End tool of surgical instrument

Abstract

One embodiment of the present invention provides a tip tool for a surgical instrument, the tip tool comprising: a tip tool hub part, the first clamp part combination pulley, the second clamp part combination pulley, the first clamp part auxiliary pulley assembly and the second clamp part auxiliary pulley assembly are rotatably arranged at the end tool hub part; the end tool hub portion guides a path of the first clamp portion first wire portion and the first clamp portion second wire portion extending from the first clamp portion auxiliary pulley assembly to one side of a virtual first reference surface. And guides a path of the second jaw first wire portion and the second jaw second wire portion extending from the second jaw auxiliary pulley assembly to the other side of the first reference surface.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2024-0139781, filed with the Korean Intellectual Property Office on October 14, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to an end effector for surgical instruments, specifically, to an end effector for surgical instruments mounted on a robotic arm for laparoscopic surgery or various other surgeries, or to surgical instruments that can be manually operated. Background Technology

[0004] In medicine, surgery refers to the cutting, incision, or manipulation of the skin, mucous membranes, or other tissues using medical devices to treat diseases. In particular, open surgery, which involves cutting the skin at the surgical site to treat, reshape, or remove internal organs, can lead to problems such as bleeding, side effects, patient suffering, and scarring. Therefore, in recent years, surgeries performed by inserting medical devices (e.g., laparoscopes, surgical instruments, microsurgical microscopes) through pre-defined incisions in the skin, or surgeries performed using robots, have gained significant attention as alternatives.

[0005] Surgical instruments are tools that use a prescribed drive unit to operate on surgical sites by means of an end effector, either directly by the surgeon's hand or by a robotic arm. The end effector is positioned at one end of a shaft that passes through a perforation in the skin. The end effector of a surgical instrument performs rotational, gripping, and cutting actions through a prescribed structure.

[0006] However, the inflexible end-effectors of traditional surgical instruments cause inconvenience in accessing the surgical site and performing various surgical maneuvers. While flexible end-effectors have been developed to overcome this deficiency, the operation of the control unit for bending the end or performing surgical maneuvers lacks an intuitive match with the actual bending or maneuvering of the end-effector. This makes it difficult for surgeons to operate them intuitively and requires a considerable amount of time to master their use.

[0007] The aforementioned background technology refers to technical information that the inventors acquired or obtained during the derivation of this invention, and is not necessarily publicly known technology disclosed to the general public before the application for this invention. Summary of the Invention

[0008] The present invention provides an end effector for a surgical instrument for laparoscopic surgery or various other surgeries. The end effector is mounted on a robotic arm or can be manually operated. The end effector can extend the rotation radius of the forceps by adjusting the path arrangement of the forceps cords.

[0009] An embodiment of the present invention provides an end effector for a surgical instrument, the end effector comprising: a first jaw and a second jaw, which are rotatable independently of each other; a first jaw coupling pulley, which is coupled to the first jaw and to a first jaw cord having a first cord portion and a second cord portion; a second jaw coupling pulley, which is coupled to the second jaw and to a second jaw cord having a second cord portion and a second cord portion; a first jaw auxiliary pulley assembly for winding the first jaw cord extending from the first jaw coupling pulley and for adjusting the path of the first cord portion and the second cord portion; and a second jaw auxiliary pulley assembly for winding the first jaw cord extending from the first jaw coupling pulley. The second clamping section is wound with a second clamping section rope extending from the second clamping section pulley, and the paths of the first clamping section rope and the second clamping section rope are adjusted; and an end tool hub is provided, wherein the first clamping section pulley, the second clamping section pulley, the first clamping section auxiliary pulley assembly, and the second clamping section auxiliary pulley assembly are rotatably arranged in the end tool hub, the end tool hub guiding the paths of the first clamping section rope and the first clamping section rope extending from the first clamping section auxiliary pulley assembly to one side of a virtual first reference plane, and guiding the paths of the second clamping section rope and the second clamping section rope extending from the second clamping section auxiliary pulley assembly to the other side of the first reference plane.

[0010] In one embodiment of the present invention, the first clamp auxiliary pulley assembly may be equipped with: a first clamp first auxiliary pulley that guides the first clamp first rope portion to one side of the first reference surface and guides the first clamp second rope portion to the other side of the first reference surface, wherein the first clamp first rope portion is wound around the first clamp connecting pulley and extends on the other side based on the first reference surface, and the first clamp second rope portion is wound around the first clamp connecting pulley and extends on the one side based on the first reference surface; the second clamp auxiliary pulley assembly may be equipped with: a second clamp first auxiliary pulley that guides the second clamp first rope portion to one side of the first reference surface and guides the second clamp second rope portion to the other side of the first reference surface, wherein the second clamp first rope portion is wound around the second clamp connecting pulley and extends on the other side based on the first reference surface, and the second clamp second rope portion is wound around the second clamp connecting pulley and extends on the one side based on the first reference surface.

[0011] In one embodiment of the present invention, the end tool hub may include: a first main guide groove formed on one side based on the first reference surface and guiding the path of the second cord portion of the first clamp extending from the first auxiliary pulley of the first clamp; and a second main guide groove formed on the other side based on the first reference surface and guiding the path of the first cord portion of the second clamp extending from the first auxiliary pulley of the second clamp.

[0012] In one embodiment of the present invention, the first clamp auxiliary pulley assembly may further be equipped with: a first clamp guide pulley, rotatably coupled to the end tool hub, and guiding the path of the second cord portion of the first clamp extending from the first clamp first auxiliary pulley to one side of the first reference surface; the second clamp auxiliary pulley assembly may further be equipped with: a second clamp guide pulley, rotatably coupled to the end tool hub, and guiding the path of the first cord portion of the second clamp extending from the second clamp first auxiliary pulley to one side of the first reference surface.

[0013] In one embodiment of the present invention, the first clamp auxiliary pulley assembly may be equipped with: a first clamp second-2 auxiliary pulley, arranged on one side based on the first reference plane, for winding the first clamp first rope portion that is wound around the first clamp connecting pulley and extending therefrom, and a second clamp second rope portion arranged on the other side based on the first reference plane, for winding around the first clamp connecting pulley and extending therefrom; the second clamp auxiliary pulley assembly may be equipped with: a second clamp second-2 auxiliary pulley, arranged on one side based on the first reference plane, for winding the second clamp first rope portion that is wound around the second clamp connecting pulley and extending therefrom, and a second clamp second rope portion arranged on the other side based on the first reference plane, for winding around the second clamp connecting pulley and extending therefrom.

[0014] In one embodiment of the present invention, the first clamp 2-1 auxiliary pulley and the second clamp 2-1 auxiliary pulley can be rotatably coupled to a first auxiliary shaft arranged in the end tool hub, and the first clamp 2-2 auxiliary pulley and the second clamp 2-2 auxiliary pulley can be rotatably coupled to a second auxiliary shaft arranged in the end tool hub.

[0015] In one embodiment of the present invention, the first clamp 2-1 auxiliary pulley and the first clamp 2-2 auxiliary pulley may be arranged at different heights from the virtual second reference plane to avoid mutual interference; the second clamp 2-1 auxiliary pulley and the second clamp 2-2 auxiliary pulley may be arranged at different heights from the second reference plane to avoid mutual interference.

[0016] In one embodiment of the present invention, the first clamp portion 2-1 auxiliary pulley and the first clamp portion 2-2 auxiliary pulley may be arranged at an angle to avoid mutual interference, and the second clamp portion 2-1 auxiliary pulley and the second clamp portion 2-2 auxiliary pulley may be arranged at an angle to avoid mutual interference.

[0017] In one embodiment of the present invention, the end tool hub may include: a first main guide groove formed on one side based on the first reference surface, and guiding the path of the second cord portion of the first clamp extending from the second auxiliary pulley of the first clamp; and a second main guide groove formed on the other side based on the first reference surface, and guiding the path of the first cord portion of the second clamp extending from the second auxiliary pulley of the second clamp.

[0018] In one embodiment of the present invention, the first clamp auxiliary pulley assembly may further be equipped with: a first clamp guide pulley, rotatably coupled to the end tool hub, and guiding the path of the second cord portion of the first clamp extending from the first clamp second-2 auxiliary pulley to one side of the first reference surface; the second clamp auxiliary pulley assembly may further be equipped with: a second clamp guide pulley, rotatably coupled to the end tool hub, and guiding the path of the first cord portion of the second clamp extending from the second clamp second-1 auxiliary pulley to the other side of the first reference surface.

[0019] In one embodiment of the present invention, the first clamp auxiliary pulley assembly may be equipped with: a first clamp third auxiliary pulley, which guides the first cord portion of the first clamp to one side of the first reference surface and guides the second cord portion of the first clamp to one side of the first reference surface, wherein the first cord portion of the first clamp is wound around the first clamp connecting pulley and extends on the other side based on the first reference surface, and the second cord portion of the first clamp is wound around the first clamp connecting pulley and extends on the other side based on the first reference surface; the second clamp auxiliary pulley assembly may be equipped with: a second clamp third auxiliary pulley, which guides the first cord portion of the second clamp to the other side of the first reference surface and guides the second cord portion of the second clamp to the other side of the first reference surface, wherein the first cord portion of the second clamp is wound around the second clamp connecting pulley and extends on the other side based on the first reference surface, and the second cord portion of the second clamp is wound around the second clamp connecting pulley and extends on the other side based on the first reference surface.

[0020] An embodiment of the present invention provides an end-effector for a surgical instrument, comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw coupling pulley, coupled to the first jaw and to a first jaw cord having a first cord portion and a second cord portion; a second jaw coupling pulley, coupled to the second jaw and to a second jaw cord having a first cord portion and a second cord portion; and an end-effector hub, wherein the first jaw coupling pulley and the second jaw coupling pulley are rotatably arranged in the end-effector hub, guiding the first jaw cord to one side of a virtual first reference plane, guiding the second jaw cord to the other side of the first reference plane, and adjusting the paths of the first jaw cord and the first jaw cord to intersect each other, and adjusting the paths of the second jaw cord and the second jaw cord to intersect each other.

[0021] In one embodiment of the invention, the end-tool hub may be equipped with: a hub body; and a hub guide connecting a pair of hub extensions extending from the hub body and opposite to each other. The hub guide body may include: a first-1 auxiliary guide groove that guides the path of the first cord portion of the first clamp to one side of the first reference surface, wherein the first cord portion of the first clamp is wound around the first clamp connecting pulley and extends on the other side based on the first reference surface; a first-2 auxiliary guide groove that guides the path of the second cord portion of the first clamp to the other side of the first reference surface, wherein the second cord portion of the first clamp is wound around the first clamp connecting pulley and extends on the one side based on the first reference surface; a second-1 auxiliary guide groove that guides the path of the first cord portion of the second clamp to one side of the first reference surface, wherein the first cord portion of the second clamp is wound around the second clamp connecting pulley and extends on the other side based on the first reference surface; and a second-2 auxiliary guide groove that guides the path of the second cord portion of the second clamp to the other side of the first reference surface, wherein the second cord portion of the second clamp is wound around the second clamp connecting pulley and extends on the one side based on the first reference surface.

[0022] In one embodiment of the present invention, the first-1 auxiliary guide groove and the first-2 auxiliary guide groove may be arranged at different heights from the virtual second reference plane, and the second-1 auxiliary guide groove and the second-2 auxiliary guide groove may be arranged at different heights from the second reference plane.

[0023] In one embodiment of the present invention, the hub body may include: a first main guide groove formed on one side based on the first reference plane and guiding the path of the second cord portion of the first clamp extending from the first-2 auxiliary guide grooves; and a second main guide groove formed on the other side based on the first reference plane and guiding the path of the first cord portion of the second clamp extending from the second-1 auxiliary guide groove.

[0024] In one embodiment of the present invention, the end tool of the surgical instrument may further include: a first clamp guide pulley, rotatably coupled to the pivot body, and guiding the path of the second cord portion of the first clamp extending from the first-2 auxiliary guide groove to one side of the first reference surface; and a second clamp guide pulley, rotatably coupled to the pivot body, and guiding the path of the first cord portion of the second clamp extending from the second-1 auxiliary guide groove to the other side of the first reference surface.

[0025] An embodiment of the present invention provides an end-effector for a surgical instrument, comprising: a first jaw and a second jaw, which are rotatable independently of each other; the first jaw being coupled with a pulley, coupled to the first jaw and to a first jaw cord having a first cord portion and a second cord portion; the second jaw being coupled with a pulley, coupled to the second jaw and to a second jaw cord having a first cord portion and a second cord portion; an end-effector hub, wherein the first jaw and the second jaw are rotatably arranged; and a cord guiding assembly, which guides the first jaw cord to extend from one side of a virtual first reference plane to the outside of the end-effector hub by adjusting the paths of the first and second jaw cord portions within the end-effector hub, and guides the second jaw cord to extend from the other side of the first reference plane to the outside of the end-effector hub by adjusting the paths of the first and second jaw cord portions within the end-effector hub.

[0026] In one embodiment of the invention, the cord guiding assembly may be equipped with: a first clamping unit that adjusts the paths of the first cord portion of the first clamp and the second cord portion of the first clamp to intersect each other within the end tool hub; and a second clamping unit that adjusts the paths of the first cord portion of the second clamp and the second cord portion of the second clamp to intersect each other within the end tool hub.

[0027] Other aspects, features, and advantages besides those described above will become apparent from the following drawings, claims, and detailed description of the invention. Attached Figure Description

[0028] Figure 1A It is a conceptual diagram of the pitching and bending motion of traditional surgical instruments. Figure 1B This is a concept diagram of yaw maneuvers.

[0029] Figure 1C This is a conceptual diagram of the pitching motion of another traditional surgical instrument. Figure 1D This is a concept diagram of yaw maneuvers.

