forward wire 5112 are wound behind the pulley JXP1 and in front of the pulley JXP2, the reverse wire BRW is wound in front of the pulley JXP1 and behind the pulley JXP2. Thus, with respect to one or more pulley shafts, it is possible to allow the first forward wire 5111 and the second forward wire 5112 to be wound on one side and allow the reverse wire BRW to be wound on the other side. If at least one of the first forward wire 5111 and the second forward wire 5112 forms a closed loop with the reverse wire BRW, the tension of the entire wire can be easily maintained.

[0572] On the other hand, when the first forward wire 5111 and the second forward wire 5112 of this embodiment are pulled, the distal tool 5100 may generate a slight rotational force due to the tension, which may cause the jaws 5103 for clamping body tissue to be unbalanced or may apply unnecessary external force to the body tissue. At this time, the plurality of pulleys of the distal tool 5100 and the corresponding plurality of pulley shafts may be slightly tilted or displaced, whereby the inner diameter edges of the plurality of pulleys are caught in the plurality of pulley shafts, increasing the frictional force and making the combination of the pulley and the pulley shaft stronger. Thus, a resistance to the abnormal rotational force occurring in the distal tool 5100, that is, a frictional force, is generated, thereby improving the stable usability of the distal tool 5100. In addition, this also applies to the case of using the reverse wire BRW and can be directly applied to the embodiments described later and the embodiments described above.

[0573] On the other hand, when the tension applied to the first forward wire 5111 and the second forward wire 5112 or the reverse wire BRW is removed, this frictional force can also be removed together.

[0574] Figure 50 is a perspective view showing Figure 27 the first jaw and the cartridge of the surgical instrument. FIGS. 51 and Figure 52 is a cross-sectional view showing as a whole Figure 27 the stapling action of the distal tool of the surgical instrument.

[0575] Refer to Figure 27 、 Figure 28 、 Figure 29 and Figure 50, the staple cartridge 5500 can be disposed in the first jaw 5101. For example, the staple cartridge 5500 is coupled to the staple cartridge receiving portion 5101a of the first jaw 5101. For example, in a state where the operating member 5140 is disposed in the first jaw 5101, the staple cartridge 5500 can be integrally formed with the first jaw 5101. Additionally, as an alternative embodiment, the staple cartridge 5500 can also be formed to be installed in and separated from the first jaw 5101.

[0576] The staple cartridge 5500 includes a plurality of staples 5530 therein to perform tissue suturing and cutting is performed by the operating member 5140. Among them, the staple cartridge 5500 can include a cover 5510, staples 5530, and an extraction member 5535.

[0577] The cover 5510 can be formed to cover the upper portion of the staple cartridge receiving portion 5101a of the first jaw 5101. A plurality of staple holes 5510s can be formed in the cover 5510 for allowing a plurality of staples 5530 to be discharged to the outside. Before driving the stapling, the staples 5530 accommodated inside the staple cartridge receiving portion 5101a are pushed by the operating member 5140 and move upward during the stapling operation, and are taken out from the outside of the staple cartridge 5500 after passing through the plurality of staple holes 5510s of the cover 5510, thereby enabling stapling to be performed.

[0578] On the other hand, a slit 5510W can be formed in the cover 5510 along its length direction. The blade of the body 5142 of the operating member 5140 can protrude to the outside of the staple cartridge 5500 through the slit 5510W. When the blade of the body 5142 of the operating member 5140 passes through the slit 5510W, the tissue that has completed stapling can be cut.

[0579] As an alternative embodiment, the staple cartridge 5500 can include a cartridge 5520. After the cartridge 5520 is disposed in the staple cartridge receiving portion 5101a of the first jaw 5101, the staple cartridge 5500 can be disposed in the cartridge 5520.

[0580] A plurality of staples 5530 can be disposed inside the staple cartridge receiving portion 5101a of the first jaw 5101. When the operating member 5140 moves linearly in one direction, the plurality of staples 5530 are sequentially pushed from the inside of the staple cartridge receiving portion 5101a of the first jaw 5101 to the outside while performing suturing, that is, stapling can be performed. Among them, the material of the staples 5530 can include materials that are durable and do not cause abnormal effects on the human body. For example, it can include titanium, stainless steel, etc.

[0581] On the other hand, a removal member 5535 may be disposed between the cartridge receiving portion 5101a of the first jaw 5101 and the staples 5530. In other words, it may also be expressed that the staples 5530 are disposed above the removal member 5535. In this case, when the working member 5140 moves linearly in one direction, the removal member 5535 is pushed upward, and at the same time, the removal member 5535 can push upward a plurality of staples 5530.

[0582] In this way, including the case where the working member 5140 directly pushes upward a plurality of staples 5530 and the case where the working member 5140 pushes upward the removal member 5535 and the removal member 5535 pushes upward a plurality of staples 5530 (i.e., the case where the working member 5140 indirectly pushes upward a plurality of staples 5530), it can be considered that the working member 5140 pushes upward a plurality of staples 5530.

[0583] As described above, the working member 5140 may be disposed inside the cartridge receiving portion 5101a of the first jaw 5101. In addition, the working member 5140 may include a wedge (WDG) or may be used together with the wedge WDG, and the wedge WDG moves together when the working member 5140 moves, so that the wedge WDG directly pushes upward the staples 5530, or the wedge WDG pushes upward the removal member 5535, thereby pushing upward the staples 5530.

[0584] As described above, the movement of the forward wire 5110, that is, the forward wire 5110 is pulled, so that the working member 5140 connected thereto moves forward in the direction of the distal end portion 5101d of the first jaw 5101.

[0585] By the forward movement of the working member 5140, the wedge WDG pushes upward the removal member 5535, so that the staples 5530 also rise, and at the same time, cutting can be performed by the blade 5142 of the working member 5140. In addition, as an alternative embodiment, in the case where the reverse wire BRW is connected to the end tool of the working member 5140, the reverse wire BRW is pulled, so that the working member 5140 moves backward in the direction of the proximal end portion 5101p of the first jaw 5101.

[0586] Referring to FIGS. 51 and Figure 52 , in a state as Figure 51A , the working member 5140 moves in the direction of arrow Figure 51B A1 of the arrow, and at the same time, the wedge WDG, specifically, the inclined surface WDG1 of the wedge WDG, pushes upward the removal member 5535, and the removal member 5535 pushes upward one side below the staples 5530. And thereby, the staples 5530 are discharged to the outside of the first jaw 5101 and the cartridge 5500.

[0587] In this state, when the working member 5140 moves further in the direction of arrow A2 of Figure 51C the arrow, while the discharged staples 5530 are in contact with the lower surface (e.g., anvil) of the second jaw 5102, the staples 5530 are continuously pushed upward by the working member 5140, so that both ends of the staples 5530 are bent to perform stapling.

[0588] Figures 53 to 57 FIG. is a diagram showing the pitching and rotating motion of the surgical instrument according to the present invention.

