A flexible, wrist-surgery friendly, low-cost, multi-angle, local laparoscopic hand instrument

Abstract

The present invention discloses a flexible, wrist surgeon friendly, multi-angle, intuitive laparoscopic hand instrument. The laparoscopic hand instrument comprises a hand controller module, a motion transmission module and an end effector module. The hand controller module comprises a circular head, an inner and outer ring formed by a circular head portion with a groove and a cylindrical tail portion with a horizontal protrusion, a base member and a handle integrated onto the ridge on the bottom member via a slit to allow the handle and handle cover to independently rotate up to a predetermined angle on either side. The motion transmission module comprises a shaft with multiple connecting rods. The end effector module comprises an upper and lower pulley, pulleys A and B stacked and connected to the upper and lower pulley by a second rivet, and a gripper, and the upper and lower pulley are configured to move together or independently according to the movement of the finger holder and the handle.

Description

Technical Field

[0001] This disclosure generally relates to medical devices. More specifically, the present invention relates to a flexible, surgeon-friendly, low-cost, multi-degree indigenous laparoscopic hand instrument for minimally invasive surgical procedures. Background Technology

[0002] Laparoscopic surgery, also known as minimally invasive surgery (MIS), band-aid surgery, keyhole surgery, or pinhole surgery, is a modern surgical technique with many advantages compared to traditional open surgery methods. This procedure is becoming increasingly popular and is now frequently used for many different surgeries within the abdominal and pelvic cavities, as well as thoracoscopic and orthopedic surgeries. Laparoscopic surgery has become more prevalent in recent years due to its associated benefits, such as reduced patient trauma, faster recovery time, and less scarring. In laparoscopic surgery, surgical instruments are introduced through small incisions or ports, allowing surgeons to perform complex procedures with the aid of cameras and specialized instruments. However, traditional methods have several limitations.

[0003] Numerous techniques have been developed to address the aforementioned problems. For example, patent document US9138207B2 discloses a method for laparoscopic surgery, which includes inserting a cannula into a body cavity and making an incision through which the shaft of a surgical instrument passes through the wall of the body cavity. The diameter of the incision is substantially no larger than the diameter of the shaft and is located away from the cannula, such that the proximal portion of the shaft is outside the cavity and the distal portion of the shaft is inside the body cavity. The method includes passing the distal portion of the shaft through the cannula from inside the body cavity until the distal portion protrudes from the body cavity, and attaching an operating tool head to the shaft while the distal shaft portion is outside the body cavity. Furthermore, the method includes retracting the shaft and the operating tool head completely through the cannula to position the attached operating tool head entirely within the cavity, and manipulating the operating tool head within the cavity during the procedure using a portion of the shaft outside the body cavity.

[0004] Another patent document, US5350391A, discloses a laparoscopic surgical instrument comprising a distal and proximal end of an elongated shaft bearing, and a surgical tool pivotally mounted to the distal end of the shaft. The surgical tool includes a pair of components movable relative to each other to perform surgical steps, and first and second handles pivotally mounted to the proximal end of the shaft, the handles being pivotally movable together relative to the shaft and pivotable relative to each other. The handles are operatively connected to the surgical tool such that pivotable movement of the two handles in one direction simultaneously pivots the two components of the tool relative to the shaft at an angle, and the pivotability of the first handle relative to the second handle causes the components of the surgical tool to move relative to each other to perform the surgical steps.

[0005] Another patent document, US5593402A, discloses a laparoscopic device comprising an inner cannula having an inner distal end and an inner operating end, a removable distal end having a tip locking device thereon, and an outer cannula having an outer distal end and an outer operating end. The outer cannula is sized to allow the inner cannula to be inserted therein and rotate freely therebetween. The inner cannula is located within the outer cannula, and the distal end includes first and second end locking devices on the inner and outer distal ends, respectively. The first and second end locking devices are configured and sized to simultaneously engage with the tip locking device of the removable distal end during rotation between the inner and outer distal ends, thereby selectively locking the removable distal end relative to the distal end to prevent rotation and axial movement. Furthermore, the laparoscopic device includes a mechanism operatively associated with the inner and outer canns for providing selective axial locking between the cannulas; wherein the tip locking device of the removable distal end tip includes an insertion end of the tip having a rotation locking member and an axial locking device. The first end locking device includes a groove sized to receive the rotational locking member, thereby providing rotational fixation between the removable distal head and the distal end. The second end locking device includes a locking lug sized to engage the axial locking device, thereby providing translational fixation between the removable distal end and the distal end.

