Surgical instrument operating part and electric cautery instrument provided with surgical instrument operating part

Abstract

An embodiment of the present invention provides an operation part of a surgical instrument having an end tool, the operation part comprising: a grippable handle; and an actuation operation part which is formed on one side of the handle and controls an actuation motion of the tip tool, in which the actuation operation part includes: an actuation lever which is rotatable about an actuation rotation axis; one or more wires are connected to the actuating pulley, and the actuating pulley is combined with the actuating rod so as to rotate according to rotation of the actuating rod; and an elastic member disposed to be elastically deformable between the actuating lever and the actuating pulley, and transmitting at least a portion of a rotational force of the actuating lever to the actuating pulley.

Description

Technical Field

[0001] The present invention relates to an instrument for electrocautery surgery, and more particularly to an instrument for electrocautery surgery with improved insulation performance. Among them, the surgical instrument can be mounted on a robotic arm or manually operated for laparoscopic surgery or various other surgeries. Background Art

[0002] In many cases, surgical procedures require cutting and joining body tissues including organs, muscle tissue, connective tissue, and blood vessels. For centuries, cutting and joining have been performed with sharp blades and sutures. However, during surgical procedures, cutting body tissues, especially relatively highly vascularized tissues, can cause bleeding. Therefore, doctors have always needed a surgical instrument and method that can slow down or reduce bleeding during surgical procedures.

[0003] Recently, specific surgical procedures have become possible with electrosurgical instruments that use electrical energy. For example, electrosurgical instruments have been developed that include one or more electrodes formed to provide electrical energy for surgical instruments such as graspers, scissors, forceps, blades, needles, and hooks. The electrical energy provided by the electrodes can be used to coagulate, join, or cut the patient's body tissues. In particular, when using electrical energy, cutting and hemostasis can also be performed simultaneously.

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

[0005] The above background art is technical information that the inventor has in order to derive the present invention, or technical information obtained during the derivation of the present invention, and it should not be considered as necessarily publicly known technology before the application of the present invention. Summary of the Invention

[0006] An object of the present invention is to provide a surgical instrument having an elastic member capable of adjusting the rotation of an actuating rod and an actuating pulley, wherein the surgical instrument can be mounted on a robotic arm or manually operated for laparoscopic surgery or various other surgeries.

[0007] An embodiment of the present invention provides an operating portion of a surgical instrument, which has an end tool including: a grippable handle; and an actuation operating portion formed on one side of the handle and adjusting the actuation movement of the end tool, wherein the actuation operating portion includes: an actuation lever rotatable about an actuation rotation axis; an actuation pulley on which one or more wires are arranged and which is coupled to the actuation lever to rotate according to the rotation of the actuation lever; and an elastic member arranged to be elastically deformed between the actuation lever and the actuation pulley and transmitting at least a part of the rotational force of the actuation lever to the actuation pulley.

[0008] In an embodiment of the present invention, in the elastic member, one end thereof is supported by a pressing protrusion of the actuation lever, and the other end is supported by a supporting protrusion of the actuation pulley, so that it can be arranged in a state of having a predetermined restoring force between the pressing protrusion and the supporting protrusion.

[0009] In an embodiment of the present invention, the elastic member rotates corresponding to the actuation lever and can transmit the rotational force to the actuation pulley.

[0010] In an embodiment of the present invention, in the elastic member, when the rotational force received from the pressing protrusion is greater than a threshold value, the elastic member is elastically compressed by a part of the rotational force and can transmit the remaining part of the rotational force to the actuation pulley.

[0011] In an embodiment of the present invention, the elastic member can adjust the rotational force received from the pressing protrusion when the actuation lever rotates according to the predetermined restoring force.

[0012] In an embodiment of the present invention, in the elastic member, when the actuation lever rotates, if the rotational force received from the pressing protrusion is greater than the restoring force, the elastic member can be elastically deformed.

[0013] In an embodiment of the present invention, the actuation lever has a pressing protrusion protruding toward the actuation pulley, the actuation pulley has a supporting protrusion protruding toward the actuation lever, and the elastic member can be arranged between the pressing protrusion and the supporting protrusion.

[0014] In an embodiment of the present invention, the actuation lever has a plurality of pressing protrusions, and the plurality of pressing protrusions can be arranged at a predetermined interval.

[0015] In an embodiment of the present invention, in the actuation pulley, when the actuation lever rotates, the actuation pulley can transmit at least a part of the rotational force of the actuation lever received from the elastic member to the wire.

[0016] In one embodiment of the present invention, the actuating pulley rotates corresponding to the actuating rod and can transmit the rotational force to the wire.

[0017] In one embodiment of the present invention, in the actuating pulley, when the rotational force of the actuating rod is greater than a threshold value, the actuating pulley can transmit a part of the rotational force to the wire by receiving it.

[0018] One embodiment of the present invention provides a surgical electrocautery instrument, which includes: an end tool that can rotate in at least one direction; an operating part that includes a grippable handle and an actuating operating part formed on one side of the handle and adjusting the actuation movement of the end tool; and a power transmission part that includes an actuating wire connecting the end tool and the actuating operating part and transmitting power from the actuating operating part to the end tool, wherein the actuating operating part includes: an actuating rod that can rotate around an actuating rotation axis; an actuating pulley on which the actuating wire is arranged and is combined with the actuating rod to rotate according to the rotation of the actuating rod; and an elastic member arranged to be elastically deformed between the actuating rod and the actuating pulley and transmitting at least a part of the rotational force of the actuating rod to the actuating pulley.

[0019] In one embodiment of the present invention, in the elastic member, one end is supported by a pressing protrusion of the actuating rod, and the other end is supported by a supporting protrusion of the actuating pulley, so that it can be arranged in a state with a predetermined restoring force between the pressing protrusion and the supporting protrusion.

[0020] In one embodiment of the present invention, the elastic member rotates corresponding to the actuating rod and can transmit the rotational force to the actuating pulley.

[0021] In one embodiment of the present invention, in the elastic member, when the rotational force received from the pressing protrusion is greater than a threshold value, the elastic member is elastically compressed by a part of the rotational force and can transmit the remaining part of the rotational force to the actuating pulley.

[0022] In one embodiment of the present invention, the elastic member can adjust the rotational force received from the pressing protrusion when the actuating rod rotates according to the predetermined restoring force.

[0023] In one embodiment of the present invention, in the elastic member, when the actuating rod rotates, if the rotational force received from the pressing protrusion is greater than the restoring force, the elastic member can undergo elastic deformation.

[0024] In an embodiment of the present invention, the actuating rod has a pressing protrusion protruding toward the actuating pulley, the actuating pulley has a supporting protrusion protruding toward the actuating rod, and the elastic member may be disposed between the pressing protrusion and the supporting protrusion.

[0025] In an embodiment of the present invention, the actuating rod has a plurality of pressing protrusions, and the plurality of pressing protrusions may be arranged at a predetermined interval.

[0026] In an embodiment of the present invention, in the actuating pulley, when the actuating rod rotates, the actuating pulley may transfer at least a part of the rotational force of the actuating rod received from the elastic member to the wire.

[0027] In an embodiment of the present invention, the actuating pulley rotates corresponding to the actuating rod and may transfer the rotational force to the wire.

[0028] In an embodiment of the present invention, in the actuating pulley, when the rotational force of the actuating rod is greater than a threshold value, the actuating pulley may transfer a part of the received rotational force to the wire.

[0029] Through the following drawings, claims, and detailed description, other aspects, features, and advantages other than those described above will become apparent. Description of the Drawings

[0030] Figure 1 is a perspective view showing an electrocautery surgical instrument according to an embodiment of the present invention.

[0031] Figure 2 is showing Figure 1 the electrocautery surgical instrument.

[0032] Figure 3 and Figure 4 is showing Figure 1 the operating part of the electrocautery surgical instrument.

[0033] Figure 5 is only schematically showing Figure 1 the constitution of the pulley and wire of the joint of the electrocautery surgical instrument constituting

[0034] Figure 6 is showing Figure 2 the yaw motion of the electrocautery surgical instrument.

[0035] Figure 7 and Figure 8 are respectively showing the first jaw and the second jaw disassembled and showing Figure 1Diagram showing the structure of pulleys and wires related to the actuation and yawing actions of the electrocautery surgical instrument shown.

[0036] Figure 9 Shows Figure 1 Perspective view of the pitching motion of the electrocautery surgical instrument.

[0037] Figure 10 And Figure 11 Are diagrams showing separately, according to the first jaw and the second jaw respectively, the structure of pulleys and wires related to the pitching motion of the electrocautery surgical instrument shown. Figure 1 Diagram showing the structure of pulleys and wires related to the pitching motion of the electrocautery surgical instrument shown.

[0038] Figure 12 And Figure 13 Shows Figure 1 Perspective view of the motion of the actuation lever of the electrocautery surgical instrument shown.

[0039] Figures 14 and 15 are diagrams showing Figure 1 The movement of the wire when the actuation lever of the electrocautery surgical instrument shown moves.

[0040] Figure 16 And Figure 17 Shows Figure 1 Exploded perspective view of the actuation lever and actuation pulley of the electrocautery surgical instrument.

[0041] Figures 18 to 20 Shows Figure 1 Diagram of the movement process of the actuation lever of the electrocautery surgical instrument. Detailed description of specific embodiments

[0042] Hereinafter, the following embodiments will be described in detail with reference to the drawings. When describing with reference to the drawings, the same reference numerals will be assigned to the same or corresponding components, and repeated descriptions thereof will be omitted.

[0043] Since various modifications can be made to this embodiment, specific embodiments will be shown in the drawings and described in detail in the detailed description of specific embodiments. By referring to the drawings and the following detailed description, the effects, features, and methods for realizing them of this embodiment will become clear. However, this embodiment is not limited to the embodiments disclosed below and can be implemented in various forms.

[0044] In the case of describing the present invention, if it is determined that the detailed description of related known technologies may obscure the gist of the present invention, the detailed description thereof will be omitted.