[0589] Specifically, Figure 53 FIG. is a diagram showing a state where multiple jaws are pitched and rotated by -90°, Figure 54 FIG. is a diagram showing the process of performing an actuation action in a state where multiple jaws are pitched and rotated by -90°. Figure 55 FIG. is a diagram showing a state where multiple jaws are pitched and rotated by +90°, Figure 56 FIG. is a diagram showing the process of performing an actuation action in a state where multiple jaws are pitched and rotated by +90°. Figure 57 FIG. is a diagram showing a state of performing a tumbling action in a state where multiple jaws are pitched and rotated.

[0590] Referring to Figures 53 to 57 , the surgical instrument 7000 according to the present invention may include an end effector 7100, and the end effector 7100 includes a first jaw 7101 and a second jaw 7102. Among them, the end effector 7100 of the surgical instrument 7000 may be the end effector 5100 described with reference to Figure 27 . Alternatively, the end effector 7100 of the surgical instrument 7000 may be a diagram in which at least a part of the configuration in the end effector 5100 is changed or omitted.

[0591] The end effector 7100 of the surgical instrument 7000 may be pitched and rotated in the + direction with respect to the pitching rotation axis (Y-axis). At this time, in a state where the end effector 7100 is pitched and rotated in the + direction with respect to the pitching rotation axis (Y-axis), the first jaw 7101 and the second jaw of the end effector 7100 may perform an actuation action.

[0592] In addition, the end effector 7100 of the surgical instrument 7000 may be pitched and rotated in the - direction with respect to the pitching rotation axis (Y-axis). At this time, in a state where the end effector 7100 is pitched and rotated in the - direction with respect to the pitching rotation axis (Y-axis), the first jaw 7101 and the second jaw of the end effector 7100 may perform an actuation action.

[0593] Among them, the rotation angle of the end effector 7100 can be set according to different ratios of pulleys.

[0594] On the other hand, the end effector 7100 of the surgical instrument 7000 may not rotate with reference to the pitch rotation axis (Y-axis), or may perform pitch rotation in the + direction, or may perform roll rotation with reference to the roll rotation axis (X-axis) while performing pitch rotation in the - direction. At this time, the end effector 7100 may also perform roll rotation in a state where the first jaw 7101 and the second jaw 7102 are separated from each other, and may also perform roll rotation in a state where the first jaw 7101 and the second jaw 7102 perform an actuation operation.

[0595] Among them, the end effector 7100 may rotate together with the rotation of the motor set of the power generation unit. In the end effector 7100, when the motor set of the power generation unit performs roll rotation, the power transmission unit connected to the power generation unit, the connection unit connected to the power transmission unit, and the end effector 7100 formed on one side of the connection unit rotate simultaneously.

[0596] Figures 58 to 62 It is a diagram showing the yaw rotation operation of the surgical instrument according to an embodiment of the present invention.

[0597] Specifically, Figure 58 It is a diagram showing a state where multiple jaws are yaw rotated by -90°, Figure 59 It is a diagram showing the process of performing an actuation operation in a state where multiple jaws are yaw rotated by -90°. Figure 60 It is a diagram showing a state where multiple jaws are yaw rotated by +90°, Figure 61 It is a diagram showing the process of performing an actuation operation in a state where multiple jaws are yaw rotated by +90°. Figure 62 It is a diagram showing a state of performing a roll operation in a state where multiple jaws are yaw rotated.

[0598] Referring to Figures 58 to 62 , the surgical instrument 7000 according to the present invention may include an end effector 7100, and the end effector 7100 includes a first jaw 7101 and a second jaw 7102. Among them, the end effector 7100 of the surgical instrument 7000 may be the end effector 5100 described with reference to Figure 27 . Alternatively, the end effector 7100 of the surgical instrument 7000 may be a diagram in which at least a part of the configuration in the end effector 5100 is changed or omitted.

[0599] The end effector 71000 of the surgical instrument 7000 may perform yaw rotation in the + direction with reference to the yaw rotation axis (Z-axis). At this time, in a state where the end effector 7100 performs yaw rotation in the + direction with reference to the yaw rotation axis (Z-axis), the first jaw 7101 and the second jaw of the end effector 7100 may perform an actuation operation.

[0600] In addition, the end effector 7100 of the surgical instrument 7000 can yaw rotate in the - direction with respect to the yaw rotation axis (Z-axis). At this time, while the end effector 7100 is yaw rotating in the - direction with respect to the yaw rotation axis (Z-axis), the first jaw 7101 and the second jaw of the end effector 7100 can perform an actuation action.

[0601] Among them, the rotation angle of the end effector 7100 can be set differently according to the ratio of the pulleys.

[0602] On the other hand, the end effector 7100 of the surgical instrument 7000 can rotate without using the yaw rotation axis (Z-axis) as a reference, or yaw rotate in the + direction, or roll rotate with respect to the roll rotation axis (X-axis) while yaw rotating in the - direction. At this time, the end effector 7100 can also roll rotate in a state where the first jaw 7101 and the second jaw 7102 are separated from each other, and can also roll rotate in a state where the first jaw 7101 and the second jaw 7102 perform an actuation action.

[0603] Among them, the end effector 7100 can rotate together with the rotation of the motor set of the power generation unit. In the end effector 7100, when the motor set of the power generation unit performs a roll rotation, the power transmission unit connected to the power generation unit, the connection unit connected to the power transmission unit, and the end effector 7100 formed on one side of the connection unit rotate simultaneously.

[0604] Figures 63 to 67 It is a diagram showing the state in which a surgical instrument according to an embodiment of the present invention performs pitch rotation and yaw rotation.

[0605] Specifically, Figure 63 It is a diagram showing the state in which multiple jaws pitch rotate by -90° and yaw rotate by +90° at the same time. Figure 64 It is a diagram showing the process of performing an actuation action in a state where multiple jaws pitch rotate by -90° and yaw rotate by +90° at the same time. Figure 65 It is a diagram showing the state in which multiple jaws pitch rotate by +90° and yaw rotate by -90° at the same time. Figure 66 It is a diagram showing the process of performing an actuation action in a state where multiple jaws pitch rotate by +90° and yaw rotate by -90° at the same time. Figure 67 It is a diagram showing the state of performing a roll action in a state where multiple jaws perform pitch rotation and yaw rotation.

[0606] Refer to Figures 63 to 67, the surgical instrument 7000 according to the present invention may include an end effector 7100, and the end effector 7100 includes a first jaw 7101 and a second jaw 7102. Among them, the end effector 7100 of the surgical instrument 7000 may be the end effector 5100 described with reference to Figure 27 Or, the end effector 7100 of the surgical instrument 7000 may be a figure in which at least a part of the configuration in the end effector 5100 is changed or omitted.

[0607] The end effector 7100 of the surgical instrument 7000 may perform a yaw rotation with respect to the yaw rotation axis (Z-axis) and a pitch rotation with respect to the pitch rotation axis (Y-axis) simultaneously. Explaining this from another perspective, the end effector 7100 of the surgical instrument 7000 may perform a yaw rotation and a pitch rotation simultaneously. At this time, in a state where the end effector 7100 has completed the yaw rotation and the pitch rotation, the first jaw 7101 and the second jaw of the end effector 7100 may perform an actuation action.

[0608] Among them, the rotation angle of the end effector 7100 may be set differently according to the ratio of the pulleys.