[0030] Figure 1E This is a conceptual diagram of the pitching motion of a surgical instrument according to the present invention. Figure 1F This is a concept diagram of yaw maneuvers.

[0031] Figure 2 This is a perspective view showing a surgical instrument according to an embodiment of the present invention.

[0032] Figure 3 yes Figure 2 A side view of the surgical instruments.

[0033] Figure 4 and Figure 5 This is a perspective view showing the end-effector of a surgical instrument according to an embodiment of the present invention.

[0034] Figure 6 It is shown Figure 4 A three-dimensional view of the end-effector of a surgical instrument.

[0035] Figure 7 This is a top view showing the end effector of a conventional surgical instrument.

[0036] Figure 8 It is shown Figure 4 A top view of the end effector of a surgical instrument.

[0037] Figure 9 It is a conceptual representation Figure 4 A diagram of the cord-guided structure of the end tool of a surgical instrument.

[0038] Figure 10 and Figure 11 This is a perspective view showing the end-effector of a surgical instrument according to another embodiment of the present invention.

[0039] Figure 12 It is shown Figure 10 A top view of the end effector of a surgical instrument.

[0040] Figure 13 and Figure 14 It is a conceptual representation Figure 10 A diagram of the cord-guided structure of the end tool of a surgical instrument.

[0041] Figures 15 to 17 It is shown Figure 13 A diagram illustrating a variation of the cord-guided structure of the end tool of a surgical instrument.

[0042] Figure 18 and Figure 19 This is a perspective view showing the end-effector of a surgical instrument according to yet another embodiment of the present invention.

[0043] Figure 20 It is shown Figure 18 A top view of the end effector of a surgical instrument.

[0044] Figure 21 It is shown Figure 18 A three-dimensional diagram consisting of a portion of the end-effector of a surgical instrument.

[0045] Figure 22 It is a conceptual representation Figure 18 A diagram of the cord-guided structure of the end tool of a surgical instrument.

[0046] Figure 23 and Figure 24 This is a perspective view showing the end-effector of a surgical instrument according to yet another embodiment of the present invention.

[0047] Figure 25 It is shown Figure 23 A three-dimensional view of the end-effector of a surgical instrument.

[0048] Figure 26 It is a conceptual representation Figure 23 A diagram of the cord-guided structure of the end tool of a surgical instrument.

[0049] Figure 27 It is shown Figure 23 A diagram illustrating a variation of the cord-guided structure of the end tool of a surgical instrument.

[0050] Figure 28 and Figure 29 It is shown Figure 2 A diagram of the operating section of surgical instruments.

[0051] Figure 30 This is only an illustrative representation. Figure 28 The diagram shown illustrates the configuration of pulleys and cords in a joint of a surgical instrument according to an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached figures

[0053] 100: Surgical instruments

[0054] 110: Operations Department

[0055] 120: End-effector

[0056] 130: Power Transmission Section

[0057] 140: Connecting part Detailed Implementation

[0058] The following embodiments will be described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, the same or corresponding constituent elements will be given the same reference numerals, and repeated descriptions thereof will be omitted.

[0059] Since various modifications can be made to this embodiment, specific embodiments will be shown in the accompanying drawings and described in detail in the accompanying description. The effects and features of this embodiment, as well as the methods of implementing them, will become clear with reference to the detailed description and accompanying drawings that follow. However, this embodiment is not limited to the embodiments disclosed below, but can be implemented in many other forms.

[0060] In describing this invention, detailed descriptions will be omitted if it is determined that specific descriptions of known technologies may obscure the essence of this invention.

[0061] Unless the context clearly indicates otherwise, in the following embodiments, singular expressions include plural expressions. While terms such as “first” and “second” may be used to describe multiple constituent elements, the constituent elements should not be limited by these terms. The terms are used only for the purpose of distinguishing one constituent element from another.

[0062] In the following embodiments, terms such as "comprising" or "having" mean that the features or constituent elements described in the specification are present, without pre-excluding the possibility of adding more than one other feature or constituent element.

[0063] In the following embodiments, when a unit, region, constituent element, or other part is located above or on top of another part, this includes not only the case where it is directly above another part, but also the case where another unit, region, constituent element, or other part may exist in between.

[0064] In the following embodiments, it should be understood that terms such as “connection” or “combination” do not necessarily mean that two components are “directly and / or fixedly connected or combined”, and this does not exclude the presence of other components between the two components unless the context clearly indicates otherwise.

[0065] In the accompanying drawings, the dimensions of the constituent elements may be exaggerated or reduced for ease of description. For example, the dimensions and thicknesses of each component shown in the figures are arbitrarily illustrated for ease of description, and therefore the embodiments described below are not necessarily limited to the figures shown.

[0066] A feature of the surgical instrument according to the invention is that, for at least any of the pitch, yaw, and actuation actions, when the operating part is rotated in a certain direction, the end effector rotates in the same direction as the operating direction of the operating part.

[0067] Figure 1A It is a conceptual diagram of the pitching and bending motion of traditional surgical instruments. Figure 1B This is a concept diagram of yaw maneuvers. Figure 1C This is a conceptual diagram of the pitching motion of another traditional surgical instrument. Figure 1D This is a concept diagram of yaw maneuvers. Figure 1E This is a conceptual diagram of the pitching motion of a surgical instrument according to the present invention. Figure 1F This is a concept diagram of yaw maneuvers.

[0068] Reference Figure 1AWhen performing the pitching motion of a conventional surgical instrument, with the end-effector 120a positioned in front of the rotation center 121a of the end-effector and the operating part 110a positioned behind the rotation center 111a of the operating part, when the operating part 110a is rotated clockwise, the end-effector 120a also rotates clockwise; when the operating part 110a is rotated counterclockwise, the end-effector 120a also rotates counterclockwise.

[0069] On the other hand, refer to Figure 1B When performing the yaw motion of a conventional surgical instrument, with the end effector 120a positioned in front of the rotation center 121a and the operating part 110a positioned behind the rotation center 111a, rotating the operating part 110a clockwise causes the end effector 120a to rotate clockwise, and rotating the operating part 120a counterclockwise causes the end effector 120a to rotate counterclockwise. In this situation, from the user's left-right perspective, when the user moves the operating part 110a to the left, the end effector 120a moves to the right, and vice versa. As a result, the user's operating direction is opposite to the end effector's direction of motion, potentially leading to user error and inconvenience.

[0070] Reference Figure 1C In traditional surgical instruments, a portion is mirror-symmetrical. During pitching movements, with the end effector 120b positioned in front of its rotation center 121b and the operating part 110b behind its rotation center 111b, rotating the operating part 110b clockwise causes the end effector 120b to rotate counter-clockwise, and vice versa. In this configuration, from the perspective of rotation direction, the user rotates the operating part 110b in the opposite direction to the corresponding end effector 120b. This can lead to confusion regarding the direction of operation, making joint movements less intuitive and increasing the risk of misoperation.

[0071] In addition, refer to Figure 1DWhen performing a yaw motion, with the end effector 120b positioned in front of the end effector's rotation center 121b and the operating part 110b positioned behind the operating part's rotation center 111b, rotating the operating part 110b clockwise causes the end effector 120b to rotate counterclockwise, and vice versa. In this situation, from the perspective of the rotation directions of the operating part and the end effector, the user's rotation direction of the operating part 110b is opposite to the corresponding rotation direction of the end effector 120b. This may cause confusion for the user regarding the direction of operation, making the joint movement unintuitive and increasing the risk of misoperation.

[0072] Thus, in the pitch or yaw movements of users using traditional surgical instruments, there is a mismatch between the user's operating direction and the end effector's operating direction, whether viewed from the perspective of rotation or lateral movement. This is because the joint structure of traditional surgical instruments differs between the end effector and the operating part. Specifically, the end effector is located in front of the end effector's rotation center, while the operating part is located behind the operating part's rotation center.

[0073] To solve the above problems, Figure 1E and Figure 1F The surgical instrument shown according to an embodiment of the present invention is characterized in that an end-effector 120c is formed in front of a rotation center 121c of the end-effector, and an operating part 110c is also formed in front of a rotation center 111c of the operating part, thereby intuitively matching the movement of the operating part 110c with that of the end-effector 120c. This feature is described differently from that shown in the following description. Figure 1A , Figure 1B , Figure 1C and Figure 1D This differs from existing examples where the joints of the mid-operation unit are closer to the user side (i.e., farther from the end-effector). Figure 1E and Figure 1F According to an embodiment of the present invention, at a certain point in the operation of the surgical instrument, at least a portion of the operating part can be closer to the end tool than its own joint (based on its own joint).

[0074] In other words, in such Figure 1A , Figure 1B , Figure 1C and Figure 1DIn traditional surgical instruments, the end effector is located in front of its own center of rotation, while the operating part is located behind it. Therefore, the movement of the operating part, which moves from the rear to the front while the front is fixed, causes the end effector, which moves from the front while the rear is fixed, to move. This structure is visually mismatched. Consequently, the operation of the operating part and the movement of the end effector appear mismatched from a left-right or rotational perspective, causing confusion for the user and making it difficult to intuitively and quickly execute the operating part's actions, potentially leading to misoperation.

[0075] In contrast, in a surgical instrument according to an embodiment of the present invention, since both the end effector and the operating part move with reference to a rotation center formed at the rear, it can be considered that the structural actions are visually matched. In other words, just as the moving part of the end effector moves with reference to a rotation center formed at the rear, the moving part of the operating part also moves with reference to a corresponding rotation center formed at the rear, thus the structural actions are visually matched. This has the advantage that the user can intuitively and quickly perform manipulations in the direction of the end effector, and significantly reduces the possibility of misoperation. The specific mechanism for achieving the above-described function will be explained below.

[0076] Figure 2 This is a perspective view showing a surgical instrument 100 according to an embodiment of the present invention. Figure 3 It is shown Figure 2 Side view of surgical instrument 100.

[0077] Reference Figure 2 and Figure 3A surgical instrument 100 according to an embodiment of the present invention includes an operating part 110, an end tool 120, a power transmission part 130, and a connecting part 140. The connecting part 140 is a hollow shaft shape, capable of accommodating one or more cords (described later). One end of the connecting part 140 is connected to the operating part 110, while the other end is not connected to the end tool 120, thus serving to connect the operating part 110 and the end tool 120. A feature of the connecting part 140 of the surgical instrument 100 according to an embodiment of the present invention is that a curved portion 141 is formed on the operating part 110 side. Thus, the curved end of the connecting part 140 on the operating part 110 side forms a pitch operating part 111, a yaw operating part 112, and an actuator operating part 113 formed on or adjacent to the extension line of the end tool 120. To express this further, at least a portion of the pitch operating part 111 and the yaw operating part 112 can also be accommodated within a groove formed by the curved portion 141. Due to the shape of the curved portion 141 as described above, the shape and movement of the operating portion 110 and the end tool 120 can be matched more intuitively.

[0078] On the other hand, the plane forming the curved portion 141 can be a pitch plane, i.e., a plane parallel to the plane of elevation. Figure 2 The plane is substantially the same as the XZ plane. As described above, since the curved portion 141 is formed on a plane substantially the same as the XZ plane, interference between the operating portions can be reduced. Of course, for the sake of intuitive operation of the end tool and the operating portions, other configurations besides the XZ plane are also possible.

[0079] An operating unit 110 is formed at one end of the connecting unit 140 and includes an interface that can be directly manipulated by a doctor, such as a forceps-like, rod-like, or control lever-like object. When the doctor manipulates it, the end tool 120, connected to the corresponding interface and inserted into the surgical patient's body, performs a predetermined operation, thereby carrying out the surgery. Although... Figure 2 The diagram shows the operating part 110 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 to this, and various types of operating parts that are connected to the end tool 120 to operate the end tool 120 can be used.

[0080] An end-effector 120 is formed at the other end of the connector 140 and inserted into the surgical site to perform the actions required for the surgery. As an example of the end-effector 120 described above, such as... Figure 2As shown, a pair of jaws 121, 122 can be used to perform gripping actions. However, the concept of the invention is not limited to this, and various surgical devices can be used as the end tool 120. For example, a configuration such as a single-arm cauterizer can also be used as an end tool. The end tool 120, as described above, is connected to the operating unit 110 via a power transmission unit 130 and receives the driving force from the operating unit 110 via the power transmission unit 130, thereby performing surgical actions such as gripping, cutting, and suturing.

[0081] In one embodiment of the present invention, the distal end tool 120 of the surgical instrument 100 is configured to rotate in at least two directions. For example, the distal end tool 120 may be configured to rotate in... Figure 2 While performing pitch motion centered on the Y-axis, Figure 2 It performs yaw and actuation motions centered on the Z-axis.

[0082] The pitch, yaw, and actuation actions used in this invention are defined as follows.

[0083] First, the pitch motion refers to the direction of extension of the end effector 120 relative to the connecting part 140. Figure 2 The motion of rotation along the vertical direction (X-axis direction), that is, with Figure 2 The rotation is centered on the Y-axis. In other words, it refers to the rotation along the extending direction of the connecting part 140. Figure 2 The end tool 120, extending from the connecting portion 140 in the X-axis direction, rotates vertically relative to the connecting portion 140 about the Y-axis. Next, the yaw motion refers to the vertical rotation of the end tool 120 relative to the extending direction of the connecting portion 140 (in the X-axis direction). Figure 2 The movement of rotating in the left and right directions (in the X-axis direction), that is, with Figure 2 The rotation is centered on the Z-axis. In other words, it refers to the rotation along the extending direction of the connecting part 140. Figure 2The end tool 120, extending from the connecting portion 140 in the X-axis direction, rotates left and right relative to the connecting portion 140 about the Z-axis. That is, it refers to the movement of the two jaws 121 and 122 formed on the end tool 120 rotating in the same direction about the Z-axis. On the other hand, the actuation action refers to the movement of the end tool 120 and the yaw action rotating around the same rotation axis, while the two jaws 121 and 122 rotate in different directions, and the jaws retract or extend simultaneously. That is, it refers to the movement of the two jaws 121 and 122 formed on the end tool 120 rotating in different directions about the Z-axis.