[0006] While traditional laparoscopic instruments offer many advantages over existing technologies, they do face certain limitations, such as a lack of optimal flexibility that restricts the range of motion within the surgical site. Furthermore, manipulating these instruments during laparoscopic surgery may not be intuitively aligned with the required surgical movements, posing a challenge to surgeons, prolonging the learning curve, and potentially leading to inefficiency. Additionally, existing instruments are not well-suited for a wide range of surgical scenarios and may hinder surgeons' ability to access specific anatomical structures or perform complex procedures.

[0007] Therefore, in the existing technology, there is a need for an alternative instrument with improved structure, function and usability to effectively perform laparoscopic surgery and overcome the above-mentioned shortcomings.

[0008] The purpose of this disclosure is: The main objective of this invention is to manufacture a highly efficient laparoscopic hand instrument.

[0009] Another objective of this disclosure is to create a flexible, surgeon-friendly, low-cost, multi-angle, indigenous laparoscopic hand instrument.

[0010] Another object of this disclosure is to manufacture a laparoscopic hand instrument with enhanced mobility, reduced fulcrum effect and improved ergonomic design.

[0011] In addition, another object of this disclosure is to utilize the manufactured laparoscopic hand instruments in minimally invasive surgical procedures. Summary of the Invention

[0012] This invention discloses a flexible wrist surgeon-friendly, multi-angle, and intuitive laparoscopic hand instrument for minimally invasive surgery.

[0013] The laparoscopic hand instrument disclosed herein includes a hand controller module, a motion transmission module, and an end effector module. The hand controller module includes a circular head with rectangular openings on both the rear and front sides. The hand controller module includes a rectangular protrusion on the front opening, which is connected to the sides of the vertical ring via upper and lower triangular beams formed by upper and lower triangular beams formed by 1mm horizontal slits-1 on both sides of the vertical ring. The vertical ring has grooves etched on its outer periphery on the front side. The head is formed with a circular solid thickness at its lower part, which has slits-5 and multiple holes on the rear side. The head is integrated into the upper part of a circular bottom member having multiple protrusions. Slits-2 are disposed on the upper side of the circular bottom member. The head accommodates an inner ring having a circular head portion and a cylindrical tail portion. A first groove is etched on the outer periphery of the circular head portion, and the cylindrical tail portion has a first horizontal protrusion perpendicular to the cylindrical tail portion. The inner ring is placed inside the outer ring. The outer ring has a circular head portion and a cylindrical tail portion. The circular head portion has a slit-3 and a second groove engraved on its outer periphery. The cylindrical tail portion has a slit-3 and a second horizontal protrusion perpendicular to the cylindrical tail portion. The outer ring is mounted on a base member having a cylindrical portion and a horizontal plate. Slits-4 are provided in both the cylindrical portion and the horizontal plate, which includes multiple holes. The cylindrical portion of the base member is fixed to a circular solid thickness extending to the head, and the horizontal plate of the base member is fixed to the upper surface of the circular bottom member. The upper opening of the head is closed by a top cover.

[0014] In one embodiment, the hand controller module includes a handle having an open top and a closed bottom. The open top is closed by a handle cover. The handle, which has a slit at the top, is integrated into a ridge located on the lower front side of the circular bottom member, thereby allowing the handle and handle cover to rotate independently up to 90 degrees on either side of the ridge.

[0015] In one embodiment, the first protrusion is adapted to receive a first finger holder, and the second protrusion is adapted to receive a second finger holder. The first and second finger holders are configured to slide left and right individually or together, thereby actuating pulleys A and B to rotate left and right.

[0016] In one embodiment, the rear rectangular opening in the head is closed by a head side cover.

[0017] In one embodiment, the first and second grooves in the inner and outer rings are adapted to receive the inner ring surround line and the outer ring surround line.

[0018] In this embodiment, the groove in the vertical ring is adapted to receive the winding line of the vertical ring. The axis of movement of the vertical ring is perpendicular to both the inner and outer rings. The 1mm horizontal slits on both sides of the vertical ring are adapted to receive the winding lines of the inner and outer rings.