[0609] On the other hand, in a state where the end effector 7100 of the surgical instrument 7000 has completed the pitch rotation and the yaw rotation, a roll rotation may be performed with respect to the roll rotation axis (X-axis). At this time, the end effector 7100 may also perform a roll rotation in a state where the first jaw 7101 and the second jaw 7102 are separated from each other, and may also perform a roll rotation in a state where the first jaw 7101 and the second jaw 7102 perform an actuation action.

[0610] Among them, the end effector 7100 may rotate together with the rotation of the motor set of the power generation unit. In the end effector 7100, when the motor set of the power generation unit performs a roll rotation, the power transmission unit connected to the power generation unit, the connection unit connected to the power transmission unit, and the end effector 7100 formed on one side of the connection unit rotate simultaneously.

[0611] In this way, the surgical instrument 1000 according to the present invention is configured such that the motor sets 1510, 3510, the power transmission unit 1300, and the end effectors 1100, 5100 can perform a roll rotation simultaneously, so that there will be no problem that wires or cables are wound around each other inside the surgical instruments 1000, 3000. This has technical significance in enabling the surgical instruments 1000, 3000 to perform an unlimited roll rotation.

[0612] For example, in a conventional surgical instrument, the pulleys inside the power transmission unit do not perform rolling rotation, but only the connecting part and the end effector perform rolling rotation. As a result, there is a problem that the wires for connecting the end effector and the power transmission unit are wound together inside the connecting part. At this time, if the end effector and the connecting part continue to perform rolling rotation, the wire will eventually break or be damaged.

[0613] In contrast, in the surgical instruments 1000 and 3000 according to the present invention, a plurality of pulleys 1320, 1330, 3320, 3330, 3340 inside the end effectors 1100, 5100, the connecting parts 1400, 3400, and the power transmission units 1300, 3300 can perform rolling rotation together. Explaining this from another perspective, the multiple wires 1361, 1362, 1363, 1364, 3361, 3362, 3363, 3364, 3365, 3366 connecting the end effectors 1100, 3100 and the power transmission units 1300, 3300 can also be represented as the starting point and the ending point performing rolling rotation together. Therefore, there is an effect that the multiple wires 1361, 1362, 1363, 1364, 3361, 3362, 3363, 3364, 3365, 3366 will not be wound together inside the connecting parts 1400, 3400.

[0614] Figure 68 It is a structural diagram showing an example of the internal structure of a surgical instrument according to an embodiment of the present invention.

[0615] Referring to Figure 68 , the surgical instrument 4000 according to an embodiment of the present invention may include an end effector 4100, an operation part 4200, a power transmission unit 4300, a connecting part 4400, and a power generation unit 4500. In addition, the operation part 4200 may include a user interaction part (a first user interaction part 4211, a second user interaction part 4212, a third user interaction part 4213) and a control part 4220. Except for Figure 68 the components shown, the components described as the components in the surgical instrument of the present application may also be included in the surgical instrument 4000. In addition, the repeated description of each component in the surgical instrument 4000 will be omitted here.

[0616] The operation unit 4200 can receive a user input for changing the posture of the end effector (hereinafter, the user input may be used with the same meaning as the user input). More specifically, the user interaction units 4211, 4212, and 4213 in the operation unit 4200 can receive the user input for changing the posture of the end effector 4100. For example, the first user interaction unit 4211 can receive the user input for the pitch rotation and yaw rotation of the end effector 4100, and the second user interaction unit 4212 can receive the user input for the roll rotation of the end effector 4100.

[0617] The control unit 4220 in the operation unit 4200 can be a device that controls the movement of the end effector to achieve the target posture according to the user input. For example, the control unit 4220 can be a device that generates a control value for changing the posture of the end effector based on the operation value of the user input.

[0618] More specifically, the control unit (or hereinafter referred to as "device 4220") can include a processor 4221, a memory 4222, and a communication module 4223. However, the control unit 4220 can also include other general components, and the processor 4221, the memory 4222, and the communication module 4223 can be implemented as independent devices.

[0619] The processor 4221 can process the instructions of the computer program by performing basic arithmetic, logical, and input / output operations. Among them, the instructions can be provided from the memory 4222 or an external device (such as an external server (not shown), etc.). In addition, according to an embodiment, the processor 4221 can overall control the actions of other components in the surgical instrument 4000.

[0620] According to an embodiment, the processor 4221 can obtain the operation value according to the user input for changing the posture of the end tool in the surgical instrument.

[0621] Among them, the user input can include at least one of roll rotation, pitch rotation, and yaw rotation. That is, the operation value of the user can be the operation value of the user for roll rotation, pitch rotation, and yaw rotation.

[0622] According to an embodiment, the processor 4221 can generate target posture information based on the user input, and the target posture information is the posture information to be changed for the end effector.

[0623] For example, the processor 4221 may generate target orientation information for the end effector to be changed based on user input. Additionally, the processor 4221 may generate target pose information based on the target orientation information of the end effector and the position change of the surgical instrument.

[0624] According to one embodiment, the processor 4221 may obtain first pose information, which is information related to the current pose of the end effector at the time of obtaining the user input.

[0625] For example, the processor 4221 may obtain first joint information, which is information related to the current joints of the end effector at the time of obtaining the user input, and calculate the first pose information based on the first joint information.

[0626] According to one embodiment, the processor 4221 may control the movement of the end effector based on the operation value and the first pose information to achieve the target pose according to the user input. For example, the processor 4221 may generate a control value for driving the joints of the end effector by comparing the target pose information and the first pose information.

[0627] Wherein, the control value may include at least one of a first control value for controlling the roll rotation of the end effector, a second control value for controlling the pitch rotation of the end effector, and a third control value for controlling the yaw rotation of the end effector.

[0628] As an example, the operation value according to the user input may include at least one of an operation value for pitch rotation or an operation value for yaw rotation, and based on the operation value, the control value may include: a first control value for controlling the pitch rotation of the end effector; and a second control value for controlling the yaw rotation of the end effector.

[0629] As another example, the operation value according to the user input may include at least one of an operation value for pitch rotation or an operation value for yaw rotation, and based on the operation value, the control value includes: a first control value for controlling the pitch rotation of the end effector; a second control value for controlling the yaw rotation of the end effector; and a third control value for controlling the roll rotation of the end effector.

[0630] As yet another example, the operation value according to the user input includes an operation value for roll rotation, and based on the operation value, the control value may include: a first control value for controlling the roll rotation of the end effector; a second control value for controlling the pitch rotation of the end effector; and a third control value for controlling the yaw rotation of the end effector.

[0631] On the other hand, according to another embodiment, the processor 4221 may generate first pose difference information corresponding to the difference between the target pose information of the user input and the first pose information, and generate first joint difference information related to the joints of the end effector by calculating the first pose difference information. In addition, the processor 4221 may utilize the first joint difference information and generate second joint information by updating the first joint information, where the first joint is related to the current joint information of the end effector at the time when the user input is obtained, and may generate a control value such that the joints of the end effector are driven according to the second joint information.