[0084] The power transmission unit 130 connects the operating unit 110 and the end tool 120 to transmit the driving force of the operating unit 110 to the end tool 120. It may include multiple ropes, pulleys, connecting rods, nodes, gears, etc. In a surgical instrument 100 according to an embodiment of the present invention, the power transmission unit 130 may include a pitching rope 130P, a first clamping rope JW1, and a second clamping rope JW2.

[0085] The following text will describe this in more detail. Figure 2 The surgical instrument 100 includes an operating section 110, an end-effector 120, a power transmission section 130, etc.

[0086] Figure 4 and Figure 5 This is a perspective view showing the end tool 120 of a surgical instrument according to an embodiment of the present invention. Figure 6 It is shown Figure 4 A perspective view of the distal end tool hub 125 of a surgical instrument. Furthermore, Figure 7 This is a top view showing the end tool 120' of a conventional surgical instrument. Figure 8 It is shown Figure 4 A top view of the end effector 120 of the surgical instrument. Furthermore, Figure 9 It is a conceptual representation Figure 4 A diagram of the cord guide structure of the end tool 120 of a surgical instrument.

[0087] First, refer to Figure 4 , Figure 5 , Figure 6 and Figure 8In one embodiment of the present invention, the end tool 120 may be equipped with a pair of jaws 121 and 122 for performing a gripping action, namely a first jaw 121 and a second jaw 122. Additionally, the end tool 120 may include a plurality of pulleys associated with the rotational movement of the first jaw 101 and the second jaw 102. Furthermore, the end tool 120 may be equipped with an end tool pivot 125. The first jaw 121, the second jaw 122, and the plurality of pulleys may all be configured to rotate together about the end tool pitch rotation axis 123PA.

[0088] The end tool 120 may be equipped with a first clamping cord JW1, a second clamping cord JW2, and a pitch cord 130P. The first clamping cord JW1 and the second clamping cord JW2 can respectively adjust the rotational movement of the first clamp 121 and the second clamp 122. In addition, the first clamp 121 and the second clamp 122 can be pitched and rotated about the end tool pitch rotation axis 123PA via the pitch cord 130P.

[0089] The first clamping cord JW1 can have a first clamping cord first cord portion JW11 and a first clamping cord second cord portion JW12. The first clamping cord first cord portion JW11 and the first clamping cord second cord portion JW12 can be composed of a single cord. In this specification, the single cord, that is, the middle part of the first clamping cord JW1, is embedded in a fastening member (first clamping cord - end tool fastening member, not shown). After the fastening member 124 is crimped and fixed, the two cords of the first clamping cord JW1 extending from the fastening member (not shown) as the center can be referred to as the first clamping cord first cord portion JW11 and the first clamping cord second cord portion JW12, respectively.

[0090] Alternatively, the first clamping section, first rope portion JW11, and the second clamping section, second rope portion JW12, can each be formed from a separate rope, and can be connected by a fastening member (not shown). This fastening member (not shown) is connected to the first clamping section connecting pulley JP1 (described later), thereby fixing the first clamping section, first rope portion JW11, and second rope portion JW12, to the first clamping section connecting pulley JP1. Thus, by pulling and releasing the first clamping section, first rope portion JW11, and second rope portion JW12, the first clamping section connecting pulley JP1 can rotate.

[0091] On the other hand, in the first clamp first rope section JW11 and the first clamp second rope section JW12, the end opposite to the fastening position of the fastening member 124 may be connected to the first clamp rope-operation part fastening member (not shown).

[0092] Furthermore, as described above, the first clamping part rope-operating part fastening member (not shown) is respectively connected to the pulley 210, so that the first clamping part first rope part JW11 and the first clamping part second rope part JW12 can be fixedly connected to the pulley 210. As a result, when the pulley 210 is rotated by a motor or manually, the first clamping part connected to the pulley JP1 can rotate as the first clamping part first rope part JW11 and the first clamping part second rope part JW12 are pulled and released.

[0093] Following the same method, the first rope portion JW21 of the second clamp and the second rope portion JW22 of the second clamp rope JW2 are respectively connected to the second clamp rope-end tool fastening member 124 and the second clamp rope-operating part fastening member (not shown). Furthermore, the fastening member 124 is connected to the second clamp connecting pulley JP2, and the second clamp rope-operating part fastening member (not shown) is connected to the pulley 220. As a result, when the pulley 220 is rotated by a motor or manually, the second clamp connecting pulley JP2 can rotate as the first rope portion JW21 and the second rope portion JW22 of the second clamp are pulled and released.

[0094] As a result, the two cords of the first clamp cord JW1, namely the first cord portion JW11 and the second cord portion JW12, are combined with the fastening members (not shown) that serve as the first clamp cord-end tool fastening member and the fastening members (not shown) that serve as the first clamp cord-operating part fastening member, thus forming a closed loop as a whole. Similarly, the second clamp cord JW2 can also function as a closed loop.

[0095] The first clamping cord JW1 and the second clamping cord JW2 can be arranged in at least one of the multiple pulleys provided with the end tool 120. The pulleys provided with the end tool 120 are described in detail below.

[0096] First, the end tool 120 may be equipped with a first clamping pulley JP1 and a second clamping pulley JP2.

[0097] The first clamping pulley JP1 can be engaged with the first clamping part 121, and is provided with a first cord portion JW11 and a second cord portion JW12. The first cord portion JW11 and the second cord portion JW12 can be engaged with the first clamping pulley JP1 via the fastening member 124 to adjust the rotational movement of the first clamping part 121.

[0098] The second clamping pulley JP2 can be engaged with the second clamping part 122, and the second clamping part has a first rope section JW21 and a second clamping part second rope section JW22. The first rope section JW21 and the second rope section JW22 can be engaged with the second clamping pulley JP2 through the fastening member 124 to adjust the rotational movement of the second clamping part 122.

[0099] The first clamping pulley JP1 and the second clamping pulley JP2 are configured to face each other and to rotate independently about the clamping rotation axis 123JA. The first clamping pulley JP1 can be coupled to the first clamp 121 and rotates together with it, while the second clamping pulley JP2 can be coupled to the second clamp 122 and rotates together with it. As the first clamping pulley JP1 and the second clamping pulley JP2 rotate, the end-effector 120 performs yaw and actuation actions. That is, when the first clamping pulley JP1 and the second clamping pulley JP2 rotate in the same direction, a yaw action is performed; when the first clamping pulley JP1 and the second clamping pulley JP2 rotate in different directions, an actuation action is performed.

[0100] Additionally, the end tool 120 can be equipped with pulleys J12-123J12, J13-123J13, J14-123J14, J15-123J15, J22-123J22, J23-123J23, J24-123J24, and J25-123J25.

[0101] A connecting portion 140, which engages with the end tool 120, has a connecting portion hub 142 at one end. Pulleys J12 (J12), J13 (J13), J14 (J14), J15 (J15), J22 (J22), J23 (J23), J24 (J24), and J25 (J25) can engage with the connecting portion hub 142. A first clamping cord JW1 and a second clamping cord JW2 can be arranged on at least one of the pulleys and extend through the connecting portion hub 142 to the shaft of the connecting portion 140.

[0102] Additionally, the end tool 120 may be equipped with a pitch pulley 123P for winding the pitch rope 130P. The pitch pulley 123P can rotate around the pitch rotation axis 123PA to adjust the pitch rotation of the end tool 120.

[0103] In the figure, the pulleys shown as opposite each other are formed parallel to each other. However, the idea of ​​the present invention is not limited to this. Each pulley can be formed in a variety of positions and sizes according to the configuration of the end tool.

[0104] In addition, the end tool 120 is configured to include a first clamping pulley JP1, a second clamping pulley JP2, a pitch pulley 123P, etc., and may also be equipped with an end tool hub 125 that forms the basis of the end tool 120.

[0105] The end-tool hub 125 may be equipped with a hub body 1251 and a pair of hub extensions 12521 and 12522 extending from the hub body 1251. The end-tool 120 can be shaft-engaged with the connecting hub 142 via the hub body 1251. A first clamping pulley JP1 and a second clamping pulley JP2 are arranged between the pair of hub extensions 12521 and 12522 to engage with the end-tool hub 125.

[0106] On the other hand, refer to Figure 7 In the conventional end tool 120', the first clamping cord JW1' and the second clamping cord JW2' are respectively fixedly connected to the first clamping pulley (not shown) and the second clamping pulley JP2'. The first clamping pulley (not shown) and the second clamping pulley JP2' rotate in the direction of arrow L to... Figure 7 Up to the M line. In other words, the first clamping pulley (not shown) and the second clamping pulley JP2' can be rotated until the first clamping rope JW1' and the fastening member 124' are not separated at approximately a right angle.

[0107] In this case, when the first clamp 121' and the second clamp 122' are located Figure 7 When the actuation action is performed in the state of the M-line, the first clamp 121' can move away in the R direction, but the second clamp 122' cannot rotate in the L direction beyond the M-line. Therefore, the following problem exists: when the first clamp 121' and the second clamp 122' perform a yaw action beyond the specified angle, the actuation action cannot be performed smoothly.

[0108] Conversely, to adjust the paths of the first clamping cord JW1 and the second clamping cord JW2, the end tool 120 of the present invention can be equipped with multiple auxiliary pulleys or guide grooves that can function as auxiliary pulleys. In other words, the end tool 120 can be equipped with auxiliary pulleys, or the end tool hub 125 with guide grooves serving as guides can act as cord guiding components, thereby adjusting the opening and closing radii of the first clamping part 121 and the second clamping part 122. Hereinafter, the actuation of the first clamping part 121 and the second clamping part 122 will be described with respect to several embodiments of the end tool 120 with auxiliary pulleys and / or guide grooves.

[0109] First, in this instruction manual, Figure 5In this design, a virtual plane formed at the center of the end tool 120, perpendicular to the Y-axis and passing through the X-axis, is defined as the first reference plane RS1. The second cord portion JW12 of the first clamp can be wound around the first clamp connecting pulley JP1 on one side based on the first reference plane RS1, i.e., in the +Y direction region. Conversely, the first cord portion JW11 of the first clamp can be wound around the first clamp connecting pulley JP1 on the other side based on the first reference plane RS1, i.e., in the -Y direction region.

[0110] Similarly, the second cord portion JW22 of the second clamp can be wound around the second clamp connecting pulley JP2 on one side based on the first reference plane RS1, i.e., in the +Y direction region. Conversely, the first cord portion JW21 of the second clamp can be wound around the second clamp connecting pulley JP2 on the other side based on the first reference plane RS1, i.e., in the -Y direction region. The end tool 120 of the present invention can be equipped with an end tool hub portion 125 having an auxiliary pulley and / or a guide groove as a cord guiding assembly, and the path of each cord portion can be adjusted based on one side and the other side of the first reference plane RS1.

[0111] Refer again Figure 4 , Figure 5 , Figure 6 , Figure 8 and Figure 9 According to an embodiment of the present invention, the end tool 120 may also be equipped with a first clamping auxiliary pulley assembly and a second clamping auxiliary pulley assembly. The first clamping auxiliary pulley assembly and the second clamping auxiliary pulley assembly can respectively adjust the paths of the first clamping cord JW1 and the second clamping cord JW2, thereby adjusting the opening and closing radii of the first clamping part 121 and the second clamping part 122.

[0112] The first clamping auxiliary pulley assembly can be wound with a first clamping cord JW1 extending from the first clamping connecting pulley JP1. The first clamping auxiliary pulley assembly can be equipped with multiple first clamping auxiliary pulleys SP1, and the first clamping cord portion JW11 and the first clamping cord portion JW12 of the first clamping cord JW1 can be wound around at least one of the multiple first clamping auxiliary pulleys SP1 and extend therefrom. That is, the first clamping auxiliary pulley assembly can guide the path of the first clamping cord portion JW11 and the first clamping cord portion JW12 extending from the first clamping connecting pulley JP1.

[0113] The first clamp auxiliary pulley assembly may be equipped with a first clamp first auxiliary pulley SP11. The first clamp first auxiliary pulley SP11 can adjust the path of the first clamp first rope section JW11 and the first clamp second rope section JW12.

[0114] Specifically, the first auxiliary pulley SP11 of the first clamp is rotatably coupled to the fourth auxiliary shaft SS4 and can adjust the path of the first clamp rope JW1. The first auxiliary pulley SP11 can guide the first clamp rope JW11 to one side of the first reference plane RS1, wherein the first clamp rope JW11 is wound around the first clamp coupling pulley JP1 and extends on the other side with the first reference plane RS1 as a reference. In addition, the first auxiliary pulley SP11 can guide the second clamp rope JW12 to the other side of the first reference plane RS1, wherein the second clamp rope JW12 is wound around the first clamp coupling pulley JP1 and extends on the side with the first reference plane RS1 as a reference. That is, the first auxiliary pulley SP11 of the first clamp can adjust the paths of the first rope section JW11 and the second rope section JW12 of the first clamp together. In particular, the paths of the first rope section JW11 and the second rope section JW12 of the first clamp extending from the first clamp connecting pulley JP1 can be made to intersect.