[0019] In one embodiment, the motion transmission module includes an elongated shaft having a proximal end and a distal end. The proximal end is integrated with a vertical ring via a shaft retainer connected by portions 1 and 2, and the distal end is integrated with upper and lower pulley retainers. The shaft houses connecting rods having proximal and distal ends. The proximal ends of the first and second connecting rods are attached to the inner ring loop, the proximal ends of the third and fourth connecting rods are attached to the outer ring loop, and the proximal ends of the fifth and sixth connecting rods are attached to the vertical ring loop.

[0020] In one embodiment, the end effector module includes an upper and lower pulley coupled to an upper and lower pulley retainer via rivets 1, and surrounded by upper and lower loops integrated to the distal ends of the fifth and sixth connecting rods. The end effector unit includes a pulley A positioned above pulley B and attached to the upper and lower pulleys via rivets 2. The axes of movement of pulleys A and B are perpendicular to the axes of movement of the upper and lower pulleys. Pulley A is surrounded by a loop integrated to the distal ends of the first and second connecting rods, and pulley B is surrounded by a loop integrated to the distal ends of the third and fourth connecting rods. Furthermore, the end effector module includes grippers-1 and grippers-2 respectively attached to pulleys A and B, and adapted to move in the same direction as the movement of the first and second finger retainers, or adapted to move independently of the movement of the first and second finger retainers. Attached Figure Description

[0021] Figure 1 A perspective view of a laparoscopic hand instrument according to an embodiment of the present disclosure is shown.

[0022] Figure 2 An exploded view of a laparoscopic hand instrument including a hand controller module, a motion transmission module, and an end effector module according to an embodiment of the present disclosure is shown.

[0023] Figure 3A and Figure 3B Various parts of a laparoscopic hand instrument according to an embodiment of the present disclosure are shown.

[0024] Figure 4A and Figure 4B Schematic diagrams of the gripper of the end effector module according to embodiments of the present disclosure in open and closed positions are shown respectively.

[0025] Figure 5A and Figure 5B Schematic diagrams showing the left and right movements of the gripper according to embodiments of the present disclosure are shown respectively.

[0026] Figure 6A and Figure 6B Schematic diagrams showing the up-and-down movement of the gripper according to embodiments of the present disclosure are shown respectively. Detailed Implementation

[0027] The following is a detailed description of embodiments of the present disclosure depicted in the accompanying drawings. The details of the embodiments are sufficient to clearly convey the present disclosure. However, the amount of detail provided is not intended to limit contemplation of the embodiments; rather, it is intended to cover all modifications, equivalents, and alternatives falling within the scope of the present disclosure as defined by the appended claims.

[0028] This invention discloses a flexible, surgeon-friendly, multi-angle, and intuitive laparoscopic hand instrument for the wrist. The laparoscopic hand instrument includes a hand controller module, a motion transmission module, and an end effector module.

[0029] The hand controller module includes a circular head with a front rectangular opening and a rear rectangular opening, and rectangular protrusions attached to both sides of a vertical ring via upper and lower triangular beams on the front opening. The vertical ring includes 1mm horizontal slits on both sides and grooves etched on its outer periphery on the front side. The solid lower part of the head includes slits and multiple holes. A circular bottom member with upper protrusions and slits is integrally connected to the head. An inner ring is housed within the head and forms a circular head portion with circumferential grooves and a cylindrical tail portion with a first horizontal protrusion. An outer ring surrounding the inner ring is formed by the circular head portion with slits and grooves and the cylindrical tail portion with a second horizontal protrusion.

[0030] The hand controller module includes a base member with a cylindrical portion and a horizontal plate with slits and multiple holes. The cylindrical portion is fixed to the head, and the horizontal plate is fixed to the bottom member. A top cover is provided to close the upper opening of the head. Additionally, the hand controller module includes a handle with an open top and a closed bottom. The open top is closed by a handle cover. The handle is integrated via a slit into a ridge on the bottom member, allowing the handle and cover to rotate independently by 90 degrees to either side.

[0031] The first and second horizontal protrusions are adapted to receive corresponding finger holders, which are configured to slide laterally independently or simultaneously, thereby actuating pulleys A and B. The rear rectangular opening is closed by the head side cover.