[0045] In the following embodiments, unless the context clearly indicates otherwise, singular expressions include plural expressions. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by these terms. These terms are only used to distinguish one component from other components.

[0046] In the following embodiments, terms such as "comprising" or "having" mean the presence of the features or components described in the specification and do not preclude the possibility of adding one or more other features or components.

[0047] In the following embodiments, when a part of a unit, region, component, etc. is described as being on or above another part, it not only refers to the case where it is directly on another part, but also includes the case where other units, regions, components, etc. are interposed therebetween.

[0048] In the following embodiments, terms such as "connected" or "coupled" do not necessarily mean a direct and / or fixed connection or coupling of two members and do not preclude the situation where another member is interposed between the two members, unless the context clearly indicates otherwise.

[0049] In the drawings, for ease of description, the dimensions of the components may be enlarged or reduced. For example, the dimensions and thicknesses of each component shown in the drawings are arbitrarily shown for ease of description, and thus the following embodiments are not necessarily limited to the content shown in the drawings.

[0050] Figure 1 is a perspective view showing an instrument for electrocautery surgery according to an embodiment of the present invention. Figure 2 is showing Figure 1 the perspective view of the instrument for electrocautery surgery of Figure 3 and Figure 4 is showing Figure 1 the perspective view of the operation part of the instrument for electrocautery surgery of Figure 5 is only schematically showing Figure 1 the constitution of the pulley and wire of the joint of the instrument for electrocautery surgery of

[0051] Refer to Figures 1 to 5 , an instrument 10 for electrocautery surgery according to an embodiment of the present invention includes an end tool 1100, an operation part 200, a power transmission part 300, and a connection part 400.

[0052] The connecting portion 400 is formed in the shape of a hollow shaft, and one or more wires and electric wires can be accommodated inside it. The operating portion 200 is coupled to one end of the connecting portion 400, and the end effector 1100 is coupled to the other end of the connecting portion 400, so that the connecting portion 400 can be used to connect the operating portion 200 and the end effector 1100. Here, one feature of the connecting portion 400 of the electrosurgical instrument 10 according to an embodiment of the present invention is that it has a straight portion 401 and a bent portion 402, and the straight portion 401 is formed on the side coupled to the end effector 1100, and the bent portion 402 is formed on the side coupled to the operating portion 200. As described above, the end of the connecting portion 400 on the operating portion 200 side is bent so that the pitch operating portion 201, the yaw operating portion 202, and the actuation operating portion 203 are formed on or adjacent to the extension line of the end effector 1100. Describing this from another perspective, it can be described as at least a part of the pitch operating portion 201 and the yaw operating portion 202 being accommodated in the recess formed by the bent portion 402. The shapes and movements of the operating portion 200 and the end effector 1100 can be more intuitively consistent through the shape of the bent portion 402 as described above.

[0053] On the other hand, the plane forming the bent portion 402 can be a plane substantially the same as the pitch plane, that is, the Figure 2 XZ plane. As described above, since the bent portion 402 is formed on a plane substantially the same as the XZ plane, interference with the operating portion can be reduced. Of course, for the intuitive movement of the end effector and the operating portion, other configurations besides the XZ plane are also possible.

[0054] On the other hand, the connector 410 can be formed on the bent portion 402. The connector 410 can be connected to an external power source (not shown), and the connector 410 is connected to the jaw 1103 through the electric wire 411 and the electric wire 412, so that the electric energy supplied by the external power source (not shown) can be transmitted to the jaw 1103. Here, the connector 410 can be a bipolar type formed with two electrodes, or can be a monopolar type formed with one electrode.

[0055] The operating portion 200 is formed at one end of the connecting portion 400 and is provided as an interface that can be directly manipulated by a doctor, such as a clamp shape, a rod shape, and a bar shape. When the doctor manipulates the operating portion 200, the end effector 1100 connected to this interface and inserted into the body of the surgical patient performs a predetermined action to perform the surgery. Here, as Figure 2 shown, the operating portion 200 is formed in the shape of a handle that can be rotated by inserting a finger, but the idea of the present invention is not limited thereto, and various forms of the operating portion 200 that are connected to the end effector 1100 and can operate the end effector 1100 are possible.

[0056] The end effector 1100 is formed at the other end of the connecting portion 400 and is inserted into the surgical site to perform the actions required for the surgery. As an example of the end effector 1100 described above, as Figure 2 shown, the end tool 1100 may include a pair of jaws for performing a gripping action, namely, a first jaw 1101 and a second jaw 1102. Here, the first jaw 1101 and the second jaw 1102, or the components including the first jaw 1101 and the second jaw 1102, may be respectively referred to as the jaw 1103.

[0057] However, the idea of the present invention is not limited thereto, and various surgical devices may also be used as the end effector 1100. For example, a configuration such as a single-arm cautery may also be used as the end effector. The end effector 1100 described above is connected to the operation unit 200 through the power transmission unit 300, and receives the driving force of the operation unit 200 through the power transmission unit 300, so as to perform the actions required for the surgery, such as gripping, cutting, and suturing actions.

[0058] Here, the end effector 1100 of the electrocautery surgical instrument 10 according to an embodiment of the present invention is formed to be rotatable in at least one or more directions. For example, the end effector 1100 may be formed to perform a pitch movement around the Figure 2 Y axis while performing a yaw movement and an actuation movement around the Figure 2 Z axis. At this time, the actuation movement refers to the action in which the first jaw 1101 and the second jaw 1102 of the end effector 1100 rotate in opposite directions to each other. That is, the end effector 1100 may perform a gripping action or a release of the gripping action through the actuation movement.

[0059] In addition, the end effector 1100 may include a first jaw pulley 1111 related to the rotational movement of the first jaw 1101, etc. In addition, the end effector 1100 may include a pulley 1121 related to the rotational movement of the second jaw 1102, etc.

[0060] The power transmission unit 300 connects the operation unit 200 and the end effector 1100, so as to transmit the driving force of the operation unit 200 to the end effector 1100, and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0061] See Figure 5, the power transmission unit 300 of the electrocautery surgical instrument 10 according to an embodiment of the present invention may include a first wire 301, a second wire 302, a third wire 303, a fourth wire 304, a fifth wire 305, and a sixth wire 306.

[0062] Here, the first wire 301 and the fifth wire 305 may be paired as the first jaw wire. The second wire 302 and the sixth wire 306 may be paired as the second jaw wire. Here, the components including the first wire 301 and the fifth wire 305 as the first jaw wire, and the second wire 302 and the sixth wire 306 as the second jaw wire may be referred to as jaw wires. In addition, the third wire 303 and the fourth wire 304 may be paired as the pitch wire.

[0063] In addition, the power transmission unit 300 of the electrocautery surgical instrument 10 according to an embodiment of the present invention may include a fastener (not shown), and the fastener is coupled to each end of each wire to couple the wire and the pulley. Here, as needed, each fastener may have various shapes, such as a ball shape or a tube shape, etc.

[0064] In the following, the coupling relationship between each wire, each fastener, and each pulley will be described in detail.

[0065] First, the first wire 301 and the fifth wire 305 as the first jaw wire may be a single wire. After inserting a fastener (not shown) as the first jaw wire - end tool fastener into the midpoint of the first jaw wire as a single wire and fixing the fastener (not shown) by crimping, the two branches of the first jaw wire may be respectively referred to as the first wire 301 and the fifth wire 305 with the fastener (not shown) as the center.

[0066] Alternatively, the first wire 301 and the fifth wire 305 as the first jaw wire may be formed as separate wires, and the first wire 301 and the fifth wire 305 may be connected by a fastener (not shown).

[0067] In addition, since the fastener (not shown) is coupled to the first jaw pulley 1111, the first wire 301 and the fifth wire 305 may be fixedly coupled to the first jaw pulley 1111. Thus, the first jaw pulley 1111 may rotate as the first wire 301 and the fifth wire 305 are pulled and released.

[0068] On the other hand, at the end of the first wire 301 and the fifth wire 305 opposite to the position where the first jaw wire - end tool fastener is fastened, a first jaw wire - operation part fastener may be coupled.

[0069] In addition, as described above, since the first jaw wire-operating part fastener is coupled to the first pulley 211, the first wire 301 and the fifth wire 305 can be fixedly coupled to the pulley 211. As a result, when the first pulley 211 rotates by a motor or manually, the first wire 301 and the fifth wire 305 are pulled and released, enabling the first jaw pulley 1111 of the end effector 1100 to rotate.

[0070] Similarly, the second wire 302 and the sixth wire 306, which are the second jaw wires, are respectively coupled to the second jaw wire-end effector fastener and the second jaw wire-operating part fastener. In addition, the second jaw wire-end effector fastener is coupled to the second jaw pulley 1121, and the second jaw wire-operating part fastener is coupled to the tenth pulley 220. As a result, when the tenth pulley 220 rotates by a motor or manually, the second wire 302 and the sixth wire 306 are pulled and released, enabling the second jaw pulley 1121 of the end effector 1100 to rotate.

[0071] Similarly, the third wire 303 and the fourth wire 304, which are the pitch wires, are respectively coupled to the pitch wire-end effector fastener and the pitch wire-operating part fastener.

[0072] (Operation Unit)

[0073] This will be described in more detail below. Figure 1 The operating part 200 of the electrosurgical instrument 10.

[0074] Refer to Figures 1 to 5 , the operating part 200 of the electrosurgical instrument 10 according to an embodiment of the present invention includes a handle 204 that can be grasped by a user, an actuation operating part 203 for controlling the actuation movement of the end effector 1100, a yaw operating part 202 for controlling the yaw movement of the end effector 1100, and a pitch operating part 201 for controlling the pitch movement of the end effector 1100. Here, it can be understood that only the component elements related to the pitch / yaw / actuation movement of the electrosurgical instrument 10 are shown in Figure 3 and Figure 4 .

[0075] In addition, the operating part 200 of the electrosurgical instrument 10 further includes: a blade operating part 260 that performs cutting by controlling the movement of the blade of the end effector 1100; and a sealing operating part 270 that performs cauterization by supplying electrical energy to an electrode (not shown) of the end effector 1100.