[0115] The second clamping auxiliary pulley assembly can be wound with a second clamping rope JW2 extending from the second clamping connecting pulley JP2. The second clamping auxiliary pulley assembly can be equipped with multiple second clamping auxiliary pulleys SP2, and the second clamping first rope portion JW21 and the second clamping second rope portion JW22 of the second clamping rope JW2 can be wound around at least one of the multiple second clamping auxiliary pulleys SP2 and extend therefrom. That is, the second clamping auxiliary pulley assembly can guide the path of the second clamping rope portion JW21 and the second clamping second rope portion JW22 extending from the second clamping connecting pulley JP2.

[0116] The second clamp auxiliary pulley assembly can be equipped with a second clamp first auxiliary pulley SP21. The second clamp first auxiliary pulley SP21 can adjust the path of the second clamp first rope section JW21 and the second clamp second rope section JW22.

[0117] Specifically, the first auxiliary pulley SP21 of the second clamp can guide the first rope portion JW21 of the second clamp to one side of the first reference surface RS1, wherein the first rope portion JW21 of the second clamp is wound around the second clamp connecting pulley JP2 and extends on the other side with reference to the first reference surface RS1. Additionally, the first auxiliary pulley SP21 of the second clamp can guide the second rope portion JW22 of the second clamp to the other side of the first reference surface RS1, wherein the second rope portion JW22 of the second clamp is wound around the second clamp connecting pulley JP2 and extends on the one side with reference to the first reference surface RS1. That is, the first auxiliary pulley SP21 of the second clamp can adjust the paths of the first rope portion JW21 and the second rope portion JW22 of the second clamp together, especially ensuring that the paths of the first rope portion JW21 and the second rope portion JW22 extending from the second clamp connecting pulley JP2 intersect.

[0118] The end-tool hub 125 of the end-tool 120 may be equipped with a plurality of main guide grooves MG for adjusting the paths of the first clamping cord JW1 and the second clamping cord JW2. The main guide grooves MG may be recessed into the hub body 1251 and guide the paths of the first clamping cord JW1 and the second clamping cord JW2 extending from the first auxiliary pulley assembly and the second auxiliary pulley assembly. The first clamping cord JW1 and the second clamping cord JW2 may be wound around the main guide grooves MG of the end-tool hub 125 and extend through the end-tool hub 125 to the shaft of the connecting portion 140.

[0119] The end tool hub 125 may be equipped with a first main guide slot MG1 and a second main guide slot MG2.

[0120] The first main guide groove MG1 can guide the second rope portion JW12 of the first clamp to one side of the first reference surface RS1, wherein the second rope portion JW12 of the first clamp is wound around the first auxiliary pulley SP11 of the first clamp and extends on the other side with the first reference surface RS1 as a reference. That is, the first rope portion JW11 and the second rope portion JW12 of the first clamp can extend together from one side of the first reference surface RS1 to the connecting portion 140 through the first main guide groove MG1.

[0121] The second main guide groove MG2 can guide the first rope portion JW21 of the second clamp to the other side of the first reference surface RS1, wherein the first rope portion JW21 of the second clamp is wound around the first auxiliary pulley SP21 of the second clamp on one side with reference to the first reference surface RS1 and extends there. That is, the first rope portion JW21 and the second rope portion JW22 of the second clamp can extend together from the other side of the first reference surface RS1 to the connecting portion 140 through the second main guide groove MG2.

[0122] The rotation of the first clamp 121 and the second clamp 122, arranged according to the paths of the first clamp rope JW1 and the second clamp rope JW2, is summarized as follows.

[0123] The first clamping section, first rope section JW11, is wound around the first clamping section connecting pulley JP1 on the other side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first auxiliary pulley SP11 to one side of the first reference surface RS1 and extends to the connecting section 140. The first clamping section, second rope section JW12, is wound around the first clamping section connecting pulley JP1 on one side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first auxiliary pulley SP11 to the other side of the first reference surface RS1. The first clamping section, second rope section JW12, is wound around the first auxiliary pulley SP11 on the other side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first main guide groove MG1 to one side of the first reference surface RS1 and extends to the connecting section 140.

[0124] Therefore, when the two cords of the first clamping section cord JW1 extend from the first clamping section connecting pulley JP1, the end tool 120 can change its tangential direction. The first clamping section cords JW11 and JW12 and the fastening member (not shown) can rotate until they are located on the common internal tangent line of the first clamping section connecting pulley JP1 and the first clamping section first auxiliary pulley SP11. Therefore, when the first clamping section 121 rotates, the radius of rotation RR in both the clockwise and counterclockwise directions around the clamping section rotation axis 123JA can be expanded.

[0125] Furthermore, the first rope portion JW21 of the second clamp is wound around the first clamp connecting pulley JP1 on the other side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to one side of the first reference surface RS1 by the first auxiliary pulley SP21 of the second clamp. The first rope portion JW21 of the second clamp is wound around the first auxiliary pulley SP21 of the second clamp on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the second main guide groove MG2 and extends to the connecting portion 140. The second rope portion JW22 of the second clamp is wound around the second clamp connecting pulley JP2 on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the first auxiliary pulley SP21 of the second clamp and extends to the connecting portion 140.

[0126] Therefore, when the two cords of the second clamping section rope JW2 extend from the second clamping section connecting pulley JP2, the end tool 120 can change its tangential direction. The second clamping section cords JW2, JW22 and the fastening member (not shown) can rotate until they are located on the common internal tangent line of the second clamping section connecting pulley JP2 and the second clamping section first auxiliary pulley SP21. Therefore, when the second clamping section 122 rotates, the rotation radius RR in both the clockwise and counterclockwise directions centered on the clamping section rotation axis 123JA can be expanded.

[0127] That is, even if the first clamp 121 and the second clamp 122 are located Figure 8 On line M, not only can the first clamp 121 rotate, but the second clamp 122 can also be further rotated by an angle θ. Figure 8 In the opposite case, the first clamp 121 can also rotate, thereby expanding the range of yaw actions that can perform actuation actions.

[0128] The rotation radii of the first clamp 121A and the second clamp 122A can be determined based on the directions in which the first clamp rope JW1 and the second clamp rope JW2 extend from the first clamp connecting pulley JP1A and the second clamp connecting pulley JP2A, respectively. Therefore, as Figure 9 In a variation of the embodiment, the first clamping auxiliary pulley assembly of the end tool 120 may be equipped with a first clamping third auxiliary pulley (not shown), which guides the first clamping first cord portion JW11 to one side of the first reference surface RS1 and guides the first clamping second cord portion JW12 to one side of the first reference surface RS1. The first clamping first cord portion JW11 is wound around the first clamping connecting pulley JP1 and extends on the other side with reference to the first reference surface RS1, and the first clamping second cord portion JW12 is wound around the first clamping connecting pulley JP1 and extends on one side with reference to the first reference surface RS1.

[0129] Additionally, the second clamp auxiliary pulley assembly of the end tool 20 may be equipped with a second clamp third auxiliary pulley (not shown), which guides the second clamp first cord portion JW21 to the other side of the first reference surface RS1 and guides the second clamp second cord portion JW22 to the other side of the first reference surface RS1. The second clamp first cord portion JW21 is wound around the second clamp connecting pulley JP2 and extends on the other side with reference to the first reference surface RS1, and the second clamp second cord portion JW22 is wound around the second clamp connecting pulley JP2 and extends on the side with reference to the first reference surface RS1.

[0130] As described above, according to an embodiment of the present invention, the end tool 120 adjusts the paths of the first clamp rope JW1 and the second clamp rope JW2 by means of the first auxiliary pulley SP11 of the first clamp, the first auxiliary pulley SP21 of the second clamp, the first main guide groove MG1 and the second main guide groove MG2 of the end tool hub 125, thereby expanding the opening and closing radius.

[0131] Figure 10 and Figure 11 This is a perspective view showing the end tool 120a of a surgical instrument according to another embodiment of the present invention. Figure 12 It is shown Figure 10 A top view of the end effector 120a of the surgical instrument. Additionally, Figure 13 and Figure 14 It is a conceptual representation Figure 10 A diagram of the cord guide structure of the end tool 120a of a surgical instrument. Figures 15 to 17 It is shown Figure 13 A diagram showing a variation of the cord guide structure of the end tool 120a of a surgical instrument.

[0132] The distal end tool 120A of the surgical instrument according to another embodiment of the present invention differs in the configuration and arrangement of the auxiliary pulley and other cord guiding components. Therefore, these differences will be described in detail below, while other configurations will be referred to accordingly. Figure 4 The content described in etc.

[0133] Reference Figures 10 to 13 According to another embodiment of the present invention, the end tool 120A may be equipped with a first clamp auxiliary pulley assembly and a second clamp auxiliary pulley assembly. The first clamp auxiliary pulley assembly and the second clamp auxiliary pulley assembly can respectively adjust the paths of the first clamp rope JW1 and the second clamp rope JW2, thereby adjusting the opening and closing radii of the first clamp 121A and the second clamp 122A.

[0134] The first clamping auxiliary pulley assembly can be wound with a first clamping cord JW1 extending from the first clamping connecting pulley JP1A. The first clamping auxiliary pulley assembly can be equipped with multiple first clamping auxiliary pulleys SP1, and the first clamping cord portion JW11 and the first clamping cord portion JW12 of the first clamping cord JW1 can be wound around at least one of the multiple first clamping auxiliary pulleys SP1 and extend therefrom. That is, the first clamping auxiliary pulley assembly can guide the path of the first clamping cord portion JW11 and the first clamping cord portion JW12 extending from the first clamping connecting pulley JP1A.

[0135] The first clamp auxiliary pulley assembly may be equipped with a first clamp second-first auxiliary pulley SP121 and a first clamp second-second auxiliary pulley SP122. The first clamp second-first auxiliary pulley SP121 and the first clamp second-second auxiliary pulley SP122 can respectively adjust the paths of the first rope section JW11 and the second rope section JW12 of the first clamp.

[0136] Specifically, the first clamping part 2-1 auxiliary pulley SP121 is rotatably coupled to the first auxiliary shaft SS1 and can adjust the path of the first cord portion JW11 of the first clamping part. The first clamping part 2-1 auxiliary pulley SP121 can guide the first cord portion JW11 of the first clamping part to one side of the first reference surface RS1, wherein the first cord portion JW11 of the first clamping part is wound around the first clamping part coupling pulley JP1A and extends on the other side with the first reference surface RS1 as a reference.

[0137] Furthermore, the second auxiliary pulley SP122 of the first clamp is rotatably connected to the second auxiliary shaft SS2, and the path of the second rope portion JW12 of the first clamp can be adjusted. The second auxiliary pulley SP122 of the first clamp can guide the second rope portion JW12 of the first clamp to the other side of the first reference plane RS1, wherein the second rope portion JW12 of the first clamp is wound around the first clamp connecting pulley JP1A and extends on the side with the first reference plane RS1 as a reference. That is, through the second auxiliary pulley SP121 and the second auxiliary pulley SP122 of the first clamp, the paths of the first rope portion JW11 and the second rope portion JW12 of the first clamp extending from the first clamp connecting pulley JP1A can intersect.

[0138] The second clamping auxiliary pulley assembly can be wound with a second clamping rope JW2 extending from the second clamping connecting pulley JP2A. The second clamping auxiliary pulley assembly can be equipped with multiple second clamping auxiliary pulleys SP2, and the second clamping first rope portion JW21 and the second clamping second rope portion JW22 of the second clamping rope JW2 can be wound around at least one of the multiple second clamping auxiliary pulleys SP2 and extend therefrom. That is, the second clamping auxiliary pulley assembly can guide the path of the second clamping rope portion JW21 and the second clamping second rope portion JW22 extending from the second clamping connecting pulley JP2A.

[0139] The second clamp auxiliary pulley assembly can be equipped with a second clamp 2-1 auxiliary pulley SP221 and a second clamp 2-2 auxiliary pulley SP222. The second clamp 2-1 auxiliary pulley SP221 and the second clamp 2-2 auxiliary pulley SP222 can respectively adjust the path of the first rope section JW21 of the second clamp and the second rope section JW22 of the second clamp.

[0140] Specifically, the second clamping part 2-1 auxiliary pulley SP221 is rotatably coupled to the first auxiliary shaft SS1 and can adjust the path of the first rope part JW21 of the second clamping part. The second clamping part 2-1 auxiliary pulley SP221 can guide the first rope part JW21 of the second clamping part to one side of the first reference plane RS1, wherein the first rope part JW21 of the second clamping part is wound around the second clamping part coupling pulley JP2A and extends on the other side with the first reference plane RS1 as a reference.

[0141] Furthermore, the second clamping part auxiliary pulley SP222 is rotatably connected to the second auxiliary shaft SS2, and the path of the second clamping part second rope section JW22 can be adjusted. The second clamping part auxiliary pulley SP222 can guide the second clamping part second rope section JW22 to the other side of the first reference plane RS1, wherein the second clamping part second rope section JW22 is wound around the second clamping part connecting pulley JP2A and extends on the side with the first reference plane RS1 as a reference. That is, through the second clamping part auxiliary pulley SP221 and the second clamping part auxiliary pulley SP222, the paths of the second clamping part first rope section JW21 and the second clamping part second rope section JW22 extending from the second clamping part connecting pulley JP2A can intersect.

[0142] That is, the first clamp's second-first auxiliary pulley SP121 and the second clamp's second-first auxiliary pulley SP221 can be rotatably connected to the first auxiliary shaft SS1, and the first clamp's second-second auxiliary pulley SP122 and the second clamp's second-second auxiliary pulley SP222 can be rotatably connected to the second auxiliary shaft SS2. At this time, the first clamp's second-first auxiliary pulley SP121 and the first clamp's second-second auxiliary pulley SP122 can be arranged at the same height with reference to a virtual second reference plane (not shown) parallel to the XY plane. Similarly, the second clamp's second-first auxiliary pulley SP221 and the second clamp's second-second auxiliary pulley SP222 can be arranged at the same height with reference to the second reference plane (not shown).