[0032] The grooves on the inner and outer rings are used to receive the inner and outer ring windings, respectively. The groove on the vertical ring is adapted to receive the vertical ring winding, and the axis of movement of the vertical ring is perpendicular to the axes of movement of the inner and outer rings.

[0033] In one embodiment, the motion transmission module includes an elongated shaft having a proximal end and a distal end. The proximal end is integrated to a vertical ring via a shaft retainer, and the distal end is integrated to upper and lower pulley retainers. The shaft accommodates multiple connecting rods. First and second connecting rods are attached to the inner ring loop, third and fourth connecting rods are attached to the outer ring loop, and fifth and sixth connecting rods are attached to the vertical ring loop.

[0034] In one embodiment, the end effector module includes upper and lower pulleys connected to a pulley retainer by rivets and surrounded by lines from fifth and sixth connecting rods. Pulleys A and B are stacked and attached to the upper and lower pulleys by second rivets. The axes of movement of pulleys A and B are perpendicular to the axes of movement of the upper and lower pulleys. Pulleys A and B are surrounded by lines from first and second connecting rods and third and fourth connecting rods, respectively. The end effector module includes grippers-1 and grippers-2 attached to pulleys A and B and configured to move in the same direction or independently according to the movement of the finger retainer.

[0035] Reference Figures 1-6B Various embodiments of this disclosure are explained in detail.

[0036] Reference Figures 1-6B A laparoscopic hand instrument 1 is disclosed. The laparoscopic hand instrument 1 includes a hand controller module 2, a motion transmission module 3, and an end effector module 4.

[0037] In an exemplary embodiment, the hand controller unit 2 includes a circular head 5 with rectangular openings 6A and 6B on its rear and front sides. A rectangular protrusion 45 located at the front opening 6B is connected to both sides of a vertical ring 7 via an upper triangular beam and a lower triangular beam, each triangular beam forming a 1mm horizontal slit-1 12A and 12B on both sides of the vertical ring 7. The vertical ring 7 has a groove 41 engraved on its outer periphery on the front side of the head 5. The lower part of the head 5 is formed with a circular solid thickness, which has a slit-5 44 and multiple holes on its rear side. The head 5 is integrated into the upper part of a circular bottom member 8, which has multiple protrusions and a slit-2 16 on its upper side. The head 5 accommodates an inner ring 10, which has a circular head portion and a cylindrical tail portion. A first groove 11 is engraved on the outer periphery of the circular head portion, and the cylindrical tail portion has a first horizontal protrusion 13 perpendicular to the cylindrical tail portion. The inner ring 10 is placed inside the outer ring 14. The outer ring 14 has a circular head portion and a cylindrical tail portion. The circular head portion has a slit-3 42 and a second groove 15 is engraved on the outer periphery of the circular head portion. The cylindrical tail portion has a slit-3 42 and a second horizontal protrusion 17 perpendicular to the cylindrical tail portion. The outer ring 14 is mounted on a base member 18, which has a cylindrical portion and a horizontal plate, as well as slits-4 43 in the cylindrical portion and the horizontal plate. The horizontal plate has multiple holes.

[0038] The cylindrical portion of the base member 18 is secured to the circular solid thickness via a slit-5 44 in the head 5. A horizontal plate of the base member 18 is secured to the upper surface of the circular bottom member 8. The upper opening of the head 5 is closed by a top cover 19. A handle 9, having an open top and a closed bottom, is secured to the circular bottom member 8. The open top is closed by a handle cover 20. The handle 9, with a slit in the top, is integrated into a ridge located on the lower front side of the circular bottom member 8, allowing the handle 9 and handle cover 20 to rotate independently by 90 degrees on either side of the ridge.