[0076] The operation unit 200 may include a first pulley 211, a second pulley 212, a third pulley 212, a fourth pulley 214, a fifth pulley 215, a seventh pulley 217, an eighth pulley 218, a ninth pulley 219, and a tenth pulley 220 related to the rotational movement of the first jaw 1101. Additionally, the operation unit 200 may include an eleventh pulley 221, a twelfth pulley 222, a thirteenth pulley 223, a fourteenth pulley 224, a fifteenth pulley 225, a seventeenth pulley 227, an eighteenth pulley 228, a nineteenth pulley 229, and a twentieth pulley 230 related to the rotational movement of the second jaw 1102. Additionally, the operation unit 200 may include an actuating pulley 262 related to the rotational movements of the first jaw and the second jaw. Additionally, the operation unit 200 may include a twenty-first pulley 231 related to the pitching movement. Additionally, the operation unit 200 may include at least one intermediate pulley 235, which is arranged at intervals in the bending portion 402 of the connecting portion 400.

[0077] Here, although each pair of facing pulleys shown in the drawings are formed parallel to each other, the idea of the present invention is not limited thereto. Each pulley may be formed at various positions suitable for the configuration of the operation unit and may also be formed in various sizes suitable for the configuration of the operation unit.

[0078] Additionally, the operation unit 200 according to an embodiment of the present invention may include a first rotating shaft 241, a second rotating shaft 242, a third rotating shaft 243, a fourth rotating shaft 244, a fifth rotating shaft 245, and a sixth rotating shaft 246. Here, the first rotating shaft 241 serves as the operation unit actuating rotating shaft, and the second rotating shaft 242 may serve as the first yaw sub-rotating shaft of the operation unit. Additionally, the third rotating shaft 243 serves as the operation unit yaw main rotating shaft, and the fourth rotating shaft 244 may serve as the second yaw sub-rotating shaft of the operation unit. Additionally, the fifth rotating shaft 245 serves as the operation unit pitching sub-rotating shaft, and the sixth rotating shaft 246 may serve as the operation unit pitching main rotating shaft.

[0079] The first rotating shaft 241, the second rotating shaft 242, the third rotating shaft 243, the fourth rotating shaft 244, the fifth rotating shaft 245, and the sixth rotating shaft 246 may be arranged in sequence from the distal end 205 to the proximal end 206 of the operation unit 200.

[0080] The actuating pulley 262 serves as the actuating pulley for the first jaw and the second jaw and may be referred to as the operation unit actuating pulley.

[0081] The first pulley 211 and the second pulley 212 serve as the first yaw sub-pulleys of the first jaw of the operating part, and the eleventh pulley 221 and the twelfth pulley 222 serve as the first yaw sub-pulleys of the second jaw of the operating part. These components can be collectively referred to as the first yaw sub-pulleys of the operating part.

[0082] The third pulley 213 and the fourth pulley 214 serve as the yaw main pulleys of the first jaw of the operating part, and the thirteenth pulley 223 and the fourteenth pulley 224 serve as the yaw main pulleys of the second jaw of the operating part. These components can be collectively referred to as the yaw main pulleys of the operating part.

[0083] The fifth pulley 215 serves as the second yaw sub-pulley of the first jaw of the operating part, and the fifteenth pulley 225 serves as the second yaw sub-pulley of the second jaw of the operating part. These components can be collectively referred to as the second yaw sub-pulley of the operating part.

[0084] The seventh pulley 217 and the eighth pulley 218 serve as the pitch sub-pulleys of the first jaw of the operating part, and the seventeenth pulley 227 and the eighteenth pulley 228 serve as the pitch sub-pulleys of the second jaw of the operating part. These components can be collectively referred to as the pitch sub-pulleys of the operating part.

[0085] The ninth pulley 219 and the tenth pulley 220 serve as the pitch main pulleys of the first jaw of the operating part, and the nineteenth pulley 229 and the twentieth pulley 230 serve as the pitch main pulleys of the second jaw of the operating part. These components can be collectively referred to as the pitch main pulleys of the operating part.

[0086] The twenty-first pulley 231 serves as the pitch wire main pulley of the operating part and may include pulleys (not shown) that serve as pitch wire sub-pulleys.

[0087] The above components are classified as follows from the perspective of each movement (pitch / yaw / actuation) of the operating part.

[0088] The pitch operating part 201 for controlling the pitch movement of the end tool 1100 may include the seventh pulley 217, the eighth pulley 218, the ninth pulley 219, the tenth pulley 220, the seventeenth pulley 227, the eighteenth pulley 228, the nineteenth pulley 229, the twentieth pulley 230, and the twenty-first pulley 231. Additionally, the pitch operating part 201 may include the fifth rotating shaft 245 and the sixth rotating shaft 246. Additionally, the pitch operating part 201 may further include a pitch frame 208.

[0089] The yaw operation unit 202 for controlling the yaw movement of the end effector 1100 may include a first pulley 211, a second pulley 212, a third pulley 212, a fourth pulley 214, a fifth pulley 215, an eleventh pulley 221, a twelfth pulley 222, a thirteenth pulley 223, a fourteenth pulley 224, and a fifteenth pulley 225. Additionally, the yaw operation unit 202 may include a second rotation axis 242, a third rotation axis 243, and a fourth rotation axis 244. Additionally, the yaw operation unit 202 may further include a yaw frame 207.

[0090] The actuation operation unit 203 for controlling the actuation movement of the end effector 1100 may include an actuation pulley 262 and a first rotation axis 241.

[0091] Hereinafter, each component element of the operation unit 200 will be described in more detail.

[0092] The handle 204 is formed to be graspable by a user's hand. In particular, it may be formed such that the user can wrap their palm around the handle 204 to grasp it. Additionally, the actuation operation unit 203 and the yaw operation unit 202 are formed on the handle 204, and the pitch operation unit 201 is formed on one side of the yaw operation unit 202. Additionally, the other end of the pitch operation unit 201 is connected to the bent portion 402 of the connection unit 400.

[0093] The actuation operation unit 203 includes a blade operation unit 260. The blade operation unit 260 may include an actuation rod 261 and an actuation pulley 262.

[0094] Here, the actuation rod 261 is formed in a bracelet shape so that the user can insert their fingers into it for operation.

[0095] Here, the first rotation axis 241, which is the actuation rotation axis, may be formed at a predetermined angle with respect to the XZ plane in which the connection unit 400 is formed.

[0096] For example, the first rotation axis 241 may be formed in a direction parallel to the Y axis. In this state, when the pitch operation unit 201 or the yaw operation unit 202 rotates, the coordinate system of the actuation operation unit 203 may change relatively. Of course, the idea of the present invention is not limited thereto. According to ergonomic design, the first rotation axis 241 may be formed in multiple directions to suit the hand structure of the user who grasps the actuation operation unit 203.

[0097] On the other hand, the actuation pulley 262 may be combined with the actuation rod 261 or may be formed as one member. Therefore, the actuation pulley 262 can rotate together with the rotation of the actuation rod 261.

[0098] Here, the actuating pulley 262 may be composed of one pulley or may be composed of two pulleys fixedly coupled to each other.

[0099] Hereinafter, the specific shapes and arrangement relationships of the actuating rod 261 and the actuating pulley 262 will be described in detail.

[0100] The yaw operation unit 202 may include a second rotation shaft 242, a third rotation shaft 243, a third pulley 212 and a fourth pulley 214 serving as the first jaw yaw main pulley of the operation unit, a thirteenth pulley 223 and a fourteenth pulley 224 serving as the second jaw yaw main pulley of the operation unit, and a yaw frame 207. In addition, the yaw operation unit 202 may further include: a first pulley 211 and a second pulley 212, which are the first jaw first yaw sub-pulleys of the operation unit formed on one side of the third pulley 212 and the fourth pulley 214; and an eleventh pulley 221 and a twelfth pulley 222, which are the second jaw first yaw sub-pulleys of the operation unit formed on one side of the thirteenth pulley 223 and the fourteenth pulley 224. In addition, the yaw operation unit 202 may further include: a fifth pulley 215, which is the first jaw second yaw sub-pulley of the operation unit formed on the other side of the third pulley 212 and the fourth pulley 214; and a fifteenth pulley 225, which is the second jaw second yaw sub-pulley of the operation unit formed on the other side of the thirteenth pulley 223 and the fourteenth pulley 224. Here, the fifth pulley 215 and the fifteenth pulley 225 may be coupled to the pitch frame 208 described later.

[0101] Here, although the yaw operation unit 202 is shown in the drawings as including the third pulley 212 and the fourth pulley 214, and the thirteenth pulley 223 and the fourteenth pulley 224, and the third pulley 212 and the fourth pulley 214 and the thirteenth pulley 223 and the fourteenth pulley 224 each have two pulleys that can rotate independently due to being formed to face each other, the idea of the present invention is not limited thereto. That is, one or more pulleys with the same or different diameters may be provided according to the configuration of the yaw operation unit 202.

[0102] Specifically, the second rotation shaft 242 serving as the first yaw sub-rotation shaft of the operation unit is formed on one side of the actuating operation unit 203 on the handle 204, and the third rotation shaft 243 serving as the yaw main rotation shaft of the operation unit is formed on one side of the second rotation shaft 242. At this time, the handle 204 is formed to be rotatable about the third rotation shaft 243.

[0103] Here, the third rotation axis 243 can be formed at a predetermined angle with respect to the XY plane in which the connecting portion 400 is formed. For example, the third rotation axis 243 can be formed in a direction parallel to the Z axis, and in this state, when the pitching operation unit 201 rotates, as described above, the coordinate system of the third rotation axis 243 can change relatively. Of course, the idea of the present invention is not limited thereto, and according to ergonomic design, the third rotation axis 243 can be formed in multiple directions to suit the structure of the user's hand grasping the operation unit 200.