[0143] On the other hand, the first clamp 2-1 auxiliary pulley SP121 and the first clamp 2-2 auxiliary pulley SP122 can be arranged at different heights with the second reference plane (not shown) as the reference, and the second clamp 2-1 auxiliary pulley SP221 and the second clamp 2-2 auxiliary pulley SP222 can also be arranged at different heights with the second reference plane (not shown) as the reference.

[0144] Additionally, the first clamp's second-first auxiliary pulley SP121 and the first clamp's second-second auxiliary pulley SP122 can be arranged parallel to a virtual second reference plane (not shown) that is parallel to the XY plane. Similarly, the second clamp's second-first auxiliary pulley SP221 and the second clamp's second-second auxiliary pulley SP222 can be arranged parallel to the second reference plane (not shown).

[0145] On the other hand, such as Figure 14 As shown, the first clamp 2-1 auxiliary pulley SP121 and the first clamp 2-2 auxiliary pulley SP12 can be arranged at an angle so that they have a predetermined angle with the second reference plane (not shown). The second clamp 2-1 auxiliary pulley SP221 and the second clamp 2-2 auxiliary pulley SP222 can also be arranged at an angle so that they have a predetermined angle with the second reference plane (not shown).

[0146] As described above, the auxiliary pulleys arranged inside the end tool hub 125 can be adjusted by changing their arrangement height or angle to guide the paths of the clamp ropes JW1 and JW2 efficiently without interfering with each other, thereby achieving miniaturization and weight reduction of the end tool 120.

[0147] The end tool hub 125A may be equipped with a first main guide slot MG1 and a second main guide slot MG2.

[0148] The first main guide groove MG1 guides the second rope portion JW12 of the first clamp to one side of the first reference surface RS1, wherein the second rope portion JW12 of the first clamp is wound around the second auxiliary pulley SP122 of the first clamp and extends on the other side with reference to the first reference surface RS1. That is, through the first main guide groove MG1, the first rope portion JW11 and the second rope portion JW12 of the first clamp can extend together from one side of the first reference surface to the connecting portion 140.

[0149] The second main guide groove MG2 can guide the first rope portion JW21 of the second clamp to the other side of the first reference surface RS1, wherein the first rope portion JW21 of the second clamp is wound around the second auxiliary pulley SP221 of the second clamp on one side with reference to the first reference surface RS1 and extends there. That is, through the second main guide groove MG2, the first rope portion JW21 of the second clamp and the second rope portion JW22 of the second clamp can extend together from the other side of the first reference surface RS1 to the connecting portion 140.

[0150] The rotation of the first clamp 121A and the second clamp 122A, arranged according to the paths of the first clamp rope JW1 and the second clamp rope JW2, is summarized as follows.

[0151] The first clamping section, first rope section JW11, is wound around the first clamping section connecting pulley JP1A on the other side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first clamping section second-1 auxiliary pulley SP121 to one side of the first reference surface RS1 and extends to the connecting section 140. The first clamping section, second rope section JW12, is wound around the first clamping section connecting pulley JP1A on one side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first clamping section second-2 auxiliary pulley SP122 to the other side of the first reference surface RS1. The first clamping section, second rope section JW12, is wound around the first clamping section second-1 auxiliary pulley SP121 on the other side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first main guide groove MG1 to one side of the first reference surface RS1 and extends to the connecting section 140.

[0152] Therefore, when the two cords of the first clamping section cord JW1 extend from the first clamping section connecting pulley JP1A, the end tool 120a can change its tangential direction. The first clamping section cords JW11 and JW12 and the fastening member (not shown) can rotate until they are located on the common internal tangent line of the first clamping section connecting pulley JP1A and the first clamping section second-1 auxiliary pulley SP121, and can also rotate until they are located on the common internal tangent line of the first clamping section connecting pulley JP1A and the first clamping section second-2 auxiliary pulley SP122. Therefore, when the first clamping section 121A rotates, the rotation radius RR in both the clockwise and counterclockwise directions centered on the clamping section rotation axis 123JA can be expanded.

[0153] Furthermore, the first rope portion JW21 of the second clamp is wound around the second clamp connecting pulley JP2A on the other side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to one side of the first reference surface RS1 by the second clamp auxiliary pulley SP221. The first rope portion JW21 of the second clamp is wound around the second clamp auxiliary pulley SP221 on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the second main guide groove MG2 and extends to the connecting portion 140. The second rope portion JW22 of the second clamp is wound around the second clamp connecting pulley JP2A on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the second clamp auxiliary pulley SP221 and extends to the connecting portion 140.

[0154] Therefore, when the two cords of the second clamping section rope JW2 extend from the second clamping section connecting pulley JP2A, the end tool 120a can change its tangential direction. The second clamping section ropes JW2 and JW22 and the fastening member (not shown) can rotate until they are located on the common internal tangent line of the second clamping section connecting pulley JP2A and the second clamping section auxiliary pulley SP221, and can rotate further until they are located on the common internal tangent line of the second clamping section connecting pulley JP2A and the second clamping section auxiliary pulley SP222. Therefore, when the second clamping section 122A rotates, the radius of rotation RR in both the clockwise and counterclockwise directions around the clamping section rotation axis 123JA can be increased.

[0155] That is, even if the first clamp 121A and the second clamp 122A are located Figure 12 On line M, not only can the first clamp 121A rotate, but the second clamp 122A can also rotate further by an angle θ. Figure 8 In the opposite case, the first clamp 121A can also rotate, thereby expanding the range of yaw actions that can perform actuation actions.

[0156] As described above, according to an embodiment of the present invention, the end tool 120a adjusts the path of the first clamp rope JW1 and the second clamp rope JW2 by means of the first clamp second-1 auxiliary pulley SP121, the first clamp second-2 auxiliary pulley SP122, the second clamp second-1 auxiliary pulley SP221, the second clamp second-2 auxiliary pulley SP222, the first main guide groove MG1 and the second main guide groove MG2 of the end tool hub 125A, thereby expanding the opening and closing radius.

[0157] Figures 15 to 17 This illustration shows variations of the rope guiding assembly adjusting the paths of the first clamp rope JW1 and the second clamp rope JW2 in different ways. As described above, the rotation radii of the first clamp 121A and the second clamp 122A can be determined based on the directions in which the first clamp rope JW1 and the second clamp rope JW2 extend from the first clamp connecting pulley JP1A and the second clamp connecting pulley JP2A, respectively. Therefore, as... Figures 15 to 17 As shown, the rotation radius of the first clamp 121A and the second clamp 122A can be adjusted by changing the path arrangement of the first clamp cord JW1 and the second clamp cord JW2 of the end tool 120a. The following will refer to... Figures 15 to 17 The path arrangement of the first clamp rope JW1 is described, but the path arrangement of the second clamp rope JW2 can also be adjusted.

[0158] For example, such as Figure 15As shown, the second rope section JW12 of the first clamp is wound around the first clamp connecting pulley JP1A on one side of the first reference surface RS1 and extends therefrom. It can also be wound around the second-first auxiliary pulley SP121 of the first clamp on the side adjacent to the first reference surface RS1 and extend to one side of the first reference surface RS1. Alternatively, as... Figure 16 As shown, the first clamping part, the first rope part JW11, is wound around the first clamping part connecting pulley JP1A and extends on the other side of the first reference surface RS1, and can be wound around the first clamping part auxiliary pulley SP121 on the side adjacent to the first reference surface RS1 and extend to one side of the first reference surface RS1.

[0159] Or, such as Figure 17 As shown, the first clamping section, the first rope portion JW11, is wound around the first clamping section connecting pulley JP1A and extends on the other side of the first reference surface RS1. It can also be wound around the second auxiliary pulley SP122 of the first clamping section on the side adjacent to the first reference surface RS1 and extend to that side. Furthermore, the second rope portion JW12 of the first clamping section is wound around the first clamping section connecting pulley JP1A and extends on one side of the first reference surface RS1. It can also be wound around the second auxiliary pulley SP122 of the first clamping section on the side adjacent to the first reference surface RS1 and extend to that side.

[0160] Figure 18 and Figure 19 This is a perspective view showing the end tool 120b of a surgical instrument according to yet another embodiment of the present invention. Figure 20 It is shown Figure 18 Top view of the end-effector 120B of the surgical instrument. Figure 21 It is shown Figure 18 A three-dimensional view of a portion of the end-effector 120B of a surgical instrument. Figure 22 It is a conceptual representation Figure 18 A diagram of the cord guide structure of the end tool 120B of a surgical instrument.

[0161] The distal end tool 120B of the surgical instrument according to another embodiment of the present invention differs from the distal end tools 120 and 120A of the above embodiments mainly in the guide pulley GP arranged in the distal end tool pivot portion 125B. Therefore, the following description will focus on these differences; for other configurations, please refer to... Figure 4 , Figure 10 The content described in [etc.]. That is, Figure 18 End tool 120B, such as Figure 10The diagram shows an auxiliary pulley SP121 for the first clamp, an auxiliary pulley SP122 for the first clamp, an auxiliary pulley SP221 for the second clamp, and an auxiliary pulley SP222 for the second clamp, but the description is not limited to this. The following description can also be applied to other types of clamps. Figure 4 Examples shown include embodiments equipped with a first auxiliary pulley SP11 in the first clamp and a first auxiliary pulley SP21 in the second clamp.

[0162] Reference Figures 18 to 22 According to another embodiment of the present invention, the end tool 120B may be equipped with a first clamp auxiliary pulley assembly and a second clamp auxiliary pulley assembly. The first clamp auxiliary pulley assembly and the second clamp auxiliary pulley assembly can respectively adjust the paths of the first clamp rope JW1 and the second clamp rope JW2, thereby adjusting the opening and closing radii of the first clamp 121B and the second clamp 122B.

[0163] The first clamping auxiliary pulley assembly can be wound with a first clamping rope JW1 extending from the first clamping connecting pulley JP1B. The first clamping auxiliary pulley assembly can be equipped with multiple first clamping auxiliary pulleys SP1, and the first clamping first rope portion JW11 and the first clamping second rope portion JW12 of the first clamping rope JW1 can be wound around at least one of the multiple first clamping auxiliary pulleys SP1 and extend therefrom. That is, the first clamping auxiliary pulley assembly can guide the path of the first clamping rope portion JW11 and the first clamping second rope portion JW12 extending from the first clamping connecting pulley JP1B.

[0164] The second clamping auxiliary pulley assembly can be wound with a second clamping rope JW2 extending from the second clamping connecting pulley JP2B. The second clamping auxiliary pulley assembly can be equipped with multiple second clamping auxiliary pulleys SP2, and the second clamping first rope portion JW21 and the second clamping second rope portion JW22 of the second clamping rope JW2 can be wound around at least one of the multiple second clamping auxiliary pulleys SP2 and extend therefrom. That is, the second clamping auxiliary pulley assembly can guide the path of the second clamping rope portion JW21 and the second clamping second rope portion JW22 extending from the second clamping connecting pulley JP2B.

[0165] The first clamp auxiliary pulley assembly can be equipped with a first clamp second-first auxiliary pulley SP121 and a first clamp second-second auxiliary pulley SP122. The first clamp second-first auxiliary pulley SP121 and the first clamp second-second auxiliary pulley SP122 can respectively adjust the paths of the first rope section JW11 and the second rope section JW12 of the first clamp. Additionally, the second clamp auxiliary pulley assembly can be equipped with a second clamp second-first auxiliary pulley SP221 and a second clamp second-second auxiliary pulley SP222. The second clamp second-first auxiliary pulley SP221 and the second clamp second-second auxiliary pulley SP222 can respectively adjust the paths of the first rope section JW21 and the second rope section JW22 of the second clamp. For information on the auxiliary pulleys SP121 (2-1) and SP122 (2-2) of the first clamp, and SP221 (2-1) and SP222 (2-2) of the second clamp, please refer to [reference needed]. Figure 10 The aforementioned content in etc.

[0166] The first clamp auxiliary pulley assembly and the second auxiliary pulley assembly may also be equipped with a first clamp guide pulley GP1 and a second clamp guide pulley GP2, respectively. The first clamp guide pulley GP1 and the second clamp guide pulley GP2 are respectively as follows... Figure 21 As shown, the pulley coupling 12511B is arranged in the end tool hub 125B and is rotatably coupled to the third auxiliary shaft SS3.

[0167] The first clamp guide pulley GP1 guides the second cord portion JW12 of the first clamp to one side of the first reference surface RS1. The second cord portion JW12 is wound around the second auxiliary pulley SP122 of the first clamp on the other side, with the first reference surface RS1 as a reference, and extends thereafter. That is, the first clamp guide pulley GP1 essentially functions the same as the aforementioned first main guide groove MG1, and the first cord portion JW11 and the second cord portion JW12 of the first clamp can extend together from one side of the first reference surface RS1 to the connecting portion 140 via the first clamp guide pulley GP1.

[0168] The second clamp guide pulley GP2 can guide the first cord portion JW21 of the second clamp to the other side of the first reference surface RS1. The first cord portion JW21 of the second clamp is wound around the second clamp auxiliary pulley SP221 on one side with reference to the first reference surface RS1 and extends thereafter. That is, the second clamp guide pulley GP2 essentially serves the same function as the aforementioned second main guide groove MG2, and the first cord portion JW21 and the second cord portion JW22 of the second clamp can extend together from the other side of the first reference surface RS1 to the connecting portion 140 via the second clamp guide pulley GP2.

[0169] The rotation of the first clamp 121B and the second clamp 122B, arranged according to the paths of the first clamp rope JW1 and the second clamp rope JW2, is summarized as follows.