[0632] For example, in response to the first joint difference information being greater than a preset reference value, the processor 4221 may calculate second pose information based on the second joint information, and determine the joint information of the end effector for generating the control value by comparing the second pose information and the target pose information.

[0633] More specifically, the processor 4221 may generate second pose difference information corresponding to the difference between the target pose information and the second pose information, and may generate second joint difference information by calculating the second pose difference information. In addition, in response to the second joint difference information being less than the preset reference value, after utilizing the second joint difference information and updating the second joint information, a control value for driving the joints of the end effector is generated according to the third joint information.

[0634] This will be described later with reference to Figures 69 to 72 More specifically, a specific example of the operation of the processor 4221 according to this embodiment will be described.

[0635] The processor 4221 may be implemented as an array of multiple logic gates, or may also be implemented as a combination of a general-purpose microprocessor and a memory capable of storing a program executed on the microprocessor. For example, the processor 4221 may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In certain environments, the processor 4221 may also include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor 4221 may refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other such configured combination.

[0636] On the other hand, according to an embodiment, the processor 4221 may correspond to the circuit boards 1570, 3570 or the circuit unit 3600. The repeated description thereof will be omitted.

[0637] The memory 4222 may include any non-transitory computer-readable recording medium. As an example, the memory 4222 may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, a non-volatile mass storage device (e.g., a Read-Only Memory (ROM), a Solid State Disk (SSD), a flash memory, a disk drive, etc.) may be a separate persistent storage device different from the memory. Additionally, an operating system (OS) and at least one program code (e.g., referring to Figures 69 to 72 , the code for the processor 4221 to perform the actions described later) may be stored in the memory 4222.

[0638] These software components may be loaded from a computer-readable recording medium separate from the memory 4222. Such a separate computer-readable recording medium may be a recording medium that can be directly connected to the device 4220, for example, a recording medium readable by a computer such as a floppy disk drive, a magnetic disk, a magnetic tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components may also be loaded into the memory 4222 through the communication module 4223 instead of a computer-readable recording medium. For example, at least one program may be based on a computer program installed from a file provided by a developer or a file distribution system that distributes installation files of application programs through the communication module 4223 (e.g., referring to Figures 69 to 72 , a computer program for the processor 4221 to perform the actions described later, etc.) and be loaded into the memory 4222.

[0639] The communication module 4223 may provide a configuration or function for the external device and the control unit 4220 to communicate with each other through a network. Additionally, the communication module 4223 may provide a configuration or function for the control unit 4220 to communicate with other external devices. For example, control signals, instructions, data, etc. provided under the control of the processor 4221 may be sent to an external device through the communication module 4223 and the network.

[0640] According to an embodiment, the communication module 4223 may correspond to the slip ring 3700. Its repeated description will be omitted.

[0641] The power generation unit 4500 can generate power for controlling the end effector 4100 in response to receiving a user input. For example, the power generation unit 4500 can include a motor set 4510, a yaw drive motor 4511, a pitch drive motor 4512, a roll drive motor 4514, and a firing drive motor 4513. A repeated description of each component will be omitted.

[0642] The power transmission unit 4300 can transmit the power generated by the power generation unit 4500 to the end effector 4100. For example, the power transmission unit 4300 can include a pulley frame 4310, a yaw pulley 4320, a pitch pulley 4330, and a firing pulley 4340. A repeated description of each component will be omitted.

[0643] One end of the connection unit 4400 is coupled to the power transmission unit 4300, and the other end is coupled to the end effector 4100, thereby connecting the operation unit 4200 and the end effector 4100.

[0644] The end effector 4100 can perform surgical operations.

[0645] According to an embodiment of the present application, the operation unit 4200 receives a user input for changing the posture of the end effector 4100, and a control unit 4220 in the operation unit 4200 can generate a control value for controlling the end effector 4100 based on the user input using the obtained user operation value. The power generation unit 4500 can generate power based on the control value generated by the control unit 4220, and the power transmission unit 4300 can transmit the generated power to the end effector 4100 through the connection unit 4400. As a result, the end effector 4100 can utilize the received power for performing a posture-changing action.

[0646] The end effector 4100 can act independently of the current posture of the end effector at the time of obtaining a user input to achieve a target posture according to the user input.

[0647] As an example, in the end effector 4100, when the roll rotation angle in the first posture information is not the initial state (for example, 0 degrees based on the coordinate system used by the end effector 4100), the end effector can achieve the target posture so as to intuitively correspond to the movement of the operation unit.

[0648] As another example, when the pitch rotation angle or the yaw rotation angle included in the first posture information of the end effector 4100 is the initial state (for example, 0 degrees based on the coordinate system used by the end effector 4100), the end effector can achieve the target posture so as to intuitively correspond to the movement of the operation unit.

[0649] Figure 69It is a flowchart showing an example of a method for controlling the posture of a surgical instrument according to an embodiment. Figure 70 It is a conceptual diagram showing a method for controlling the posture of a surgical instrument according to an embodiment.

[0650] Referring to Figure 69 , the method for controlling the posture of a surgical instrument includes steps processed in time series in a control unit 4220 included in the surgical instrument as shown in Figure 68 . However, since the control unit 4220 controls the posture of the surgical instrument by exchanging information (e.g., user input, motion control signal) with each component (user interaction unit, power generation unit, power transmission unit, connection unit, end effector, etc.) in the surgical instrument, the content described above regarding each component (user interaction unit, power generation unit, power transmission unit, connection unit, end effector, etc.) in the surgical instrument can be applied to Figure 69 the method for controlling the posture of a surgical instrument.

[0651] First, in step 2410, the control unit 4220 may obtain an operation value according to a user input to change the posture of an end effector included in the surgical instrument.

[0652] For example, a user interaction unit 4210 in an operation unit 4200 may receive a user input for changing the posture of the end effector 4100 and may send the received user input to the control unit 4220. The control unit 4220 may obtain an operation value based on the user input.

[0653] The user input may include at least one of roll rotation, pitch rotation, and yaw rotation. As an example, the control unit 4220 may obtain operation values related to pitch rotation and yaw rotation based on a user input received by a first user interaction unit 4211 formed in the form of a joystick. The operation values related to pitch rotation and yaw rotation obtained by the control unit 4220 may include an angle for pitch rotation and an angle for yaw rotation. As another example, the control unit 4220 may obtain an operation value related to roll rotation based on a user input received through a second user interaction unit 4212. For example, the operation value related to roll rotation obtained by the control unit 4220 may include an angle for roll rotation. However, it is not limited thereto, and the control unit 4220 may obtain operation values related to pitch rotation, yaw rotation, and roll rotation based on a user input received through the first user interaction unit 4211 and / or the second user interaction unit 4212.

[0654] According to an embodiment, the control unit 4220 may generate input information based on a user input. For example, the input information may include an angle for roll rotation (θ r)、For the angle of pitch rotation (θ p ) and for the angle of yaw rotation (θ y ).

[0655] According to an embodiment, the control unit 4220 may generate target pose information based on a user input, and the target pose information is pose information to be changed for the end effector.