[0104] On the other hand, the third pulley 212, the fourth pulley 214, the thirteenth pulley 223, and the fourteenth pulley 224 are coupled to the third rotation axis 243 so as to be rotatable about the third rotation axis 243. In addition, the first wire 301 or the fifth wire 305 serving as the first jaw wire is wound around the third pulley 212 and the fourth pulley 214, and the second wire 302 or the sixth wire 306 serving as the second jaw wire is wound around the thirteenth pulley 223 and the fourteenth pulley 224. At this time, the third pulley 212, the fourth pulley 214, the thirteenth pulley 223, and the fourteenth pulley 224 can be configured as two pulleys, that is, facing each other and rotatable independently. Therefore, the wire wound in and the wire unwound can be wound around separate pulleys, respectively, so that they can operate without interfering with each other.

[0105] The yaw frame 207 is rigidly connected to the handle 204, the second rotation axis 242, and the third rotation axis 243, and the actuation operation unit 203 combined with the first rotation axis 241 and the actuation pulley 262 is directly connected to the yaw frame 207 or rigidly connected by an intermediate member, so that the handle 204, the yaw operation unit 202, and the actuation operation unit 203 can perform yaw rotation as a whole around the third rotation axis 243.

[0106] The pitching operation unit 201 may include a sixth rotation axis 246, a ninth pulley 219 and a tenth pulley 220 serving as the main pulleys for pitching the first jaw of the operation unit, a nineteenth pulley 229 and a twentieth pulley 230 serving as the main pulleys for pitching the second jaw of the operation unit, and a pitch frame 208. In addition, the pitching operation unit 201 may further include: a fifth rotation axis 245; a seventh pulley 217 and an eighth pulley 218, which are the auxiliary pulleys for pitching the first jaw of the operation unit formed on one side of the ninth pulley 219 and the tenth pulley 220; and a seventeenth pulley 227 and an eighteenth pulley 228, which are the auxiliary pulleys for pitching the second jaw of the operation unit formed on one side of the nineteenth pulley 229 and the twentieth pulley 230. The pitching operation unit 201 can be connected to the bent portion 402 of the connecting portion 400 through the sixth rotation axis 246.

[0107] Specifically, the pitch frame 208 serves as the base frame of the pitch operation unit 201, and the third rotation axis 243 is rotatably coupled to one end thereof. That is, the yaw frame 207 is configured to be rotatable relative to the pitch frame 208 about the third rotation axis 243.

[0108] As described above, since the yaw frame 207 connects the handle 204, the third rotation axis 243, the first rotation axis 241, and the second rotation axis 242, and the yaw frame 207 is axially coupled to the pitch frame 208, when the pitch frame 208 rotates in pitch about the sixth rotation axis 246, the yaw frame 207, the handle 204, the first rotation axis 241, the second rotation axis 242, and the third rotation axis 243 connected to the pitch frame 208 rotate in pitch together. That is, when the pitch operation unit 201 rotates about the sixth rotation axis 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201. In other words, when the user rotates the handle 204 in pitch about the sixth rotation axis 246, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 move together.

[0109] The ninth pulley 219 and the tenth pulley 220, as well as the nineteenth pulley 229 and the twentieth pulley 230, are coupled to the sixth rotation axis 246 so as to be rotatable about the sixth rotation axis 246 of the pitch frame 208.

[0110] Here, the ninth pulley 219 and the tenth pulley 220 can be configured to face each other and be independently rotatable. Therefore, the wire wound in and the wire unwound out can be respectively wound on separate pulleys, so that they can operate without interfering with each other. Similarly, the nineteenth pulley 229 and the twentieth pulley 230 can also be configured to face each other and be independently rotatable. Therefore, the wire wound in and the wire unwound out can be respectively wound on separate pulleys, so that they can operate without interfering with each other.

[0111] The connection relationships between the grooming handle 204 and the pitch operation unit 201, the yaw operation unit 202, and the actuation operation unit 203 are as follows. The first rotation axis 241, the second rotation axis 242, the third rotation axis 243, the fourth rotation axis 244, the fifth rotation axis 245, and the sixth rotation axis 246 can be formed on the handle 204. Additionally, since the second rotation axis 242 and the third rotation axis 243 are directly formed on the handle 204, the handle 204 and the yaw operation unit 202 can be directly connected. On the other hand, since the pitch operation unit 201 is formed to be connected to the yaw operation unit 202 on one side of the yaw operation unit 202, the pitch operation unit 201 is not directly connected to the handle 204. Instead, the pitch operation unit 201 and the handle 204 can be formed to be indirectly connected through the yaw operation unit 202. Additionally, since the actuation operation unit 203 is formed to be connected to the yaw operation unit 202 on the other side of the yaw operation unit 202, the actuation operation unit 203 is not directly connected to the handle 204. Instead, the actuation operation unit 203 and the handle 204 can be formed to be indirectly connected through the yaw operation unit 202.

[0112] Continuing to refer to the drawings, in the electrosurgical instrument 10 according to an embodiment of the present invention, the pitch operation unit 201 and the end tool 1100 can be formed on the same or parallel axes (X-axis). That is, the sixth rotation axis 246 of the pitch operation unit 201 is formed at one end of the bent portion 402 of the connecting portion 400, and the end tool 1100 is formed at the other end of the connecting portion 400.

[0113] Additionally, one or more intermediate pulleys 235 for changing or guiding the path of each wire can be arranged at intervals in the connecting portion 400, particularly in the bent portion 402. As described above, at least a part of each wire is wound around each intermediate pulley 235 to guide the path of each wire, so that the wires can be arranged according to the bent shape of the bent portion 402.

[0114] Here, although the drawings show that the connecting portion 400 has a bent portion 402 and is bent into a shape with a predetermined curvature, the idea of the present invention is not limited thereto. The connecting portion 400 can be formed into a straight line or bent one or more times as needed. Even in this case, it can be considered that the pitch operation unit 201 and the end tool 1100 are formed on substantially the same or parallel axes. Additionally, although Figure 2 it is shown that the pitch operation unit 201 and the end tool 1100 are respectively formed on axes parallel to the X-axis, the idea of the present invention is not limited thereto. The pitch operation unit 201 and the end tool 1100 can be formed on different axes from each other.

[0115] (Actuation Action, Yaw Action, Pitch Action)

[0116] The description of the actuation motion, yaw motion, and pitch motion in this embodiment is as follows.

[0117] First, the actuation motion is as described below.

[0118] In a state where the user places a finger in the hand ring formed on the actuation lever 261, when the actuation lever 261 is rotated with the finger, the actuation pulley 262 coupled to the actuation lever 261 rotates around the first rotation axis 241.

[0119] At this time, the first wire 301 and the fifth wire 305 whose one end portions are fixedly coupled and wound around the actuation pulley 262, and the second wire 302 and the sixth wire 306 whose one end portions are fixedly coupled and wound around the same actuation pulley 262 move as the actuation pulley 262 rotates. Here, although the first wire 301, the second wire 302, the fifth wire 305, and the sixth wire 306 are coupled to one actuation pulley 262, the movement of the wires according to the rotation of the pulley is different depending on the direction in which each wire is wound around the actuation pulley 262. This will be described in detail below.

[0120] In addition, the rotational force as described above is transmitted to the end effector 1100 through the power transmission unit 300, so that the two jaws 1103 of the end effector 1100 perform an actuation motion.

[0121] Here, as described above, the actuation motion refers to the action of opening or closing the two jaws (1101, 1102) while the two jaws (1101, 1102) rotate in opposite directions to each other. That is, when the actuation lever 261 of the actuation operation unit 203 rotates in the direction approaching the handle 204, the first jaw 1101 rotates counterclockwise, and the second jaw 1102 rotates clockwise, thereby closing the end effector 1100. Conversely, when the actuation lever 261 of the actuation operation unit 203 rotates in the direction away from the handle 204, the first jaw 1101 rotates clockwise, and the second jaw 1102 rotates counterclockwise, thereby opening the end effector 1100.

[0122] Next, the yaw motion is as described below.

[0123] When the handle 204 is rotated about the third rotation axis 243 while the user holds the handle 204, the actuation operation unit 203 and the yaw operation unit 202 perform a yaw rotation about the third rotation axis 243. That is, when the actuation pulley 262 to which the first wire 301 and the fifth wire 305 are fixedly coupled rotates about the third rotation axis 243, the first wire 301 and the fifth wire 305 wound around the third pulley 212 and the fourth pulley 214 move. Similarly, since the second wire 302 and the sixth wire 306 are also fixedly coupled to the actuation pulley 262, when the actuation pulley 262 rotates about the third rotation axis 243, the second wire 302 and the sixth wire 306 wound around the thirteenth pulley 223 and the fourteenth pulley 224 move. At this time, the first wire 301 and the fifth wire 305 connected to the first jaw 1101 and the second wire 302 and the sixth wire 306 connected to the second jaw 1102 are wound around the third pulley 212 and the fourth pulley 214 and the thirteenth pulley 223 and the fourteenth pulley 224 so that when performing a yaw rotation, the first jaw 1101 and the second jaw 1102 rotate in the same direction. In addition, the rotational force as described above is transmitted to the end effector 1100 through the power transmission unit 300, so that the two jaws 1103 of the end effector 1100 perform a yaw motion of rotating in the same direction.

[0124] At this time, since the yaw frame 207 connects the handle 204, the first rotation axis 241, the second rotation axis 242, and the third rotation axis 243, the handle 204, the yaw operation unit 202, and the actuation operation unit 203 rotate together about the third rotation axis 243.

[0125] Next, the pitching motion is as follows.