[0170] The first clamping section, first rope section JW11, is wound around the first clamping section connecting pulley JP1B on the other side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first clamping section second-1 auxiliary pulley SP121 to one side of the first reference surface RS1 and extends to the connecting section 140. The first clamping section, second rope section JW12, is wound around the first clamping section connecting pulley JP1B on one side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first clamping section second-2 auxiliary pulley SP122 to the other side of the first reference surface RS1. The first clamping section, second rope section JW12, is wound around the first clamping section second-1 auxiliary pulley SP121 on the other side of the first reference surface RS1 and extends thereafter. Its path can be adjusted by the first clamping section guide pulley GP1 to one side of the first reference surface RS1 and extends to the connecting section 140.

[0171] Therefore, when the two cords of the first clamping section cord JW1 extend from the first clamping section connecting pulley JP1B, the end tool 120B can change its tangential direction. The first clamping section cords JW11 and JW12 and the fastening member (not shown) can rotate until they are on the common internal tangent line of the first clamping section connecting pulley JP1B and the first clamping section second-1 auxiliary pulley SP121, and can also rotate until they are on the common internal tangent line of the first clamping section connecting pulley JP1B and the first clamping section second-2 auxiliary pulley SP122. Therefore, when the first clamping section 121B rotates, the rotation radius RR in both the clockwise and counterclockwise directions centered on the clamping section rotation axis 123JA can be expanded.

[0172] Furthermore, the first rope portion JW21 of the second clamp is wound around the second clamp connecting pulley JP2B on the other side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to one side of the first reference surface RS1 by the second clamp auxiliary pulley SP221. The first rope portion JW21 of the second clamp is wound around the second clamp auxiliary pulley SP221 on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the second clamp guide pulley GP2 and extends to the connecting portion 140. The second rope portion JW22 of the second clamp is wound around the second clamp connecting pulley JP2B on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the second clamp auxiliary pulley SP221 and extends to the connecting portion 140.

[0173] Therefore, when the two cords of the second clamping section rope JW2 extend from the second clamping section connecting pulley JP2B, the end tool 120B can change its tangential direction. The second clamping section cords JW2, JW22 and the fastening member (not shown) can rotate until they are located on the common internal tangent line of the second clamping section connecting pulley JP2B and the second clamping section auxiliary pulley SP221, and can rotate further until they are located on the common internal tangent line of the second clamping section connecting pulley JP2B and the second clamping section auxiliary pulley SP222. Therefore, when the second clamping section 122B rotates, the rotation radius RR in both the clockwise and counterclockwise directions centered on the clamping section rotation axis 123JA can be expanded.

[0174] That is, even if the first clamp 121B and the second clamp 122B are located Figure 20 On line M, not only can the first clamp 121B rotate, but the second clamp 122B can also rotate further by an angle θ. Figure 20 In the opposite case, the first clamp 121B can also rotate, thereby expanding the range of yaw actions that can perform actuation actions.

[0175] In addition, the path arrangement of the first clamp rope JW1 and the second clamp rope JW2 is as follows Figures 15 to 17 The opening and closing radius of the end tool 120b can be adjusted in various ways.

[0176] As described above, according to an embodiment of the present invention, the end tool 120B can adjust the paths of the first clamping cord JW1 and the second clamping cord JW2 to expand the opening and closing radius by adjusting the first clamping guide pulley GP1 and the second clamping guide pulley GP2 arranged in the first clamping second-1 auxiliary pulley SP121, the first clamping second-2 auxiliary pulley SP122, the second clamping second-1 auxiliary pulley SP221, the second clamping second-2 auxiliary pulley SP222 and the end tool pivot 125B.

[0177] Figure 23 and Figure 24 This is a perspective view showing the end tool 120c of a surgical instrument according to yet another embodiment of the present invention. Figure 25 It is shown Figure 23 A three-dimensional view of the end-effector 125C of a surgical instrument. Figure 26 It is a conceptual illustration Figure 23 The end-effector 120c of the surgical instrument has a cord-guided structure. Figure 27 It is shown Figure 23 A diagram showing a variation of the cord guide structure of the end tool 120c of a surgical instrument.

[0178] The distal end tool 120C of the surgical instrument according to another embodiment of the present invention differs primarily from the distal end tools 120, 120A, and 120B of the aforementioned embodiments in the structure of the guide groove formed in the distal end tool pivot portion 125C. Therefore, the following description will focus on these differences; for other configurations, please refer to... Figure 4 / Figure 10 / Figure 18 The content described in etc.

[0179] Reference Figures 23 to 26 According to another embodiment of the present invention, the end tool 120C may be equipped with an end tool hub 125C. The end tool hub 125C is combined with a first clamping pulley JP1, a second clamping pulley JP2, a pitch pulley 123P, etc., forming the basis of the end tool 120, and the path of the first clamping cord JW1 and the second clamping cord JW2 can be adjusted.

[0180] The end-tool hub 125C may be equipped with a hub body 1251C and a pair of hub extensions 1252C extending from the hub body 1251C. The end-tool 120C may be axially coupled to the connecting hub 142 via the hub body 1251C, and the first clamping pulley JP1C and the second clamping pulley JP2C may be arranged between the pair of hub extensions 12521C and 12522C and axially coupled to the end-tool hub 125C.

[0181] The end-tool hub 125C may also be equipped with a hub guide 1253C. The hub guide 1253C may be arranged in a columnar form connecting a pair of hub extensions 12521C and 12522C. That is, the hub guide 1253C may be arranged separately from the hub body 1251C, and the paths of the first clamping cord JW1 and the second clamping cord JW2 may be adjusted between the hub guide 1253C and the hub body 1251C.

[0182] The pivot guide 1253C may be equipped with multiple auxiliary guide grooves SG for adjusting the paths of the first clamp rope JW1 and the second clamp rope JW2. The auxiliary guide grooves SG may be recessed into the groove shape of the pivot guide 1253C and guide the paths of the first clamp rope JW1 and the second clamp rope JW2 extending from the first clamp connecting pulley JP1 and the second clamp connecting pulley JP2. The paths of the first clamp rope JW1 and the second clamp rope JW2 intersect each other and can be wound through the auxiliary guide grooves SG of the end tool pivot 125C. That is, the pivot guide 1253C with the auxiliary guide grooves SG can substantially perform the same function as the aforementioned first clamp auxiliary pulley and second clamp auxiliary pulley by adjusting the paths of the first clamp rope JW1 and the second clamp rope JW2.

[0183] The hub guide body 1253C may be equipped with the first-1 auxiliary guide groove SG11, the first-2 auxiliary guide groove SG12, the second-1 auxiliary guide groove SG21 and the second-2 auxiliary guide groove SG22.

[0184] The first-1 auxiliary guide groove SG11 guides the path of the first cord portion JW11 of the first clamp to one side of the first reference plane RS1, wherein the first cord portion JW11 of the first clamp is wound around the first clamp connecting pulley JP1C and extends on the other side with reference to the first reference plane RS1. The first-2 auxiliary guide groove SG12 guides the path of the second cord portion JW12 of the first clamp to the other side of the first reference plane RS1, wherein the second cord portion JW12 of the first clamp is wound around the first clamp connecting pulley JP1C and extends on one side with reference to the first reference plane RS1. At this time, the first-1 auxiliary guide groove SG11 and the first-2 auxiliary guide groove SG12 are arranged at different heights with reference to the second reference plane (not shown), thereby preventing the paths of the first cord portion JW11 and the second cord portion JW12 of the first clamp from interfering with each other. That is, through the first auxiliary guide groove SG11 and the first auxiliary guide groove SG12, the paths of the first clamp first rope section JW11 and the first clamp second rope section JW12 extending from the first clamp connecting pulley JP1C can intersect.

[0185] Furthermore, the 2-1 auxiliary guide groove SG21 can guide the path of the first rope portion JW21 of the second clamp to one side of the first reference plane RS1, wherein the first rope portion JW21 of the second clamp is wound around the second clamp connecting pulley JP2C and extends on the other side with reference to the first reference plane RS1. The 2-2 auxiliary guide groove SG22 can guide the path of the second rope portion JW22 of the second clamp to the other side of the first reference plane RS1, wherein the second rope portion JW22 of the second clamp is wound around the second clamp connecting pulley JP2C and extends on one side with reference to the first reference plane RS1. At this time, the 2-1 auxiliary guide groove SG21 and the 2-2 auxiliary guide groove SG22 are arranged at different heights with reference to the second reference plane (not shown), thereby preventing the paths of the first rope portion JW21 and the second rope portion JW22 of the second clamp from interfering with each other. That is, through the second auxiliary guide groove SG21 and the second auxiliary guide groove SG22, the paths of the first rope section JW21 and the second rope section JW22 of the second clamp, which extend from the second clamp connecting pulley JP1C, can intersect.

[0186] The end tool hub 125C may be equipped with a first main guide slot MG1 and a second main guide slot MG2.

[0187] The first main guide groove MG1 guides the first clamp portion and the second cord portion JW12 to one side of the first reference surface RS1, wherein the first clamp portion and the second cord portion JW12 are wound around the first auxiliary guide groove SG11 and extend on the other side with reference to the first reference surface RS1. That is, through the first main guide groove MG1, the first clamp portion and the first cord portion JW11 and the first clamp portion and the second cord portion JW12 can extend together from one side of the first reference surface to the connecting portion 140.

[0188] The second main guide groove MG2 can guide the first cord portion JW21 of the second clamp to the other side of the first reference surface RS1, wherein the first cord portion JW21 of the second clamp is wound around the second auxiliary guide groove SG22 and extends on the side with reference to the first reference surface RS1. That is, through the second main guide groove MG2, the first cord portion JW21 and the second cord portion JW22 of the second clamp can extend together from the other side of the first reference surface RS1 to the connecting portion 140.

[0189] On the other hand, refer to Figure 27 The first clamp guide pulley GP1 and the second clamp guide pulley GP2 can also be arranged in the end tool hub 125C to replace the main guide groove MG.

[0190] The first clamp guide pulley GP1 guides the first clamp second rope portion JW12 to one side of the first reference surface RS1, wherein the first clamp second rope portion JW12 is wound around the first-1 auxiliary guide groove SG11 and extends on the other side with the first reference surface RS1 as a reference. That is, through the first clamp guide pulley GP1, the first clamp first rope portion JW11 and the first clamp second rope portion JW12 can extend together from one side of the first reference surface to the connecting portion 140.

[0191] The second clamp guide pulley GP2 can guide the first cord portion JW21 of the second clamp to the other side of the first reference surface RS1, wherein the first cord portion JW21 of the second clamp extends from the second-second auxiliary guide groove SG22 on the side with reference to the first reference surface RS1. That is, through the second clamp guide pulley GP2, the first cord portion JW21 and the second cord portion JW22 of the second clamp can extend together from the other side of the first reference surface RS1 to the connecting portion 140.

[0192] The rotation of the first clamp 121C and the second clamp 122C, arranged according to the paths of the first clamp rope JW1 and the second clamp rope JW2, is summarized as follows.

[0193] The first clamping section, first rope section JW11, is wound around the first clamping section connecting pulley JP1C and extends on the other side of the first reference surface RS1. Its path can be adjusted by the first-2 auxiliary guide groove SG12 to one side of the first reference surface RS1 and extends to the connecting part 140. The first clamping section, second rope section JW12, is wound around the first clamping section connecting pulley JP1C and extends on one side of the first reference surface RS1. Its path can be adjusted by the first-1 auxiliary guide groove SG11 to the other side of the first reference surface RS1. The path of the first clamping section, second rope section JW12, on the other side of the first reference surface RS1 is adjusted by the first main guide groove MG1 or the first clamping section guide pulley GP1 to one side of the first reference surface RS1 and extends to the connecting part 140.

[0194] Therefore, when the two cords of the first clamping section JW1 extend from the first clamping section connecting pulley JP1C, the end tool 120C can change the tangential direction. Thus, when the first clamping section 121C rotates, the rotation radius RR in both the clockwise and counterclockwise directions around the clamping section rotation axis 123JA can be expanded.

[0195] Furthermore, the first rope portion JW21 of the second clamp is wound around the second clamp connecting pulley JP2C on the other side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to one side of the first reference surface RS1 by the second auxiliary guide groove SG22. The path of the first rope portion JW21 of the second clamp is adjusted to the other side of the first reference surface RS1 by the second main guide groove MG2 or the second clamp guide pulley GP2 and extends to the connecting portion 140. The second rope portion JW22 of the second clamp is wound around the second clamp connecting pulley JP2C on one side of the first reference surface RS1 and extends thereafter, and its path can be adjusted to the other side of the first reference surface RS1 by the second auxiliary guide groove SG21 and extends to the connecting portion 140.

[0196] Therefore, when the two cords of the second clamping section JW2 extend from the second clamping section connecting pulley JP2C, the end tool 120C can change its tangential direction. Thus, when the second clamping section 122C rotates, the rotation radius RR in both the clockwise and counterclockwise directions centered on the clamping section rotation axis 123JA can be expanded.

[0197] Until now, several embodiments of the end-effector 120, which has a configuration for guiding the paths of the first clamp cord JW1 and the second clamp cord JW2, have been described in detail, along with the cord guiding principle. The end-effector 120 of the surgical instrument 100 of the present invention can be configured as a cord guiding assembly by combining an auxiliary pulley, a guide pulley, and a guide groove. This cord guiding assembly adjusts the extension directions of the first clamp cord JW1 and the second clamp cord JW2 extending from the first clamp connecting pulley JP1 and the second clamp connecting pulley JP2, respectively, thereby expanding the rotation radius of the first clamp 121 and the second clamp 122.