[0656] For example, the control unit 4220 may generate target direction information of the end effector based on a user input. For example, the control unit 4220 may use euler angles, quaternions, rotation matrix, etc. to generate information related to the target orientation of the end effector. For example, the control unit 4220 may generate target direction information based on a user input as shown in the following Mathematical Formula 1.

[0657]

Mathematical Formula 1

[0658]

[0659] Wherein, R target represents the target direction information, θ r , θ p and θ y respectively represent the angle for roll rotation, the angle for pitch rotation, and the angle for yaw rotation.

[0660] According to an embodiment, the control unit 4220 may generate target pose information based on the target direction information of the end effector and the position change of the surgical instrument. Among them, the user can directly change the position of the end effector without operating the operation unit 4200 by operating the surgical instrument or the end effector close to the patient or the surgical site. Thus, the control unit 4220 may set the operation value of the position information of the end effector by the user to 0. And the control unit 4220 may generate target pose information as shown in the following Mathematical Formula 2.

[0661]

Mathematical Formula 2

[0662]

[0663] Wherein, T target represents the target pose information.

[0664] Thereafter, in step 2430, the control unit 4220 may obtain first pose information, and the first pose information is information related to the current pose of the end effector at the time of obtaining the user input.

[0665] For example, in the above-described embodiment of the surgical instrument, the surgical instrument may further include a plurality of joints, and the plurality of joints are driven to change the posture of the end effector according to each degree of freedom (e.g., the rotational degree of freedom). For example, the surgical instrument may include a first joint driven for yaw rotation, a second joint driven for pitch rotation, and a third joint driven for roll rotation. Each joint may be disposed between the operation unit 4200 and the connection unit 4400, between the connection unit 4400 and the end effector 4100, or at the end effector 4100. Additionally, each joint may be configured to include a sensor capable of sensing the current state of the degree of freedom of the joint. For example, the sensor may be implemented as a sensor capable of measuring the amount of change in the position and direction of an object such as a rotary encoder, a linear encoder, or a potentiometer. For example, a first sensor in the first joint may sense the current state for yaw rotation, a second sensor in the second joint may sense the current state for pitch rotation, and a third sensor in the third joint may sense the current state for roll rotation (hereinafter, joint information).

[0666] According to an embodiment, the control unit 4220 may acquire first joint information, which is information related to the current joint information of the end effector at the time of acquiring the operation value of the user. Here, the joint information may refer to the state information of the joint of each degree of freedom sensed by a sensor included in the surgical instrument 4000. For example, the joint information may include information related to the angle and position of each joint. For example, the control unit 4220 may acquire the first joint information from a sensor included in the surgical instrument 4000.

[0667] According to an embodiment, the control unit 4220 may calculate first pose information based on the first joint information. For example, the control unit 4220 may calculate the first pose information by performing forward kinematics (FK) on the first joint information.

[0668] In the present application, forward kinematics may refer to the process of calculating the pose of the end effector based on the angle, direction, and position of the joint. For example, the control unit 4220 may calculate the first pose information using the first joint information and forward kinematics according to the following Mathematical Formula 3.

[0669]

Mathematical Formula 3

[0670] T curr =FK(q curr )

[0671] Wherein, T curr represents the first pose information, and q currIndicates the first joint information.

[0672] Thereafter, in step 2450, the control unit 4220 may control the movement of the end effector based on the operation value and the first posture information to achieve the target posture according to the user input.

[0673] More specifically, the control unit 4220 may compare the posture information of the end effector (target posture information) that the user desires to change according to the user input and the current posture information of the end effector at the current time point based on the time point when the user input is obtained (in other words, the time point when the user operates the operation unit). Thereby, the control unit 4220 may obtain the posture difference information between the two posture information, and generate a control value for changing the posture of the end effector based on the posture difference information. More specifically, a control value for driving the joint is generated.

[0674] According to an embodiment, the control unit 4220 may generate control values for driving the joints related to each degree of freedom, respectively. In other words, the control value may include at least one of a first control value for controlling the roll rotation of the end effector, a second control value for controlling the pitch rotation of the end effector, and a third control value for controlling the yaw rotation of the end effector. That is, the joint that performs the roll rotation of the end effector may be driven based on the first control value, the joint that performs the pitch rotation of the end effector may be driven based on the second control value, and the joint that performs the yaw rotation of the end effector may be driven based on the third control value.

[0675] Hereinafter, with reference to Figure 70 ..., the difference between the general method of controlling the posture of the surgical instrument according to the user's operation value and the method according to an embodiment of the present application will be described.

[0676] Figure 70 is a conceptual diagram for explaining a method for controlling the posture of a surgical instrument according to an embodiment.

[0677] With reference to Figure 70 ..., in the general posture control method 2510, the motor control value is directly determined according to the user input. As an example, when the user intends to perform a roll rotation on the end effector and operates the operation device related to the roll rotation (for example, the operation unit), the operation value input by the user may be directly converted into a control value related to the joint that performs the roll rotation, and the joint drives the motor according to the converted control value, thereby performing the roll rotation on the end effector. As another example, with Figure 70Different from the above, when the user intends to perform pitch rotation and yaw rotation on the end effector and operates the operating devices related to pitch rotation and yaw rotation (e.g., joystick), first, according to the operation values input by the user, they can be separated into the operation value for pitch rotation and the operation value for yaw rotation. Thereafter, each operation value is directly converted into a control value for the joint, and the joint can perform pitch rotation and yaw rotation on the end effector according to the control value. In other words, in the general posture control method 2510, the operation value and the control value can be in a one-to-one correspondence relationship. Therefore, when the coordinate system used by the operation unit is different from the coordinate system used by the end effector, from the user's perspective, it is inconvenient because the coordinate system difference also needs to be considered when operating the operation unit.

[0678] Differently, the posture control method 2520 according to an embodiment of the present application can generate new information called target posture information according to the user input, newly obtain posture difference information corresponding to the difference between the target posture information and the current posture information, and generate a control value based on the posture difference information.

[0679] In other words, the posture control method 2520 generates a control value for controlling the posture change of the end effector based on the user input by considering the conversion between the coordinate system used by the operation unit and the coordinate system used by the end effector through a series of processes. That is, the operation value and the control value input by the user may not be in a one-to-one correspondence relationship.

[0680] As an example, when the operation value input by the user includes at least one of the operation value for pitch rotation or the operation value for yaw rotation, the control value may include a first control value for controlling the pitch rotation of the end effector and a second control value for controlling the yaw rotation of the end effector.

[0681] As another example, when the operation value input by the user includes at least one of the operation value for pitch rotation or the operation value for yaw rotation, the control value may include a first control value for controlling the pitch rotation of the end effector, a second control value for controlling the yaw rotation of the end effector, and a third control value for controlling the roll rotation of the end effector.

[0682] As yet another example, the operation value input by the user includes an operation value for roll rotation, and the control value may include a first control value for controlling the roll rotation of the end effector, a second control value for controlling the pitch rotation of the end effector, and a third control value for controlling the yaw rotation of the end effector.

[0683] According to an embodiment of the present application, the posture control method 2520 generates control values by automatically considering coordinate system conversion. Therefore, the posture change of the end effector corresponding to the user's intention and the actual posture change of the end effector can be intuitively corresponding, and the user can intuitively and efficiently control the posture.