[0126] When the handle 204 is rotated about the sixth rotation axis 246 while the user holds the handle 204, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 perform a pitch rotation about the sixth rotation axis 246. That is, when the actuation pulley 262 to which the first wire 301 and the fifth wire 305 are fixedly coupled rotates about the sixth rotation axis 246, the first wire 301 and the fifth wire 305 wound around the ninth pulley 219 and the tenth pulley 220 move. Similarly, when the actuation pulley 262 to which the second wire 302 and the sixth wire 306 are fixedly coupled rotates about the sixth rotation axis 246, the second wire 302 and the sixth wire 306 wound around the nineteenth pulley 229 and the twentieth pulley 230 move. At this time, as shown in Figure 5As described above, the first wire 301 and the fifth wire 305, which are the first jaw wires, move in the same direction, and the second wire 302 and the sixth wire 306, which are the second jaw wires, move in the same direction. As a result, the first wire 301, the fifth wire 305, the second wire 302, and the sixth wire 306, which are the jaw wires, are respectively wound around the ninth pulley 219, the tenth pulley 220, the nineteenth pulley 229, and the twentieth pulley 230, which are the pitch main pulleys of the operation unit, so that the first jaw 1101 and the second jaw 1102 perform pitch rotation. In addition, the rotational force as described above is transmitted to the end effector 1100 through the power transmission unit 300, so that the two jaws 1103 of the end effector 1100 perform pitch movement.

[0127] At this time, since the pitch frame 208 is connected to the yaw frame 207, and the yaw frame 207 is connected to the handle 204, the first rotating shaft 241, the second rotating shaft 242, and the third rotating shaft 243, when the pitch frame 208 rotates around the sixth rotating shaft 246, the yaw frame 207, the handle 204, the first rotating shaft 241, the second rotating shaft 242, and the third rotating shaft 243 connected to the pitch frame 208 rotate together. That is, when the pitch operation unit 201 rotates around the sixth rotating shaft 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201.

[0128] In summary, the electrocautery surgical instrument 10 according to an embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), and wires (first jaw wire or second jaw wire) are wound around these pulleys, and the rotational operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit 200 moves each wire, so as to finally guide the end effector 1100 to perform a desired action. Further, auxiliary pulleys may be formed on one side of each pulley, and these auxiliary pulleys can prevent the wire from being wound around one pulley multiple times.

[0129] Figure 5 is only schematically showing the composition of Figure 1 a diagram showing the composition of the pulleys and wires of the joints of the electrocautery surgical instrument 10 according to an embodiment of the present invention as shown. In Figure 5 it, the intermediate pulleys for changing the path of the wire that are irrelevant to the joint movement are omitted.

[0130] Referring to Figure 5 , the operation unit 200 may include a first pulley 211, a second pulley 212, a third pulley 212, a fourth pulley 214, a fifth pulley 215, a sixth pulley 216, a seventh pulley 217, an eighth pulley 218, a ninth pulley 219, and a tenth pulley 220 related to the rotational movement of the first jaw 1101.

[0131] In addition, the operation unit 200 may include an eleventh pulley 221, a twelfth pulley 222, a thirteenth pulley 223, a fourteenth pulley 224, a fifteenth pulley 225, a pulley 226, a seventeenth pulley 227, an eighteenth pulley 228, a nineteenth pulley 229, and a twentieth pulley 230 related to the rotational movement of the second jaw 1102. In addition, the operation unit 200 may include an actuating pulley 262 related to the rotational movements of the first jaw 1101 and the second jaw 1102. (Since the arrangement and constitution principle of each pulley in the operation unit 200 are the same as those of each pulley in the end effector 1100, the specific identification of the reference numerals in the drawings is partially omitted.)

[0132] The first pulley 211 and the second pulley 212, and the eleventh pulley 221 and the twelfth pulley 222 may be formed to be independently rotatable about a second rotation axis 242 that is the same axis. At this time, the first pulley 211 and the second pulley 212 may be formed as two pulleys that face each other to be independently rotatable. Similarly, the eleventh pulley 221 and the twelfth pulley 222 may be formed as two pulleys that face each other to be independently rotatable. At this time, the two pulleys may be formed to have different diameters from each other.

[0133] The third pulley 212 and the fourth pulley 214, and the thirteenth pulley 223 and the fourteenth pulley 224 may be formed to be independently rotatable about a third rotation axis 243 that is the same axis. At this time, the third pulley 212 and the fourth pulley 214, and the thirteenth pulley 223 and the fourteenth pulley 224 may be configured as two pulleys that face each other to be independently rotatable.

[0134] The fifth pulley 215 and the fifteenth pulley 225 may be formed to be independently rotatable about a fourth rotation axis 244 that is the same axis.

[0135] The seventh pulley 217 and the eighth pulley 218, and the seventeenth pulley 227 and the eighteenth pulley 228 may be formed to be independently rotatable about a fifth rotation axis 245 that is the same axis. At this time, the seventh pulley 217 and the eighth pulley 218 may be formed to have different diameters from each other. In addition, the seventeenth pulley 227 and the eighteenth pulley 228 may be formed to have different diameters from each other.

[0136] The ninth pulley 219 and the tenth pulley 220, and the nineteenth pulley 229 and the twentieth pulley 230 may be formed to be independently rotatable about a sixth rotation axis 246 that is the same axis.

[0137] The first wire 301 passes through the ninth pulley 219, seventh pulley 217, fifth pulley 215, third pulley 212, and first pulley 211 of the operation unit 200 in sequence, and then is wound around the actuating pulley 262, and then is coupled to the actuating pulley 262 through the fastener 262a. On the other hand, the fifth wire 305 passes through the tenth pulley 220, eighth pulley 218, sixth pulley 216, fourth pulley 214, and second pulley 212 of the operation unit 200 in sequence, and then is coupled to the actuating pulley 262 through the fastener 262a. Therefore, when the actuating pulley 262 rotates, the first wire 301 and the fifth wire 305 are wound around the actuating pulley 262 or unwound from the actuating pulley 262, so that the first jaw 1101 rotates.

[0138] The sixth wire 306 passes through the nineteenth pulley 229, seventeenth pulley 227, fifteenth pulley 225, thirteenth pulley 223, and eleventh pulley 221 of the operation unit 200 in sequence, and then is wound around the actuating pulley 262, and then is coupled to the actuating pulley 262 through the fastener 262a. On the other hand, the second wire 302 passes through the twentieth pulley 230, eighteenth pulley 228, pulley 226, fourteenth pulley 224, and twelfth pulley 222 of the operation unit 200 in sequence, and then is coupled to the actuating pulley 262 through the fastener 262a. Therefore, when the actuating pulley 262 rotates, the second wire 302 and the sixth wire 306 are wound around the actuating pulley 262 or unwound from the actuating pulley 262, so that the second jaw 1102 rotates.

[0139] (Conceptual Diagram of Pulley and Wire)

[0140] Figure 7 and Figure 8 are diagrams showing the configuration of the pulleys and wires related to the actuating operation and yaw operation of the electrosurgical instrument 10 according to an embodiment of the present invention, respectively, as decomposed for the first jaw and the second jaw. Figure 1 The diagram shows the configuration of the pulleys and wires related to the actuating operation and yaw operation of the electrosurgical instrument 10 according to an embodiment of the present invention.

[0141] Figure 7 is a diagram showing only the pulleys and wires related to the second jaw, Figure 8 is a diagram showing only the pulleys and wires related to the first jaw. In addition, Figure 6 is a diagram showing Figure 1 a perspective view of the yaw operation of the surgical instrument.

[0142] First, the wire operation of the actuating operation will be described.

[0143] Refer to Figure 8, when the actuating lever 261 rotates about the first rotation axis 241 in the direction of the first arrow OPA1, the actuating pulley 262 connected to the actuating lever 261 rotates, and the first wire 301 and the fifth wire 305 wound around the actuating pulley 262 move in the first direction W1a and the second direction W1b respectively. As a result, the first jaw 1101 of the end effector 1100 rotates in the direction of the second arrow EPA1.

[0144] See Figure 7 , when the actuating lever 261 rotates about the first rotation axis 241 in the direction of the third arrow OPA2, the actuating pulley 262 connected to the actuating lever 261 rotates, and the two branches of the second wire 302 and the sixth wire 306 wound around the actuating pulley 262 move in the third direction W2a and the fourth direction W2b respectively. As a result, the second jaw 1102 of the end effector 1100 rotates in the direction of the fourth arrow EPA2. Therefore, when the user operates the actuating lever 261 in the direction towards the handle, the first jaw 1101 and the second jaw 1102 move towards each other.

[0145] Next, the wire movement during the yaw motion will be described.

[0146] First, since the third rotation axis 243, the first rotation axis 241, and the second rotation axis 242 are connected by a yaw frame (see Figure 3 207 in), the third rotation axis 243, the first rotation axis 241, and the second rotation axis 242 rotate together as a whole.

[0147] See Figure 8 , when the handle 204 rotates about the third rotation axis 243 in the direction of the fifth arrow OPY1, the actuating pulley 262, the first pulley 211, the second pulley 212, the third pulley 212, the fourth pulley 214, and the first wire 301 and the fifth wire 305 wound around them rotate as a whole about the third rotation axis 243. As a result, the first wire 301 and the fifth wire 305 wound around the third pulley 212 and the fourth pulley 214 move in the first direction W1a and the second direction W1b respectively. As a result, the first jaw 1101 of the end effector 1100 rotates in the direction of the sixth arrow EPY1.

[0148] See Figure 7, when the handle 204 rotates around the third rotation axis 243 in the direction of the seventh arrow OPY2, the actuating pulley 262, the eleventh pulley 221, the twelfth pulley 222, the thirteenth pulley 223, the fourteenth pulley 224, and the second wire 302 and the sixth wire 306 wound thereon rotate as a whole around the third rotation axis 243. As a result, the second wire 302 and the sixth wire 306 wound around the thirteenth pulley 223 and the fourteenth pulley 224 move to the opposite sides of the third direction W2a and the fourth direction W2b respectively. As a result, the second jaw 1102 of the end effector 1100 rotates in the direction of the eighth arrow EPY2.

[0149] Figure 10 and Figure 11 are diagrams showing separately, according to the first jaw and the second jaw respectively, the configuration of the pulleys and wires related to the pitching motion of the electrosurgical instrument 10 according to an embodiment of the present invention as shown in Figure 1 FIG. Figure 11 is a diagram showing only the pulleys and wires related to the second jaw, Figure 10 is a diagram showing only the pulleys and wires related to the first jaw. As shown in Figure 7 etc., since there are two pulleys related to the pitching motion respectively, and the two branches of each wire are wound along the same path, in Figure 10 it is represented by a single line. In addition, Figure 9 is a perspective view showing the pitching motion of the surgical instrument shown in Figure 1 .