[0198] The structure and operating principle of the operating part 110, which is connected to the end tool 120 via the clamping cord JW and is used to adjust the rotation of the end tool 120, will be explained below.

[0199] Figure 28 and Figure 29 It is shown Figure 2 The diagram shows the operating part 110 of the surgical instrument 100.

[0200] Reference Figure 28 and Figure 29 According to an embodiment of the present invention, the operating part 110 of the surgical instrument 100 may be equipped with: a first handle 114 that can be held by a user, an actuation operating part 113 for adjusting the actuation movement of the end tool 120, a yaw operating part 112 for adjusting the yaw movement of the end tool 120, and a pitch operating part 111 for adjusting the pitch movement of the end tool 120.

[0201] First, taking the use of the surgical instrument 100 as an example, when the user holds the first handle 114 in their hand, they can rotate the first handle 114 around the Y-axis (i.e., the pitch axis) to perform a pitch action, and rotate the first handle 114 around the Z-axis (i.e., the yaw axis) to perform a yaw action. Additionally, the user can perform an actuation action by rotating the actuation unit 113 while inserting their thumb and forefinger into it.

[0202] One feature of the surgical instrument 100 according to an embodiment of the present invention is that when the operating part 110 rotates in a certain direction relative to the connecting part 140, the end effector 120 rotates in the same direction as the operating direction of the operating part 110. In other words, when the first handle 114 of the operating part 110 rotates in a certain direction, the end effector 120 also rotates in the same direction as the operating part 110, thereby performing pitch or yaw motion. The direction that appears to be the same can be further interpreted as: the direction of movement of the user's finger holding the operating part 110 and the direction of movement of the end effector 120 are substantially the same. Of course, the same direction referred to here does not mean a completely consistent direction in a three-dimensional coordinate system; for example, the degree of similarity in the movement of the end effector 120—such as when the user's finger moves to the left, the end effector 120 also moves to the left, and when the user's finger moves downward, the end effector 120 also moves downward.

[0203] Furthermore, for this purpose, a feature of the surgical instrument 100 according to an embodiment of the present invention is that it is formed in the same direction with reference to a plane perpendicular to the extension axis (X-axis) of the connecting portion 140. That is, with reference to Figure 2 When viewed with reference to the YZ plane, the operating part 110 extends along the +X axis, and the end tool 120 also extends along the +X axis. Alternatively, this can be interpreted as the direction in which the end tool 120 at one end of the connecting part 140 and the direction in which the operating part 110 at the other end of the connecting part 140 are formed, with reference to the YZ plane, are the same. Alternatively, this can be interpreted as the operating part 110 being formed in a direction away from the user's body (i.e., in the direction formed by the end tool 120). That is, the moving portions of the first handle 114, actuation rotation parts 1132a, 1132b, etc., which are held and moved by the user for actuation, yaw, and pitch actions, extend from the rotation center of each joint for the action towards the +X axis. Therefore, the moving portion of the end tool 120 can be configured in the same way as the operating part 110, extending from the rotation center of each joint for the action towards the +X axis, as by... Figures 1A to 1FThe description states that the user's operation direction and the end-effector's movement direction are consistent in both rotation and left / right angles, resulting in intuitive and identical operations.

[0204] The actuation, yaw, and pitch actions in this embodiment are described below.

[0205] First, the actuation action is as follows.

[0206] If a user inserts their index finger into the first actuation rotating part 1132a and their thumb into the second actuation rotating part 1132b, and then rotates the actuation rotating parts 1132a and 1132b using one or two fingers, the first actuation pulley 113P1 and the first actuation gear 1134a, which are connected to the first actuation rotating part 1132a, will rotate around the first actuation rotating shaft 1131a, and the second actuation pulley 1133b and the second actuation gear 1134b, which are connected to the second actuation rotating part 1132b, will rotate around the second actuation rotating shaft 1131b.

[0207] At this time, the first actuating pulley 113P1 and the second actuating pulley 113P2 rotate in different directions. Therefore, the first clamping rope JW1 with one end connected to and wound around the first actuating pulley 113P1 and the second clamping rope JW2 with one end connected to and wound around the second actuating pulley 113P2 also move in different directions.

[0208] Furthermore, the rotational force described above is transmitted to the end tool 120 via the power transmission unit 130, causing the two jaws 121 and 122 of the end tool 120 to perform an actuation action. The actuation action refers to the simultaneous opening or closing of the jaws 121 and 122 while they rotate in different directions. Specifically, when the actuation rotation units 1132a and 1132b of the actuation operation unit 113 are rotated towards each other, the first jaw 121 rotates counterclockwise and the second jaw 122 rotates clockwise, while the end tool 120 closes. When the actuation rotation units 1132a and 1132b of the actuation operation unit 113 are rotated away from each other, the first jaw 121 rotates clockwise and the second jaw 122 rotates counterclockwise, while the end tool 120 opens. In this embodiment, for the aforementioned actuation operation, a second handle is constructed by equipping a first actuation rotating part 1132a and a second actuation rotating part 1132b, which can be held with two fingers for operation. However, the configuration of the actuation operation part 113 for actuating the two clamps of the end tool 120 differs from the above, and other variations can also be used, such as a configuration in which two actuation pulleys (first actuation pulley 113P1 and second actuation pulley 113P2) use a single actuation rotating part to operate in opposite directions to each other.

[0209] Next, the yaw maneuver is as follows.

[0210] When the user holds the first handle 114 and rotates the first handle 114 around the yaw rotation axis 1121, the actuation operation unit 113 and the yaw operation unit 112 yaw around the yaw rotation axis 1121. That is, when the first actuation pulley 113P1 of the first actuation operation unit 113a, which is connected to the first clamping cord JW1, rotates around the yaw rotation axis 1121, the first clamping cord JW1 wound around the first clamping yaw pulley 112P1 moves. Similarly, when the second actuation pulley 113P2 of the second actuation operation unit 113b, which is connected to the second clamping cord JW2, rotates around the yaw rotation axis 1121, the second clamping cord JW2 wound around the second clamping yaw pulley 112P2 moves. At this time, the first clamping rope JW1 connected to the first clamping part 121 and the second clamping rope JW2 connected to the second clamping part 122 are wound around the first clamping part yaw pulley 112P1 and the second clamping part yaw pulley 112P2, so that when yaw rotation is performed, the first clamping part 121 and the second clamping part 122 rotate in the same direction. Furthermore, the rotational force described above is transmitted to the end tool 120 through the power transmission unit 130, causing the two clamps 121 and 122 of the end tool 120 to perform a yaw action rotating in the same direction.

[0211] At this time, the yaw frame 1123 is connected to the first handle 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b. Therefore, the first handle 114, the yaw operation unit 112, and the actuation operation unit 113 rotate together around the yaw rotation shaft 1121.

[0212] Next, the pitching motion is as follows.

[0213] When the user holds the first handle 114 and rotates the first handle 114 around the pitch rotation axis 1111, the actuation operation unit 113, the yaw operation unit 112, and the pitch operation unit 111 rotate in pitch around the pitch rotation axis 1111. That is, when the first actuation pulley 113P1 of the first actuation operation unit 113a, which is connected to the first clamping rope JW1, rotates around the pitch rotation axis 1111, the first clamping rope JW1 wound around the first clamping pitch pulley-a 111P1a and the first clamping pitch pulley-b 111P1b moves. Similarly, when the second actuation pulley 113P2, which is connected to the second actuation operating part 113b of the second clamping rope JW2, rotates around the pitch rotation axis 1111, the second clamping rope JW2 wound around the second clamping pitch pulley -a111P2a and the second clamping pitch pulley -b111P2b moves. At this time, if by Figure 9 The two strands of the first clamping rope JW1 move in the same direction, and the two strands of the second clamping rope JW2 also move in the same direction. The first clamping rope JW1 and the second clamping rope JW2 are wound around the first clamping pitch pulleys 111P1a, 111P1b and the second clamping pitch pulleys 111P2a, 111P2b, so that the first clamping part 121 and the second clamping part 122 can perform pitch rotation. Furthermore, the rotational force described above is transmitted to the end tool 120 through the power transmission unit 130, and the two clamps 121 and 122 of the end tool 120 perform the pitching action.

[0214] At this time, the pitch frame 1113 is connected to the yaw frame 1123, and the yaw frame 1123 can be connected to the first handle 114, the yaw rotation axis 1121, the first actuation rotation axis 1131a, and the second actuation rotation axis 1131b. Therefore, when the pitch frame 1113 rotates around the pitch rotation axis 1111, the yaw frame 1123, the first handle 114, the yaw rotation axis 1121, the first actuation rotation axis 1131a, and the second actuation rotation axis 1131b connected to the pitch frame 1113 rotate together. That is, when the pitch operation unit 111 rotates around the pitch rotation axis 11111, the actuation operation unit 113 and the yaw operation unit 112 rotate together with the pitch operation unit 111.

[0215] In summary, the surgical instrument 100 according to an embodiment of the present invention is characterized in that each joint portion (actuating joint, yaw joint, pitch joint) is provided with a pulley, and a rope (first clamp rope or second clamp rope) is wound around the pulley. The rotational operation of the operating part (actuating rotation, yaw rotation, pitch rotation) causes the movement of each rope, thereby guiding the end tool 120 to perform the required action. Furthermore, auxiliary pulleys may be formed on one side of each pulley, through which the rope is prevented from being wound multiple times around a single pulley.

[0216] Figure 30 It is schematically shown only for the components. Figure 28 The diagram shows the configuration of pulleys and cords in the joints of a surgical instrument 100 according to an embodiment of the present invention.

[0217] Reference Figure 30 The operating unit 110 may include a first actuation pulley 113P1, a first jaw yaw pulley 112P1, a first jaw yaw auxiliary pulley 112S1, a first jaw pitch pulley -a111P1a, a first jaw pitch pulley -b111P1b, a first jaw pitch auxiliary pulley -a111S1a, and a first jaw pitch auxiliary pulley -b111S1b, all associated with the rotational movement of the first jaw 121.

[0218] Additionally, the operating unit 110 may include a second actuation pulley 113P2, a second jaw yaw pulley 112P2, a second jaw yaw auxiliary pulley 112S2, a second jaw pitch pulley -a111P2a, a second jaw pitch pulley -b111P2b, a second jaw pitch auxiliary pulley -a111S2a, and a second jaw pitch auxiliary pulley -b111S2b, all related to the rotational movement of the second jaw (jaw) 122. (The arrangement and configuration of the pulleys in the operating unit 110 are in principle the same as the arrangement and configuration of the pulleys in the end tool 120, therefore, the specific reference numerals in the drawings will be omitted.)

[0219] The first clamp yaw pulley 112P1 and the second clamp yaw pulley 112P2 can rotate independently of each other around the same axis (i.e., the yaw rotation axis 1121). At this time, the first clamp yaw pulley 112P1 and the second clamp yaw pulley 112P2 can be composed of two pulleys that are respectively formed as two opposite pulleys and can rotate independently.

[0220] The first clamp yaw auxiliary pulley 112S1 and the second clamp yaw auxiliary pulley 112S2 can rotate independently of each other around the same axis. In this case, the first clamp yaw auxiliary pulley 112S1 can be composed of two opposing and independently rotatable pulleys, which can have different diameters. Similarly, the second clamp yaw auxiliary pulley 112S2 can be composed of two opposing and independently rotatable pulleys, which can also have different diameters.

[0221] The first clamp pitch auxiliary pulley -a 111S1a, the first clamp pitch auxiliary pulley -b 111S1b, the second clamp pitch auxiliary pulley -a 111S2a, and the second clamp pitch auxiliary pulley -b 111S2b can be configured to rotate independently of each other around the same axis. In this case, the first clamp pitch auxiliary pulley -a 111S1a and the first clamp pitch auxiliary pulley -b 111S1b can be configured to have different diameters. Furthermore, the second clamp pitch auxiliary pulley -a 111S2a and the second clamp pitch auxiliary pulley -b 111S2b can also be configured to have different diameters.

[0222] The first clamp pitch pulley-a 111P1a, the first clamp pitch pulley-b 111P1b, the second clamp pitch pulley-a 111P2a, and the second clamp pitch pulley-b 111P2b can be configured to rotate independently of each other around the same axis (i.e., the pitch rotation axis 1111).

[0223] The first clamping rope JW1 is formed such that it sequentially passes through the first clamping pitch pulley-a 111P1a, the first clamping pitch auxiliary pulley-a 111S1a, the first clamping yaw auxiliary pulley 112S1, and the first clamping yaw pulley 112P1 of the operating part 110, and is wound around the first actuating pulley 113P1. Then, it sequentially passes through the first clamping yaw pulley 112P1, the first clamping yaw auxiliary pulley 112S1, the first clamping pitch auxiliary pulley-b 111S1b, and the first clamping pitch pulley-b 111P1b. In this way, the first clamping rope JW1 can move along the pulley while causing it to rotate. At this time, a portion of the first actuating pulley 113P1 may be connected to the first clamping rope JW1.

[0224] The second clamping rope JW2 is formed such that it sequentially passes through the second clamping pitch pulley-a 111P2a, the second clamping pitch auxiliary pulley-a 111S2a, the second clamping yaw auxiliary pulley 112S2, and the second clamping yaw pulley 112P2 of the operating part 110, and is wound around the second actuating pulley 113P2. Then, it sequentially passes through the second clamping yaw pulley 112P2, the second clamping yaw auxiliary pulley 112S2, the second clamping pitch auxiliary pulley-b 111S2b, and the second clamping pitch pulley-b 111P2b. In this way, the second clamping rope JW2 can move along the pulley while causing it to rotate. At this time, a portion of the second actuating pulley 113P2 may be connected to the second clamping rope JW2.