[0684] Figure 71 It is a flowchart for explaining another example of a method for controlling the posture of a surgical instrument according to an embodiment.

[0685] First, in step 2610, the control unit 4220 may generate first posture difference information corresponding to the difference between the target posture information and the first posture information according to the user input.

[0686] Among them, as referred to Figure 69 As described above, the target posture information may be the posture information of the end effector generated based on the user input. In addition, as referred to Figure 69 As described above, the first posture information may be the posture information of the end effector at the time of obtaining the user input.

[0687] On the other hand, the target posture information and the first posture information may be composed of a set of vectors and can be represented as a matrix. For example, the control unit 4220 may generate first posture difference information by performing calculations between matrices (for example, subtraction calculations between matrices).

[0688] Thereafter, in step 2620, the control unit 4220 may calculate the first posture difference information and generate first joint difference information related to the joints of the end effector.

[0689] According to an embodiment, the control unit 4220 may generate first joint difference information by performing inverse kinematics (IK) calculations on the first posture difference information.

[0690] In the present application, the inverse kinematics calculation may refer to a calculation process of calculating the angles, positions, etc. that the joints should have based on the position or orientation of the end effector. In other words, different from the forward kinematics of calculating information related to the posture of the end effector from the state information related to the joints, the inverse kinematics calculation may calculate the state information related to the joints in reverse from the information related to the posture of the end effector.

[0691] For example, the control unit 4220 may calculate the first joint difference information by using the first posture difference information and inverse kinematics calculations according to the following mathematical formula 4.

[0692]

Mathematical formula 4

[0693] q diff =J + T diff

[0694] where q diff represents the first joint difference information, and T diff represents the first posture difference information. Additionally, J generally may refer to the Jacobian matrix representing the kinematic information of the robot, and the + calculation may refer to the pseudo inverse matrix. However, the detailed description of the Jacobian matrix and the pseudo inverse matrix calculation is omitted in this application.

[0695] Thereafter, in step 2630, the control unit 4220 may generate second joint information by using the first joint difference information and updating the first joint information, where the first joint information is the information of the current joint of the end effector at the time when the user input is obtained.

[0696] For example, the control unit 4220 may update the first joint information to the second joint information by performing a calculation of adding or deleting the first joint difference information to / from the first joint information.

[0697] Thereafter, in step 2640, the control unit 4220 may determine the joint information of the end effector by comparing the first joint difference information with a preset reference value, and generate a control value for driving the joints of the end effector based on this joint information.

[0698] The preset reference value is a value set to determine whether the joint difference information has a value close to 0, and may be set to any value close to 0.

[0699] On the other hand, as an example, in step 2641, when it is determined that the first joint difference information is less than the preset reference value, the control unit 4220 may generate a control value for driving the joints of the end effector based on the second joint information.

[0700] As another example, in step 2650, when it is determined that the first joint difference information is greater than the preset reference value, in response to the first joint difference information being greater than the preset reference value, the control unit 4220 may calculate second posture information based on the second joint information.

[0701] For example, the control unit 4220 may calculate the second posture information by performing forward kinematics on the second joint information.

[0702] Thereafter, the control unit 4220 may repeatedly execute steps 2610 to 2630 based on the second posture information. In other words, the control unit 4220 may determine the joint information of the end effector by comparing the second posture information with the target posture information, and generate a control value for driving the joints of the end effector based on this joint information.

[0703] For example, in step 2660, the control unit 4220 may generate second pose difference information corresponding to the difference between the target pose information and the second pose information. For example, the control unit 4220 may generate the second pose difference information by performing calculations between matrices (e.g., subtraction calculations between matrices).

[0704] Thereafter, in step 2670, the control unit 4220 may generate second joint difference information by calculating the second pose difference information. For example, the control unit 4220 may generate the second joint difference information by performing inverse kinematics calculations on the second pose difference information.

[0705] Thereafter, in step 2680, the control unit 4220 may use the second joint difference information and generate third joint information by updating the second joint information.

[0706] Thereafter, in step 2690, the control unit 4220 may determine the joint information of the end effector by comparing the second joint difference information with a preset reference value, and generate a control value for driving the joints of the end effector based on this joint information.

[0707] As an example, in step 2691, when it is determined that the first joint difference information is less than the preset reference value, in response thereto, the control unit 4220 may generate a control value for driving the joints of the end effector based on the third joint information.

[0708] As another example, in step 2692, when it is determined that the second joint difference information is greater than the preset reference value, the control unit 4220 may start from calculating the third pose information based on the third joint information and repeat steps 2650 to 2690.

[0709] On the other hand, according to an embodiment, during the process of repeatedly executing the algorithm for generating the control value, the control unit 4220 may repeatedly execute the algorithm within a preset time limit. For example, when the control unit 4220 fails to generate a control value that allows driving the joints of the end effector within the preset time limit, a control value is generated based on the user's input, and thus it can be concluded that a determination failure process is performed. Among them, the preset time limit is a value that can be set according to the performance of the control unit 4220 (or the processor 4221), and can be set to 10 ms, etc.

[0710] Figure 72 A diagram for illustrating an example of controlling an end effector using a control value for controlling the pose of a surgical instrument according to an embodiment.

[0711] Refer to Figure 72 Shows an example of changing the pose of the end effector based on the control value generated according to an embodiment of the present application.

[0712] In Figure 72In the first operation example 2710, in the coordinate system (first coordinate system) that defines the movement of the operation unit for receiving user input and the coordinate system (second coordinate system) that defines the movement of the end effector, the axis that is the center of the pitch movement (pitch direction rotation axis) is the same as the axis that is the center of the yaw movement (yaw direction rotation axis). For example, it is possible to assume the first pose information related to the end effector. More specifically, it is possible to assume a case where the roll pose information (e.g., roll direction rotation angle) included in the pose information of the end effector at the time of obtaining the user input is 0 degrees. In the first operation example 2710, the user intends to change the pitch pose information of the end effector (e.g., rotate in the pitch direction, and when based on the first coordinate system, the operation unit (e.g., joystick) can be operated in the pitch direction. In order to achieve the target pose according to the user input, the end effector can change its pose in the pitch direction based on the second coordinate system. At this time, the pose difference information of the end effector generated according to the first coordinate system and based on the user input can be defined as the first pose difference information, and the pose difference information of the end effector generated according to the second coordinate system and based on the control value can be defined as the second pose difference information. Among them, in the first operation example 2710, in the coordinate system (first coordinate system) that defines the movement of the operation unit for receiving user input and the coordinate system (second coordinate system) that defines the movement of the end effector, since the pitch direction rotation axis and the yaw direction rotation axis are the same, the first pose difference information of the end effector generated according to the first coordinate system and the second pose difference information of the end effector generated according to the second coordinate system can be the same.

[0713] In Figure 72 In the second operation example 2720 and the third operation example 2730, the axis that is the center of the pitch movement (pitch direction rotation axis) and the axis that is the center of the yaw movement (yaw direction rotation axis) in the first coordinate system and the second coordinate system are different from each other. For example, it is possible to assume a case where the roll pose information (e.g., roll direction rotation angle) in the first pose information related to the end effector is 45 degrees.