[0150] See Figure 10 , when the handle 204 rotates around the sixth rotation axis 246 in the direction of the ninth arrow OPP1, the actuating pulley 262, the seventh pulley 217, the ninth pulley 219, etc., and the first wire 301, etc. wound thereon rotate as a whole around the sixth rotation axis 246. At this time, since the first wire 301 and the fifth wire 305, which are the first jaw wires, are wound above the ninth pulley 219 and the tenth pulley 220, they move in the direction of the tenth arrow W1. As a result, the first jaw 1101 of the end effector 1100 rotates in the direction of the eleventh arrow EPP1.

[0151] See Figure 11, when the handle 204 is rotated about the sixth rotation axis 246 in the direction of the twelfth arrow OPP2, the actuating pulley 262, the seventeenth pulley 227, the nineteenth pulley 229, etc. and the second wire 302 wound thereon rotate as a whole about the sixth rotation axis 246. At this time, since the second wire 302 and the sixth wire 306, which are the second jaw wires, are wound under the nineteenth pulley 229 and the twentieth pulley 230, they move in the direction of the thirteenth arrow W2. As a result, the second jaw 1102 of the end effector 1100 rotates in the direction of the fourteenth arrow EPP2.

[0152] Therefore, the actuation operation, the yaw operation, and the pitch operation can be operated independently of each other.

[0153] (Actuating Lever Action)

[0154] Figure 12 and Figure 13 is a perspective view showing the movement of the actuating lever of the electrosurgical instrument 10 shown in Figure 1 FIG. 14 and FIG. 15 are views showing the movement of the wires when the actuating lever of the electrosurgical instrument 10 shown in Figure 1 moves.

[0155] Figure 12 is the state after removing the housing of the electrosurgical instrument 10 shown in Figure 1 , showing the state where the actuating lever 261 is not actuated. Figure 13 is the state after removing the housing of the electrosurgical instrument 10 shown in Figure 1 , showing the state where the actuating lever 261 is actuated.

[0156] Refer to Figure 12 and Figure 13 , in the electrosurgical instrument 10 according to an embodiment of the present invention, with the palm grasping the handle 204 and the fingers placed in the actuating lever 261, the actuating pulley 262 can be rotated by pulling the actuating lever 261 toward the handle 204 side. That is, the actuation operation can be performed by operating one lever.

[0157] Figure 14A is a side view showing the wires in the actuating pulley 262 of the electrosurgical instrument 10 shown in Figure 1 , Figure 14B is a plan view showing the wires in the end effector 1100. Figure 15A is a side view showing the movement of the wires in the actuating pulley 262 when the actuating lever is actuated. Figure 15B is a plan view showing the movement of the wires in the end effector 1100.

[0158] Refer to Figure 5, FIGS. 14 and 15, in the surgical instrument 10 according to an embodiment of the present invention, since the first wire 301 and the fifth wire 305 as the first jaw wires and the second wire 302 and the sixth wire 306 as the second jaw wires are all coupled to one actuating pulley 262, the arrangement of each wire can be appropriately configured so that the movement of each wire can be changed only by the rotation of one pulley. That is, the actuating lever 261 rotates the actuating pulley 262 in one direction, so that the first jaw 1101 and the second jaw 1102 can rotate in different directions from each other. In other words, according to the rotation of the actuating pulley 262, the first jaw 1101 and the second jaw 1102 can perform an opening or closing operation.

[0159] Specifically, the first wire 301 and the fifth wire 305 as the first jaw wires can be wound around the actuating pulley 262 in opposite directions to each other. For example, as Figure 5 shown, the first wire 301 can be wound in the counterclockwise direction, while the fifth wire 305 can be wound in the clockwise direction. Similarly, the second wire 302 and the sixth wire 306 as the second jaw wires can be wound around the actuating pulley 262 in opposite directions to each other. For example, as Figure 5 shown, the second wire 302 can be wound in the clockwise direction, while the sixth wire 306 can be wound in the counterclockwise direction.

[0160] At this time, when the actuating pulley 262 rotates in the counterclockwise direction, the first wire 301 is wound around the actuating pulley 262, and the fifth wire 305 is unwound therefrom. Therefore, in the first jaw pulley 1111 of the end effector 1100, the first wire 301 is unwound therefrom, and the fifth wire 305 is wound thereon, so that the first jaw pulley 1111 of the end effector rotates in the counterclockwise direction.

[0161] In addition, when the actuating pulley 262 rotates in the counterclockwise direction, the sixth wire 306 is wound around the actuating pulley 262, and the second wire 302 is unwound therefrom. Therefore, in the second jaw pulley 1121 of the end effector 1100, the sixth wire 306 is unwound therefrom, and the second wire 302 is wound thereon, so that the second jaw pulley 1121 of the end effector rotates in the clockwise direction.

[0162] Similarly, when the actuating pulley 262 rotates in the clockwise direction, the first jaw pulley 1111 rotates in the clockwise direction, and the second jaw pulley 1121 rotates in the counterclockwise direction.

[0163] Accordingly, when the actuating pulley 262 rotates, the first jaw pulley 1111 and the second jaw pulley 1121 rotate in opposite directions to each other, so that the first jaw 1101 and the second jaw 1102 of the end effector 1100 open or close.

[0164] On the other hand, as described above, when the actuating lever 261 rotates in a direction approaching the handle 204, the actuating pulley 262 rotates together with the actuating lever 261, whereby the actuating operation of the end effector 1100 can be performed. As the rotation angle of the actuating lever 261 increases, the rotational force increases, and the tension of the wire disposed on the actuating pulley 262 also increases. That is, when the actuating lever 261 and the actuating pulley 262 rotate as a whole, the rotation angle of the actuating lever 261 is proportional to the tension of the wire disposed on the actuating pulley 262.

[0165] As the rotation angle of the actuating lever 261 increases, when the tension of the wire continues to increase, excessive tension may be applied to the wire, which may permanently stretch the wire or generate excessive internal force in the instrument.

[0166] In the present invention, an elastic member 266 is disposed between the actuating lever 261 and the actuating pulley 262 to adjust the rotational force transmitted to the actuating pulley 262, thereby preventing excessive actuating force from being applied to the end effector 1100. Hereinafter, the driving of the actuating pulley 262 and the elastic member 266 according to the operation of the actuating lever 261 will be described.

[0167] Figure 16 and Figure 17 is an exploded perspective view of the actuating lever 261 and the actuating pulley 262 of the electrosurgical instrument 10 shown Figure 1 therein. Figures 18 to 20 is a view showing Figure 1 the operation process of the actuating lever 261 of the electrosurgical instrument 10 shown

[0168] Referring to Figures 16 to 20 , the actuating lever 261 and the actuating pulley 262 can be coupled to each other. The actuating lever 261 and the actuating pulley 262 can rotate as a whole or relatively rotate by being coupled to each other.

[0169] The actuating lever 261 may include a first lever portion 2613 and a second lever portion 2614 extending from the first lever portion 2613. The actuating lever 261 can be rotated by a user's manipulation, so that the actuating pulley 262 can be rotated.

[0170] The first lever portion 2613 is defined as an area where the user can insert a finger in the actuating lever 261. The first lever portion 2613 may be formed in a shape of a hand ring, and the user can rotate the actuating lever 261 in a state where the finger is inserted into the first lever portion 2613.

[0171] Define the second rod portion 2614 as the area combined with the actuating pulley 262. The second rod portion 2614 can be formed into various shapes capable of being assembled with the actuating pulley 262. For example, as Figure 16 and Figure 17 shown, the second rod portion 2614 can have one or more assembly holes AH. The second rod portion 2614 can have a first assembly hole AH1 at the center and a plurality of second assembly holes AH2 arranged around the first assembly hole AH1. The assembly protrusions AP of the actuating pulley 262, which will be described later, are inserted into the assembly holes AH2, enabling the stable combination of the actuating rod 261 and the actuating pulley 262.

[0172] The elastic member 266 can be placed on the second rod portion 2614. The second rod portion 2614 can have a second placement surface CS2 where the first pulley body 2621 is placed, and on the second placement surface CS2, the elastic member 266 can be arranged between the first pulley body 2621 and the second rod portion 2614.

[0173] The second rod portion 2614 can have a pressing protrusion PP. The pressing protrusion PP can be formed to protrude from the second placement surface CS2 towards the center of the second rod portion 2614. That is, based on the combined state of the actuating rod 261 and the actuating pulley 262, the pressing protrusion PP can be formed to protrude towards the actuating pulley 262.

[0174] The pressing protrusion PP can support one side of the elastic member 266 arranged on the second placement surface CS2. That is, the pressing protrusion PP can receive a predetermined reaction force from the elastic member 266 by supporting the elastic member 266. In addition, as the actuating rod 261 rotates, the pressing protrusion PP can apply a rotational force to the elastic member 266.

[0175] One or more pressing protrusions PP can be provided. When one elastic member 266 is arranged on the second rod portion 2614, the second rod portion 2614 can have one pressing protrusion PP. On the other hand, when a plurality of elastic members 266 are arranged on the second rod portion 2614, the second rod portion 2614 can have pressing protrusions PP corresponding to the number of the elastic members 266. That is, even if a plurality of pressing protrusions PP are arranged, one elastic member 266 can be supported respectively.

[0176] One or more wires can be arranged on the actuating pulley 262. As described above, the first wire 301, the second wire 302, the fifth wire 305, and the sixth wire 306 for the actuating action of the end effector 1100 can be arranged on the actuating pulley 262. In addition, a wire fastener 510 to which the wire is fastened can be combined with one side of the actuating pulley 262, and the wire fastened to the wire fastener 510 can be stably arranged along the outer circumferential surface of the actuating pulley 262.