[0225] As described above, the surgical instruments 100 can independently perform yaw, pitch, and actuation actions through the pulley and rope structure, and the user can operate the surgical instruments 100 through intuitive and consistent actions.

[0226] The end effector of a surgical instrument according to an embodiment of the present invention has a pair of rotatable clamps, the rotation radius of which is expanded by adjusting the path arrangement of the clamp cords. The end effector of the surgical instrument according to an embodiment of the present invention may be equipped with a cord guiding assembly by a guide groove formed in an auxiliary pulley and / or the end effector hub. The rotation radius of the clamps can be changed according to the extension direction of the clamp cords wound around the clamp-connected pulley and extending therefrom; therefore, the end effector can adjust the opening and closing radius of the end effector by adjusting the extension direction of the clamp cords through the cord guiding assembly.

[0227] According to an embodiment of the present invention, the end-effector of a surgical instrument can extend the opening and closing radius of a pair of forceps by adjusting the path arrangement of the forceps cords. According to an embodiment of the present invention, the end-effector of a surgical instrument can adjust the extension direction of the forceps cords by adjusting the guide groove formed in the auxiliary pulley and / or the end-effector pivot, thereby adjusting the rotation radius of the forceps.

[0228] According to an embodiment of the present invention, the end effector of a surgical instrument can expand the yaw range capable of performing actuation actions by adjusting the path arrangement of the clamp cords. Furthermore, in the end effector of the surgical instrument according to an embodiment of the present invention, the paths of the clamp cords are arranged so as not to interfere with each other, thereby enabling safe and efficient power transmission.

[0229] Up to this point, preferred embodiments of the invention have been described. Those skilled in the art will understand that various modifications of the invention can be implemented without departing from its essential characteristics. Therefore, the disclosed embodiments should be understood in an illustrative rather than restrictive manner. The scope of the invention is defined by the claims rather than the foregoing description.

Claims

1. An end-effector for a surgical instrument, the end-effector comprising: The first and second clamps are both configured to be independently rotatable. The first clamping part engages with the pulley, which is engaged with the first clamping part; The first clamping section rope wire is engaged with the first clamping section pulley and has a first clamping section first rope wire part and a first clamping section second rope wire part; The second clamping part engages with the pulley, which is engaged with the second clamping part; The second clamping cord is engaged with the second clamping pulley and has a first cord portion of the second clamping cord and a second cord portion of the second clamping cord. A first clamp auxiliary pulley assembly is provided for winding the first clamp rope extending from the first clamp combined pulley, and is configured to adjust a first path of the first clamp rope portion and a second path of the first clamp second rope portion. The second clamp auxiliary pulley assembly is for winding the second clamp rope wire extending from the second clamp combined pulley, and is configured to adjust the third path of the first rope wire portion of the second clamp and the fourth path of the second rope wire portion of the second clamp; as well as An end-tool hub, wherein a first clamping pulley, a second clamping pulley, a first clamping auxiliary pulley assembly, and a second clamping auxiliary pulley assembly are rotatably arranged, and the end-tool hub is configured such that... The first path of the first cord portion of the first clamp and the second path of the second cord portion of the first clamp, extending from the first clamp auxiliary pulley assembly, are guided to one side of the first reference plane, wherein the first reference plane is defined as a virtual plane, and The third path of the first cord portion of the second clamp and the fourth path of the second cord portion of the second clamp, which extend from the second clamp auxiliary pulley assembly, are guided to the other side of the first reference plane.

2. The end-effector of the surgical instrument according to claim 1, wherein, The first clamp auxiliary pulley assembly includes: The first auxiliary pulley of the first clamp is configured as follows: The first rope portion of the first clamp, which is wound around the pulley of the first clamp and extends to the other side of the first reference plane, is guided to one side of the first reference plane, and The second rope portion of the first clamp, which is wound around the pulley of the first clamp and extends to the other side of the first reference plane, is guided to the other side of the first reference plane. The second clamp auxiliary pulley assembly includes: The first auxiliary pulley of the second clamp is configured as follows: The first rope section of the second clamp, which is wound around the pulley of the second clamp and extends to the other side of the first reference plane, is guided to one side of the first reference plane, and The second rope portion of the second clamp, which is wound around the pulley of the second clamp on one side based on the first reference plane and extends therefrom, is guided to the other side of the first reference plane.

3. The end-effector of the surgical instrument according to claim 2, wherein, The end-tool hub includes: A first main guide groove, formed on one side based on the first reference plane, is configured to guide a second path of the second cord portion of the first clamp extending from the first auxiliary pulley of the first clamp; and A second main guide groove is formed on the other side relative to the first reference plane and is configured to guide a third path of the first cord portion of the second clamp extending from the first auxiliary pulley of the second clamp.

4. The end-effector of the surgical instrument according to claim 2, wherein, The first clamp auxiliary pulley assembly further includes: A first clamp guide pulley, rotatably coupled to the end tool pivot, is configured to guide a third path from a first clamp second cord portion extending from the first clamp first auxiliary pulley to one side of the first reference surface; and The second clamp auxiliary pulley assembly also includes: The second clamp guide pulley is rotatably coupled to the end tool pivot and is configured to guide the path of the first cord portion of the second clamp, which extends from the first auxiliary pulley of the second clamp, to one side of the first reference surface.

5. The end-effector of the surgical instrument according to claim 1, wherein, The first clamp auxiliary pulley assembly includes: The first clamping part, auxiliary pulley 2-1, is arranged on one side based on the first reference plane, for winding around the first rope portion of the first clamping part that is connected to and extends from the first clamping part pulley, and... The second auxiliary pulley of the first clamp is arranged on the other side based on the first reference plane, and is used to wind the second rope portion of the first clamp that is connected to the pulley of the first clamp and extends thereto. The second clamp auxiliary pulley assembly includes: The second clamp portion, auxiliary pulley 2-1, is arranged on one side based on the first reference plane, for winding around the first rope portion of the second clamp portion that is connected to and extends from the second clamp portion pulley. The second clamping part has a second auxiliary pulley 2-2, which is arranged on the other side based on the first reference plane, for winding around the second rope portion of the second clamping part that is connected to the pulley of the second clamping part and extends therefrom.

6. The end-effector of the surgical instrument according to claim 5, wherein, The first clamp portion second-1 auxiliary pulley and the second clamp portion second-1 auxiliary pulley are rotatably coupled to a first auxiliary shaft arranged in the end tool pivot portion. The first clamp 2-2 auxiliary pulley and the second clamp 2-2 auxiliary pulley are rotatably coupled to a second auxiliary shaft arranged in the end tool pivot.

7. The end-effector of the surgical instrument according to claim 6, wherein, The first clamp's second-1 auxiliary pulley and the first clamp's second-2 auxiliary pulley are arranged at different heights from the second reference plane, wherein the second reference plane is defined as another virtual plane to avoid mutual interference. The second clamp 2-1 auxiliary pulley and the second clamp 2-2 auxiliary pulley are arranged at different heights from the second reference plane to avoid mutual interference.

8. The end-effector of the surgical instrument according to claim 6, wherein, The first clamp's second-1 auxiliary pulley and the first clamp's second-2 auxiliary pulley are arranged at an angle to avoid mutual interference, and The second clamp's second-1 auxiliary pulley and the second clamp's second-2 auxiliary pulley are arranged at an angle to avoid mutual interference.

9. The end-effector of the surgical instrument according to claim 5, wherein, The end-tool hub includes: A first main guide groove, formed on one side based on the first reference plane, is configured to guide a second path of the second cord portion of the first clamp extending from the second auxiliary pulley of the first clamp; and The second main guide groove is formed on the other side relative to the first reference plane and is configured to guide the third path of the first cord portion of the second clamp extending from the second clamp auxiliary pulley 2-1.

10. The end-effector of the surgical instrument according to claim 5, wherein, The first clamp auxiliary pulley assembly further includes: A first clamp guide pulley, rotatably coupled to the end tool pivot, is configured to guide a second path of the second cord portion of the first clamp, extending from the first clamp auxiliary pulley 2-2, to one side of the first reference surface. The second clamp auxiliary pulley assembly also includes: The second clamp guide pulley, which is rotatably coupled to the end tool hub, is configured to guide a third path of the first cord portion of the second clamp, extending from the second clamp auxiliary pulley 2-1, to the other side of the first reference plane.

11. The end-effector of the surgical instrument according to claim 1, wherein, The first clamp auxiliary pulley assembly includes: The third auxiliary pulley of the first clamp is configured as follows: The first rope portion of the first clamp, which is wound around the pulley of the first clamp and extends to the other side of the first reference plane, is guided to one side of the first reference plane, and The second rope portion of the first clamp, which is wound around the pulley of the first clamp and extends to one side of the first reference plane, is guided to one side of the first reference plane; and The second clamp auxiliary pulley assembly includes: The third auxiliary pulley of the second clamp is configured as follows: The first rope portion of the second clamp, which is wound around the pulley of the second clamp and extends to the other side of the first reference plane, is guided to the other side of the first reference plane, and... The second rope portion of the second clamp, which is wound around the pulley of the second clamp on one side based on the first reference plane and extends therefrom, is guided to the other side of the first reference plane.

12. An end-effector for a surgical instrument, the end-effector comprising: The first and second clamps are both configured to be independently rotatable. The first clamping part engages with the pulley, which is engaged with the first clamping part; The first clamping section rope wire is engaged with the first clamping section pulley and has a first clamping section first rope wire part and a first clamping section second rope wire part; The second clamping part engages with the pulley, which is engaged with the second clamping part; The second clamping section rope wire, which engages with the second clamping section pulley, and has a second clamping section first rope wire portion and a second clamping section second rope wire portion; and An end-tool hub, wherein a first clamping pulley and a second clamping pulley are rotatably arranged, the end-tool hub being configured such that... The first clamping cord is guided to one side of a first reference plane, wherein the first reference plane is defined as a virtual plane. Guide the second clamping cord to the other side of the first reference plane. Adjust the first path of the first cord portion of the first clamp to intersect with the second path of the second cord portion of the first clamp, and Adjust the third path of the first rope section of the second clamp to intersect with the fourth path of the second rope section of the second clamp.

13. The end-effector of the surgical instrument according to claim 12, wherein, The end-tool hub includes: The main body of the hub, and A hub guide body extends from the hub body and connects a pair of hub extensions that are opposite each other; The hub guide body includes: The first-1 auxiliary guide groove is configured to guide the first path of the first cord portion of the first clamp, which is wound around the first clamp engagement pulley and extends on the other side based on the first reference plane, to one side of the first reference plane. The first and second auxiliary guide grooves are configured to guide the second rope portion of the first clamp, which is wound around the first clamp engagement pulley and extends on one side based on the first reference plane, to the other side of the first reference plane. The second-1 auxiliary guide groove is configured to guide the third path of the first cord portion of the second clamp, which is wound around the second clamp engagement pulley and extends from the first reference plane on the other side, to one side of the first reference plane. The second-2 auxiliary guide groove is configured to guide the second rope portion of the second clamp, which is wound around the second clamp connecting pulley and extends from one side of the first reference plane, to the other side of the first reference plane.

14. The end-effector of the surgical instrument according to claim 13, wherein, The first-1 auxiliary guide groove and the first-2 auxiliary guide groove are arranged at different heights from the second reference plane, and the second-1 auxiliary guide groove and the second-2 auxiliary guide groove are arranged at different heights from the second reference plane, wherein the second reference plane is defined as another virtual plane.

15. The end-effector of the surgical instrument according to claim 13, wherein, The main body of the hub includes: A first main guide groove, formed on one side based on the first reference plane, is configured to guide a second path of the second cord portion of the first clamp extending from the first-2 auxiliary guide grooves; and The second main guide groove is formed on the other side relative to the first reference plane and is configured to guide the third path of the first cord portion of the second clamp extending from the second-1 auxiliary guide groove.

16. The end-effector of the surgical instrument according to claim 13, further comprising: A first clamp guide pulley, which is rotatably coupled to the hub body, and is configured to guide a second path of the second cord portion of the first clamp extending from the first-2 auxiliary guide grooves to one side of the first reference surface; as well as The second clamp guide pulley, which is rotatably coupled to the hub body, is configured to guide the third path of the first cord portion of the second clamp extending from the second-1 auxiliary guide groove to the other side of the first reference plane.

17. An end-effector for a surgical instrument, the end-effector comprising: The first and second clamps are both configured to be independently rotatable. The first clamping part engages with the pulley, which is engaged with the first clamping part; The first clamping section rope wire is engaged with the first clamping section pulley and has a first clamping section first rope wire part and a first clamping section second rope wire part; The second clamping part engages with the pulley, which is engaged with the second clamping part; The second clamping section has a rope wire that is connected to a pulley in the second clamping section, and has a first rope wire section in the second clamping section and a second rope wire section in the second clamping section. An end-tool hub, wherein the first clamping pulley and the second clamping pulley are rotatably arranged; and The cord guiding assembly is configured to, The first clamp cord is guided to extend from one side of a first reference plane to the outside of the end tool hub by adjusting the first path of the first clamp cord and the second path of the first clamp cord within the end tool hub, wherein the first reference plane is defined as a virtual plane, and The second clamp cord is guided to extend from the other side of the first reference plane to the outside of the end tool hub by adjusting the third path of the first cord of the second clamp and the fourth path of the second cord of the second clamp within the end tool hub.

18. The end-effector of the surgical instrument according to claim 17, wherein, The cord guiding assembly includes: A first clamp guide unit is configured to adjust, within the end tool pivot, the first path of the first cord portion of the first clamp and the second path of the second cord portion of the first clamp intersect each other; and The second clamping guide unit is configured to adjust the third path of the first cord portion of the second clamping part and the fourth path of the second cord portion of the second clamping part to intersect each other within the end tool hub.

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