[0714] First, a case of a second operation example 2720 will be described in which the posture of the end effector is changed according to an operation value input by the user. In other words, a case where the coordinate system conversion process for controlling the operation value and the actual posture change of the end effector is not performed. At this time, the user intends to change the pitch posture information of the end effector (for example, rotate in the pitch direction), and operates the operation unit (for example, a joystick) in the pitch direction with reference to the first coordinate system. However, the end effector changes its posture in the pitch direction (according to the operation value input by the user) with reference to the second coordinate system. As a result, the movement intended by the user (in other words, the first posture difference information of the end effector based on the user input) and the movement of the end effector changing its actual posture (in other words, the second posture difference information of the end effector based on the control value) are different from each other.

[0715] Differently, a case of a third operation example 2730 will be described in which a coordinate system conversion process is performed based on an operation value input by the user to generate a control value for controlling the actual posture change of the end effector, and the posture of the end effector is changed according to the generated control value. The user intends to change the pitch posture information of the end effector (for example, rotate in the pitch direction), and can operate the operation unit (for example, a joystick) in the pitch direction with reference to the first coordinate system. For example, the first posture difference information of the end effector based on the user input may be a 30-degree rotation in the pitch direction. Differently, the second posture difference information of the end effector based on the control value generated according to the second coordinate system may be a predetermined rotation in the pitch direction and a rotation in the yaw direction, rather than a 30-degree rotation in the pitch direction. However, even in this case, the first posture difference information and the second posture information are both information for achieving the target posture.

[0716] In summary, according to an embodiment of the present application, the first posture difference information of the end effector based on the user input and the second posture difference information of the end effector based on the control value may be information for achieving the target posture.

[0717] In addition, according to an embodiment of the present application, when the first posture information of the end effector, more specifically, the roll rotation angle in the posture information of the end effector at the time of obtaining the user input is not in the initial state (for example, 0 degrees), the end effector can also achieve the target posture to intuitively correspond to the movement of the operation unit. In other words, as in the above example, the end effector achieving the target posture to intuitively correspond to the movement of the operation unit means that when the user intends the end effector to rotate 30 degrees in the pitch direction and operates the operation unit, even if the end effector has rotated a predetermined angle in the roll direction before the user operates the operation unit, the end effector can, from the user's perspective, act as if it rotates 30 degrees in the pitch direction.

[0718] In addition, according to an embodiment of the present application, the operation value input by the user includes an operation value for rolling rotation, and based on the operation value, the control value may include: a first control value for controlling the rolling rotation of the end effector; a second control value for controlling the pitching rotation of the end effector; and a third control value for controlling the yaw rotation of the end effector. At this time, the first pose difference information of the end effector according to the user input and the second pose difference information of the end effector based on the control value may be information for achieving the target pose.

[0719] That is, even when the pitching rotation angle or yaw rotation angle included in the first pose information of the end effector is not in the initial state, the end effector can achieve the target pose to intuitively correspond to the movement of the operation unit. In other words, the end effector achieving the target pose to intuitively correspond to the movement of the operation unit means that when the user intends the end effector to rotate in the rolling direction and operates the operation unit, the end effector not only rotates in the rolling direction to achieve the target pose, but also can rotate in the pitching direction and the yaw direction. However, even in this case, from the user's perspective, if the end effector also moves as intended by the user, in other words, the target pose can be achieved to intuitively correspond to the movement of the operation unit. In addition, at this time, when the end effector moves according to the second pose difference information, the axis of the end effector before performing the rolling rotation and the axis of the end effector after performing the rolling rotation may be parallel to each other. In other words, the direction indicated by the reference axis of the rolling rotation (e.g., the longitudinal axis) included in the first pose information related to the end effector (e.g., the direction in which the end effector faces the surgical site, etc.) and the direction indicated by the reference axis of the rolling rotation according to the second pose difference information of the end effector based on the control value may be parallel to each other.

[0720] The above method can be written in the form of a program executable on a computer and can be implemented in a general digital computer that runs the program using a computer-readable recording medium. In addition, the data structures used in the above method can be recorded on the computer-readable recording medium in various ways. Examples of the computer-readable recording medium include storage media such as magnetic storage media (e.g., ROM, floppy disks, hard disks, etc.) and optical reading media (e.g., CD-ROM, DVD, etc.).

[0721] On the other hand, the above method can be included in a computer program product. As a commodity, the computer program product can be traded between a seller and a buyer. The computer program product can be distributed directly or online (e.g., downloaded or uploaded) in the form of a device-readable storage medium (such as a CD-ROM (compact disc read only memory)) or through an application store (such as the Play Store TM) or between two user devices. In the case of online distribution, at least a part of the computer program product can be temporarily stored or temporarily created in a machine-readable storage medium, such as the manufacturer's server, the application store's server, or the relay service memory.

[0722] Those of ordinary skill in the technical field related to this embodiment understand that this embodiment can be implemented in a modified form without departing from the above basic features. Therefore, the disclosed method should be considered from an interpretive rather than a restrictive perspective, and the scope of rights is represented by the patent claims rather than the foregoing content, and should be construed to include all differences within its equivalent scope.

Claims

1. A method for controlling the posture of a surgical instrument, wherein, It includes the following steps: Obtain an operation value according to a user input to change the posture of the end effector in the surgical instrument; Obtain first posture information, where the first posture information is related to the current posture of the end effector at the time point when the user input is obtained; And Based on the operation value and the first posture information, control the movement of the end effector to achieve the target posture according to the user input.

2. The method for controlling the posture of a surgical instrument according to claim 1, wherein Controlling the movement of the end effector includes: Generating first posture difference information, where the first posture difference information corresponds to the difference between the target posture information according to the user input and the first posture information; Generating first joint difference information related to the joints of the end effector by calculating the first posture difference information; Using the first joint difference information and generating second joint information by updating the first joint information, where the first joint information is information related to the current joints of the end effector at the time point when the user input is obtained; and Generating a control value for driving the joints of the end effector according to the second joint information.

3. The method for controlling the posture of a surgical instrument according to claim 2, wherein, It further includes the following steps: In response to the first joint difference information being greater than a preset reference value, calculate second posture information based on the second joint information; And By comparing the second posture information with the target posture information, determine the joint information of the end effector to generate the control value.

4. The method for controlling the posture of a surgical instrument according to claim 3, wherein Determining the joint information includes: Generating second posture difference information, where the second posture difference information corresponds to the difference between the target posture information and the second posture information; Generating second joint difference information by calculating the second posture difference information; In response to the second joint difference information being less than the preset reference value, use the second joint difference information and generate third joint information by updating the second joint information; and Generating another control value for driving the joints of the end effector according to the third joint information.

5. The method for controlling the posture of a surgical instrument according to claim 2, wherein The control value includes at least one of: a first control value for controlling the roll rotation of the end effector, a second control value for controlling the pitch rotation of the end effector, and a third control value for controlling the yaw rotation of the end effector.