[0177] The actuating pulley 262 may have an assembly protrusion AP. The assembly protrusion AP may be inserted into the assembly hole AH2 of the actuating rod 261, whereby the actuating rod 261 and the actuating pulley 262 can be stably coupled. However, the present application is not limited thereto, and the actuating pulley 262 may be formed in various shapes capable of being assembled with the actuating rod 261.

[0178] The actuating pulley 262 may be coupled to the actuating rod 261 by being formed as a single member, or may be formed as a plurality of members that are respectively assembled into the actuating rod 261. On the other hand, hereinafter, an embodiment in which the actuating pulley 262 has a first pulley body 2621 and a second pulley body 2622 will be mainly described. The first pulley body 2621 and the second pulley body 2622 may be respectively assembled to one side and the other side of the actuating rod 261.

[0179] The first pulley body 2621 may have a coupling groove GR. The coupling groove GR is formed on one side of the first pulley body 2621, and the wire fastener 510 may be disposed in the coupling groove GR. Thus, the wire fastener 510 and the actuating pulley 262 can push or pull the wire by rotating together.

[0180] The first pulley body 2621 may have a first assembly protrusion AP1. The first assembly protrusion AP1 protrudes from one side of the first pulley body 2621 so as to be inserted into the first assembly hole AH1 of the actuating rod 261. At this time, as Figure 16 shown, the first assembly protrusion AP1 may be formed as a single member, or may be formed as a plurality of protrusions.

[0181] The first pulley body 2621 has a first seating surface CS1 for seating the elastic member 266, and the elastic member 266 may be arranged to be elastically deformed between the first seating surface CS1 and the second seating surface CS2 of the second rod portion 2614.

[0182] The first pulley body 2621 may have a support protrusion SP. Based on the coupled state of the actuating rod 261 and the actuating pulley 262, the support protrusion SP may be formed to protrude from the first seating surface CS1 toward the second seating surface CS2.

[0183] The support protrusion SP may support the other side of the elastic member 266 disposed between the first seating surface CS1 and the second seating surface CS2. That is, the support protrusion SP may receive a predetermined reaction force from the elastic member 266 by supporting the elastic member 266.

[0184] The second pulley body 2622 may have a coupling groove GR. Similar to the first pulley body 2621, the coupling groove GR is formed on one side of the second pulley body 2622 so that the wire fastener 510 can be placed in the coupling groove GR. Thus, the wire fastener 510 and the actuating pulley 262 can push or pull the wire by rotating together.

[0185] The second pulley body 2622 may have a second assembly protrusion AP2 and a third assembly protrusion AP3.

[0186] The second assembly protrusion AP2 protrudes from the central region of the second pulley body 2622 so that it can be inserted into the first assembly hole AH1 of the actuating rod 261. In addition, the first assembly protrusion AP1 can be inserted into the second assembly protrusion AP2. For example, the second assembly protrusion AP2 can be formed as an annular single protrusion or a plurality of protrusions that can be arranged radially. As described above, the second assembly protrusion AP2 can be formed such that the first assembly protrusion AP1 can be inserted into its center, thereby improving the coupling stability between the actuating rod 261, the first pulley body 2621, and the second pulley body 2622.

[0187] The third assembly protrusion AP3 is arranged to surround the second assembly protrusion AP2 so that it can be inserted into the second assembly hole AH2 of the actuating rod 261. At this time, the width of the third assembly protrusion AP3 can be formed to be smaller than the width of the second assembly hole AH2 so that the actuating pulley 262 can rotate relative to the actuating rod 261.

[0188] The elastic member 266 can be arranged between the actuating rod 261 and the actuating pulley 262. The elastic member 266 transmits at least a part of the rotational force received from the actuating rod 261 to the actuating pulley 262, so that the actuating pulley 262 can rotate according to the rotation of the actuating rod 261.

[0189] The elastic member 266 can be various elastically deformable members. For example, the elastic member 266 can be a compression spring. In this case, the elastic coefficient of the compression spring can be variously selected.

[0190] One side of the elastic member 266 is supported by the pressing protrusion PP of the actuating rod 261, and the other side is supported by the actuating pulley 262, specifically by the support protrusion SP of the first pulley body 2621. At this time, the elastic member 266 can be arranged in a predetermined compressed state or can be formed as a member having a sufficient elastic coefficient so that it can be arranged in a state having a restoring force between the pressing protrusion PP and the support protrusion SP. Thus, the elastic member 266 can transmit the rotational force received from the pressing protrusion PP to the support protrusion SP, and when the actuating rod 261 rotates, the actuating pulley 262 can rotate relative to the actuating rod 261 according to the magnitude of the rotational force.

[0191] One or more elastic members 266 may be provided. When one elastic member 266 is provided, a pressing protrusion PP and a supporting protrusion SP are also provided. On the other hand, when a plurality of elastic members 266 are provided, the numbers of the pressing protrusion PP and the supporting protrusion SP may respectively correspond to the number of the elastic members 266. Since both sides of the elastic member 266 are supported by the pressing protrusion PP and the supporting protrusion SP, the elastic member 266 is arranged between the pressing protrusion PP and the supporting protrusion SP in a state having a restoring force. When the actuating operation portion 203 has a plurality of elastic members 266, the restoring force of the elastic members 266 and the force applied to the pressing protrusion PP and the supporting protrusion SP therefrom can be dispersed. Thus, the actuating operation portion 203 can be driven with a stable structure.

[0192] In an embodiment in which the actuating operation portion 203 has a plurality of elastic members 266, the plurality of elastic members 266 may be arranged at a predetermined interval from the actuating rod 261 and the actuating pulley 262. Additionally, correspondingly, a plurality of pressing protrusions PP and a plurality of supporting protrusions SP may also be arranged at equal intervals.

[0193] As an alternative embodiment, between the actuating rod 261 and the actuating pulley 262, the plurality of elastic members 266 may be arranged symmetrically spaced apart around the actuating first rotation axis 241. Correspondingly, a plurality of pressing protrusions PP and a plurality of supporting protrusions SP may also be respectively arranged at a constant interval.

[0194] As described above, since the plurality of elastic members 266 are arranged spaced apart at a constant interval, the restoring force of the elastic members 266 can be effectively dispersed, and the structural stability of the actuating operation portion 203 can be improved.

[0195] In the present invention, the shape, material, etc. of the elastic member 266 can be variously set. The number of the elastic members 266 included in the actuating operation portion 203 can also be variously set. The present invention can adjust the rotational force transmitted from the actuating rod 261 to the actuating pulley 262 by appropriately selecting the specifications and the number of the elastic members 266.

[0196] Specifically, the elastic member 266 may be assembled between the actuating rod 261 and the actuating pulley 262 in a state of elastic deformation. That is, the elastic member 266 is arranged to have a predetermined restoring force for elastic deformation, and this restoring force is transmitted to the actuating rod 261 and the actuating pulley 262 through the pressing protrusion PP and the supporting protrusion SP, respectively.

[0197] When a predetermined external force is applied to the elastic member 266 as the actuating lever 261 rotates, the operation of the elastic member 266 can vary according to the magnitude of the external force. When the external force applied to the elastic member 266 is less than the restoring force of the elastic member 266, since the external force is less than the force required to further deform the elastic member 266, no additional deformation occurs in the elastic member 266. On the contrary, when the external force applied to the elastic member 266 is greater than the restoring force of the elastic member 266, the external force can cause the elastic member 266 to further deform.

[0198] The restoring force of the elastic member 266 is proportional to the amount of elastic deformation of the elastic member 266. Therefore, when the elastic member 266 is further deformed due to an external force, the restoring force of the elastic member 266 also increases. During this process, since a part of the external force applied to the elastic member 266 is dispersed, the restoring force possessed by the elastic member 266 can be used as a threshold value capable of adjusting a rotational force equal to or greater than a predetermined magnitude. This threshold value can vary according to the material and shape of the elastic member 266, etc. In addition, the actuating operation unit 203 has a plurality of elastic members 266 so as to be able to change the total restoring force of the elastic members 266, thereby setting an appropriate threshold value.

[0199] On the other hand, hereinafter, the operation of the actuating lever will be mainly described through an embodiment in which the actuating operation unit 203 of the electrosurgical instrument 10 of the present invention includes four elastic members, and these four elastic members are the first elastic member 2661, the second elastic member 2662, the third elastic member 2663, and the fourth elastic member 2664. Therefore, the actuating lever 261 can have a first pressing protrusion PP1, a second pressing protrusion PP2, a third pressing protrusion PP3, and a fourth pressing protrusion PP4, and the actuating pulley 262 has a first support protrusion SP1, a second support protrusion SP2, a third support protrusion SP3, and a fourth support protrusion SP4.

[0200] Next, referring to Figures 18 to 20 , the operation of the elastic member 266 and the actuating pulley 262 according to the rotation of the actuating lever 261 will be described.

[0201] First, regarding the rotation of the actuating lever 261 in this specification, in the initial state, the tangent line on the side of the actuating lever 261 in contact with the actuating first rotation axis 241 is defined as the lever reference axis LX. In addition, in the rotated state, the tangent line on the side of the actuating lever 261 in contact with the actuating first rotation axis 241 is defined as the lever line LL. Therefore, the angle between the lever reference axis LX and the lever line LL corresponds to the rotation angle of the actuating lever 261.

[0202] Similarly, regarding the rotation of the actuating pulley 262 in this specification, in the initial state, the tangent line on the side of the actuating first rotating shaft 241 that contacts the wire fastener 510 is defined as the pulley reference axis PX. Additionally, in the rotating state, the tangent line on the side of the actuating first rotating shaft 241 that contacts the wire fastener 510 is defined as the pulley line PL. Therefore, the angle between the pulley reference axis PX and the pulley line PL corresponds to the rotation angle of the actuating pulley 262. Figure 18 The initial state before the actuating rod 261 rotates toward the handle 204 is shown.