6. The method for controlling the posture of a surgical instrument according to claim 2, wherein The operation value according to the user input includes at least one of an operation value for pitch rotation or an operation value for yaw rotation, wherein, based on the operation value, the control value includes at least one of the following: A first control value for controlling the pitch rotation of the end effector; and A second control value for controlling the yaw rotation of the end effector.

7. The method for controlling the posture of a surgical instrument according to claim 2, wherein The operation value input by the user includes at least one of an operation value for pitch rotation or an operation value for yaw rotation. Wherein, based on the operation value, the control value includes at least one of the following: A first control value for controlling the pitch rotation of the end effector; A second control value for controlling the yaw rotation of the end effector; and A third control value for controlling the roll rotation of the end effector.

8. The method for controlling the posture of a surgical instrument according to claim 6 or 7, wherein The first posture difference information of the end effector generated based on the user input and the second posture difference information of the end effector generated based on the control value are part of the information for achieving the target posture. The first posture difference information is generated according to a first coordinate system that defines the movement of the operation part for receiving the user input. The second posture difference information is generated according to a second coordinate system that defines the movement of the end effector.

9. The method for controlling the posture of a surgical instrument according to claim 8, wherein When the roll rotation angle in the first posture information is not in the initial state, the end effector achieves the target posture to intuitively correspond to the movement of the operation part.

10. The method for controlling the posture of a surgical instrument according to claim 2, wherein The operation value input by the user is an operation value for roll rotation, and Wherein, based on the operation value, the control value includes at least one of the following: A first control value for controlling the roll rotation of the end effector; A second control value for controlling the pitch rotation of the end effector; and A third control value for controlling the yaw rotation of the end effector.

11. The method for controlling the posture of a surgical instrument according to claim 10, wherein The first posture difference information of the end effector generated based on the user input and the second posture difference information of the end effector generated based on the control value are part of the information for achieving the target posture. The first posture difference information is generated according to a first coordinate system that defines the movement of the operation part for receiving the user input. The second posture difference information is generated according to a second coordinate system that defines the movement of the end effector.

12. The method for controlling the posture of a surgical instrument according to claim 11, wherein When the end effector acts according to the second posture difference information, the axis of the end effector before performing the roll rotation and the axis of the end effector after performing the roll rotation are parallel to each other.

13. The method for controlling the posture of a surgical instrument according to claim 1, wherein The user input includes at least one of roll rotation, pitch rotation, and yaw rotation.

14. The method for controlling the posture of a surgical instrument according to claim 1, wherein Controlling the action of the end effector includes: Generate target direction information related to a target direction of the end effector based on the user input; and Generate target pose information based on the user input according to the target direction information of the end effector and a positional change of the surgical instrument.

15. The method for controlling a pose of a surgical instrument according to claim 1, wherein the obtaining of the first pose information includes:[[]] Obtain first joint information, the first joint information being information related to a current joint of the end effector at a time point when the user input is obtained; and Calculate the first pose information based on the first joint information.

16. A non-transitory computer-readable recording medium that records a program for executing the method for controlling a pose of a surgical instrument according to any one of claims 1 to 15 on a computer.

17. A device for controlling the posture of a surgical instrument, wherein, Comprising:[[]] A memory configured to store at least one program; and A processor configured to execute the at least one program, the processor being configured to:[[]] Obtain an operation value according to a user input to change a pose of an end effector included in the surgical instrument; Obtain first pose information, the first pose information being information related to a current pose of the end effector at a time point when the user input is obtained; and and Control an action of the end effector based on the operation value and the first pose information to achieve a target pose according to the user input.

18. A surgical instrument comprising:[[]] An end effector configured to perform a surgical action; An operation unit configured to receive a user input to change a pose of the end effector; A power generation unit configured to generate power to control the end effector in response to receiving the user input; A power transmission unit configured to transmit the power to the end effector; A connection unit that connects the operation unit and the end effector by having the power transmission unit coupled to one end of the connection unit and the end effector coupled to the other end of the connection unit; and A control unit configured to control an action of the end effector based on an operation value according to the user input to achieve a target pose, wherein the control unit is configured to:[[]] Obtain an operation value according to the user input to change a pose of the end effector included in the surgical instrument; Obtain first pose information, the first pose information being information related to a current pose of the end effector at a time point when the user input is obtained; and Control an action of the end effector based on the operation value and the first pose information to achieve a target pose according to the user input.

19. The surgical instrument according to claim 18, wherein the operation unit includes:[[]] One or more user interfaces configured to receive at least one of the user input for a roll rotation of the end effector, the user input for a pitch rotation of the end effector, and the user input for a yaw rotation of the end effector.

20. The surgical instrument according to claim 18, wherein the operation unit includes:[[]] A first user interaction unit configured to receive the user input for the pitch rotation and yaw rotation of the end effector; and A second user interaction unit configured to receive the user input for the roll rotation of the end effector.

21. The surgical instrument according to claim 20, wherein the first user interaction unit includes a joystick, and the first user interaction unit is configured to receive the user input for the pitch rotation and yaw rotation of the end effector within a range of 360 degrees.

22. The surgical instrument according to claim 20, wherein the first user interaction unit is attached to the operation unit on a surface perpendicular to the direction in which the connection unit extends.

23. The surgical instrument according to claim 22, wherein the first user interaction unit is attached to the front surface portion or the rear surface portion of the operation unit.

24. The surgical instrument according to claim 20, wherein the second user interaction unit is attached to the operation unit on a surface parallel to the direction in which the connection unit extends.

25. The surgical instrument according to claim 24, wherein the second user interaction unit includes two switches capable of receiving the user input, and the second user interaction unit is attached to the side surface portion of the operation unit.

26. The surgical instrument according to claim 25, wherein one of the two switches included in the second user interaction unit is disposed on one side surface portion of the operation unit, and the other switch is symmetrically disposed on the other side surface portion of the operation unit with respect to the aforementioned switch.

27. A surgical instrument comprising: An operation unit configured to receive a user input to change the posture of an end effector; A control unit configured to control the movement of the end effector based on an operation value according to the user input to achieve a target posture; A power generation unit configured to generate power to change the posture of the end effector based on a control value of the control unit; A power transmission unit configured to transmit the power to the end effector; A connection unit that connects the operation unit and the end effector by combining the power transmission unit at one end of the connection unit and combining the end effector at the other end of the connection unit; and An end effector configured to perform an action using the power to change the posture of the end effector, wherein the end effector is configured to perform an action to achieve a target posture according to the user input that is independent of the current posture of the end effector at the time of obtaining the user input.

28. The surgical instrument according to claim 27, wherein when the roll rotation angle included in the current posture of the end effector is not in the initial state, the end effector is configured to achieve the target posture to intuitively correspond to the movement of the operation unit.

29. The surgical instrument according to claim 27, wherein when the pitch rotation angle or yaw rotation angle included in the current posture of the end effector is not in the initial state, the end effector is configured to achieve the target posture to intuitively correspond to the movement of the operation unit.

30. The surgical instrument according to claim 29, wherein, When the end effector performs an action according to the second posture difference information to achieve the target posture based on the control value, the axis of the end effector before performing the rolling rotation and the axis of the end effector after performing the rolling rotation are parallel to each other.

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