[0203] In the initial state, one side of the first elastic member 2661 is supported by the first pressing protrusion PP1, while the other side is supported by the first support protrusion SP1. One side of the second elastic member 2662 is supported by the second pressing protrusion PP2, while the other side is supported by the second support protrusion SP2, and the third elastic member 2663 and the fourth elastic member 2664 are also supported by the third pressing protrusion PP3, the third support protrusion SP3, the fourth pressing protrusion PP4, and the fourth support protrusion SP4 in the same manner, respectively.

[0204] Since each elastic member 266 is arranged to be elastically deformed and have a predetermined restoring force state, a predetermined force is applied to the pressing protrusions PP and the support protrusions SP that support both sides. Therefore, in the initial state, the first pressing protrusion PP1 can be arranged to contact the second support protrusion SP2. Similarly, the second pressing protrusion PP2 is arranged to contact the third support protrusion SP3, the third pressing protrusion PP3 is arranged to contact the fourth support protrusion SP4, and the fourth pressing protrusion PP4 is arranged to contact the first support protrusion SP1. As described above, in the initial state, the actuating rod 261 and the actuating pulley 262 are combined such that the pressing protrusions PP contact the adjacent support protrusions SP.

[0205] Figure 19 The state in which the actuating rod 261 rotates by the first rotation angle θ1 toward the handle 204 is shown.

[0206] When the actuating rod 261 rotates toward the handle 204, the first pressing protrusion PP1 transmits the rotational force to the first elastic member 2661. When the actuating rod 261 rotates by the first rotation angle θ1, a first rotational force is generated. When the first rotational force is equal to or less than the threshold value, due to the restoring force of the first elastic member 2661, the first pressing protrusion PP1 rotates while being in contact with the second support protrusion SP2.

[0207] That is, when the actuating lever 261 rotates, if the rotational force applied to the elastic member 266 by the pressing projection PP is equal to or less than the threshold value, the elastic member 266 rotates together with the actuating lever 261 while maintaining the restoring force without undergoing elastic deformation. Therefore, the elastic member 266 transfers all the first rotational forces received from the pressing projection PP to the supporting projection SP. As a result, the actuating pulley 262 rotates the first rotational angle θ1 in the same manner as the actuating lever 261. Therefore, all the first rotational forces are transferred to the wire disposed on the actuating pulley 262, so that a tension corresponding to the first rotational force can be applied to the wire.

[0208] On the other hand, Figure 20 The state in which the actuating lever 261 rotates by the second rotational angle θ2 toward the handle 204 is shown.

[0209] When the actuating lever 261 rotates by the second rotational angle θ2, a second rotational force is generated. When the second rotational force is equal to or greater than the threshold value, the first elastic member 2661 may undergo elastic deformation. When the first pressing projection PP1 applies the second rotational force to the first elastic member 2661, the first elastic member 2661 is elastically compressed by a part of the second rotational force and transfers the remaining part of the second rotational force to the first supporting projection SP1. At this time, since the first elastic member 2661 is compressed, the first pressing projection PP1 may have a predetermined interval from the second supporting projection SP2.

[0210] That is, when the actuating lever 261 rotates, if the rotational force applied to the elastic member 266 by the pressing projection PP is greater than the threshold value, the elastic member 266 is elastically compressed by a part of the rotational force and rotates. Since the elastic member 266 transfers the remaining part of the rotational force to the supporting projection SP, the actuating pulley 262 rotates by a third rotational angle θ3, which is smaller than the second rotational angle θ2 of the actuating lever 261. Therefore, the remaining part of the second rotational force is transferred to the wire disposed on the actuating pulley 262, so that the tension applied to the wire can be reduced. Thus, the present invention can prevent mechanical damage to the instrument by avoiding excessive tension being applied to the wire.

[0211] In the electrosurgical instrument 10 according to an embodiment of the present invention, the elastic member 266 is disposed between the actuating lever 261 and the actuating pulley 262, so that the actuating pulley 262 can rotate relative to the actuating lever 261. That is, the elastic member 266 can adjust the rotational force transferred from the actuating lever 261 to the actuating pulley 262. Thereby, excessive tension can be prevented from being applied to the wire connected to the actuating pulley 262, and the stability of the power transmission structure of the instrument can be improved.

[0212] The instrument for electrocautery surgery according to the present invention has a structure that enables the relative rotation of the actuating rod and the actuating pulley through an elastic member, and can prevent excessive tension from being applied to the wire connected to the actuating pulley. Thereby, the stability of the end effector and the power transmission structure of the end effector can be improved, and mechanical damage to the instrument can be prevented.

[0213] So far, for the present invention, the preferred embodiments have been mainly described. Those of ordinary skill in the art to which the present invention pertains should understand that the present invention can be implemented in a modified form without departing from the essential features of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a restrictive perspective. The scope of the present invention is indicated in the claims rather than in the foregoing description, and all differences within the equivalent scope should be construed as being included in the present invention.

[0214]

Description of the Reference Numerals

[0215] 10: Surgical instrument 1100: End tool 200: Operating portion

[0216] 300: Power transmission portion

[0217] 400: Connection portion

Claims

1. An operating portion of a surgical instrument, which has a distal tool, comprising: a grippable handle; and an actuation operating portion formed on one side of the handle and adjusting the actuation movement of the distal tool, wherein, the actuation operating portion includes: an actuation lever rotatable about an actuation rotation axis; an actuation pulley on which one or more wires are arranged and which is coupled to the actuation lever to rotate according to the rotation of the actuation lever; and an elastic member arranged to be elastically deformed between the actuation lever and the actuation pulley and transmitting at least a part of the rotational force of the actuation lever to the actuation pulley.

2. The operating portion of the surgical instrument according to claim 1, wherein, in the elastic member, one end thereof is supported by a pressing protrusion of the actuation lever and the other end is supported by a support protrusion of the actuation pulley, and thus is arranged to have a state of a predetermined restoring force between the pressing protrusion and the support protrusion.

3. The operating portion of the surgical instrument according to claim 2, wherein, the elastic member rotates corresponding to the actuation lever and transmits the rotational force to the actuation pulley.

4. The operating portion of the surgical instrument according to claim 2, wherein, in the elastic member, when the rotational force received from the pressing protrusion is greater than a threshold value, the elastic member is elastically compressed by a part of the rotational force and transmits the remaining part of the rotational force to the actuation pulley.

5. The operating portion of the surgical instrument according to claim 2, wherein, the elastic member adjusts the rotational force received from the pressing protrusion when the actuation lever rotates according to the predetermined restoring force.

6. The operating portion of the surgical instrument according to claim 5, wherein, in the elastic member, when the actuation lever rotates, if the rotational force received from the pressing protrusion is greater than the restoring force, the elastic member is elastically deformed.

7. The operating portion of the surgical instrument according to claim 1, wherein, the actuation lever has a pressing protrusion protruding toward the actuation pulley, the actuation pulley has a support protrusion protruding toward the actuation lever, and the elastic member is arranged between the pressing protrusion and the support protrusion.

8. The operating portion of the surgical instrument according to claim 7, wherein, the actuation lever has a plurality of pressing protrusions, and the plurality of pressing protrusions are arranged at a predetermined interval.

9. The operating portion of the surgical instrument according to claim 1, wherein, in the actuation pulley, when the actuation lever rotates, the actuation pulley transmits at least a part of the rotational force of the actuation lever received from the elastic member to the wire.

10. The operating portion of the surgical instrument according to claim 9, wherein, the actuation pulley rotates corresponding to the actuation lever and transmits the rotational force to the wire.

11. The operating portion of the surgical instrument according to claim 9, wherein, in the actuation pulley, when the rotational force of the actuation lever is greater than a threshold value, the actuation pulley transmits a part of the rotational force received to the wire.

12. An instrument for electrocautery surgery, comprising: A distal tool that can rotate in at least one direction; An operating part that includes a graspable handle and an actuation operating part, the actuation operating part being formed on one side of the handle and adjusting the actuation movement of the distal tool; And A power transmission part that includes an actuation wire connecting the distal tool and the actuation operating part and transmits force from the actuation operating part to the distal tool, wherein, The actuation operating part includes: An actuation rod that can rotate around an actuation rotation axis; An actuation pulley on which the actuation wire is arranged and is coupled to the actuation rod to rotate according to the rotation of the actuation rod; and An elastic member that is arranged to be elastically deformed between the actuation rod and the actuation pulley and transmits at least a part of the rotational force of the actuation rod to the actuation pulley.

13. The instrument for electrocautery surgery according to claim 12, wherein, In the elastic member, One end thereof is supported by a pressing protrusion of the actuation rod, and the other end is supported by a supporting protrusion of the actuation pulley, so as to be arranged in a state having a predetermined restoring force between the pressing protrusion and the supporting protrusion.

14. The instrument for electrocautery surgery according to claim 13, wherein, The elastic member rotates corresponding to the actuation rod and transmits the rotational force to the actuation pulley.

15. The instrument for electrocautery surgery according to claim 13, wherein, In the elastic member, When the rotational force received from the pressing protrusion is greater than a threshold value, the elastic member is elastically compressed by a part of the rotational force and transmits the remaining part of the rotational force to the actuation pulley.

16. The instrument for electrocautery surgery according to claim 13, wherein, The elastic member adjusts the rotational force received from the pressing protrusion when the actuation rod rotates according to the predetermined restoring force.

17. The instrument for electrocautery surgery according to claim 16, wherein, In the elastic member, When the actuation rod rotates, if the rotational force received from the pressing protrusion is greater than the restoring force, the elastic member undergoes elastic deformation.

18. The instrument for electrocautery surgery according to claim 12, wherein, The actuation rod has a pressing protrusion protruding toward the actuation pulley, The actuation pulley has a supporting protrusion protruding toward the actuation rod, The elastic member is arranged between the pressing protrusion and the supporting protrusion.

19. The instrument for electrocautery surgery according to claim 18, wherein, The actuation rod has a plurality of pressing protrusions, The plurality of pressing protrusions are arranged at a predetermined interval.

20. The instrument for electrocautery surgery according to claim 12, wherein, In the actuation pulley, When the actuation rod rotates, the actuation pulley transmits at least a part of the rotational force of the actuation rod received from the elastic member to the wire.

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