[0039] The first horizontal protrusion 13 is adapted to receive the first finger holder 21, and the second horizontal protrusion 17 is adapted to receive the second finger holder 22. The first and second finger holders 21 and 22 are configured to slide left and right individually or together, thereby actuating the pulleys A 33 and B 34 of the end effector module 4 to rotate left and right. The rear rectangular opening 6A in the head 5 is closed by the head side cover 23. The first groove 11 in the inner ring 10 and the second groove 15 in the outer ring 14 are adapted to receive the inner ring encircling line 24 and the outer ring encircling line 25, respectively. The groove 41 in the vertical ring 7 is adapted to receive the vertical ring encircling line 26. The axis of movement of the vertical ring 7 is perpendicular to the inner ring 10 and the outer ring 14. The 1mm horizontal slits 12A and 12B on both sides of the vertical ring 7 are adapted to receive the inner ring encircling line 24 and the outer ring encircling line 25.

[0040] Furthermore, the motion transmission module 3 includes an elongated shaft 27 having a proximal end and a distal end. The proximal end is integrated into the vertical ring 7 via a shaft retainer 28 connected by a first part and a second part. The distal end is integrated into an upper and lower pulley retainer 31. The shaft 27 accommodates connecting rods 29A-29F having proximal and distal ends. The proximal ends of the first and second connecting rods 29A, 29B are attached to the inner ring loop 24. The proximal ends of the third and fourth connecting rods 29C, 29D are attached to the outer ring loop 25. The proximal ends of the fifth and sixth connecting rods 29E, 29F are attached to the vertical ring loop 26.

[0041] Furthermore, the end effector module 4 includes upper and lower pulleys 30, which are coupled to upper and lower pulley retainers 31 via first rivets 32 and are surrounded by upper and lower loops integrated into the distal ends of fifth and sixth connecting rods 29E and 29F. Pulley A 33 is positioned above pulley B 34 and is attached to the upper and lower pulleys 30 via second rivets 35. The axes of movement of pulleys A 33 and B 34 are perpendicular to the axis of movement of the upper and lower pulleys 30. Pulley A is surrounded by a loop integrated into the distal ends of first and second connecting rods 29A and 29B, and pulley B is surrounded by a loop integrated into the distal ends of third and fourth connecting rods 29C and 29D.

[0042] Furthermore, the end effector module 4 includes a first gripper 36 and a second gripper 37. The first gripper 36 and the second gripper 37 are attached to pulleys A 33 and B 34 and are adapted to move in the same direction as the movement of the first finger holder 21 and the second finger holder 22, or to move independently of the movement of the first and second finger holders 21, 22.

[0043] In one embodiment, the first gripper 36 and the second gripper 37 are adapted to open when the first and second finger retainers 21, 22 move away from each other. When the first and second finger retainers 21, 22 move closer to each other, the first and second grippers 36, 37 remain in contact with each other. Figure 4A and Figure 4B As shown, the first and second grippers 36 and 37 move together or independently relative to the first and second finger holders 21 and 22.

[0044] In an embodiment, such as Figure 5A and Figure 5B As shown, when the first and second finger holders 21 and 22 move individually or together to the limit angle on either side, the left and right movement of the first and second grippers 36 and 37 reaches 110 degrees to either side from the longitudinal axis of shaft 27.

[0045] In an embodiment, such as Figure 6A and Figure 6B As shown, when the hand controller module 2 moves in the same direction relative to the vertical ring 7, the upper and lower sliding wheels 30 move up and down by 90 degrees relative to the lateral axis of the shaft 27. The opening / closing and right / left movement of the first and second grippers 36 and 37, as well as the up and down movement of the upper and lower sliding wheels 30, are performed independently or together.

[0046] Therefore, the laparoscopic hand instrument 1 features a pulley-cable rigid rod drive mechanism, enabling it to achieve seven degrees of freedom, allowing for a full range of motion and enhancing the surgeon's ability to precisely navigate complex anatomical structures. The pulley-cable rigid rod drive mechanism is suitable for various laparoscopic surgeries. The multi-degree-of-freedom design and intuitive control of the laparoscopic hand instrument 1 facilitate versatility and eliminate the need for frequent instrument changes during surgery.

[0047] Furthermore, the structure of the laparoscopic hand instrument 1 minimizes the fulcrum effect commonly found in conventional laparoscopic instruments. By incorporating a pulley system, the laparoscopic hand instrument 1 allows for smoother and more controllable movement, reducing the limitations associated with fixed pivot points.

[0048] The multi-stage laparoscopic hand instrument 1 improves mobility during minimally invasive surgery. By incorporating a pulley cable rigid rod drive mechanism, the laparoscopic hand instrument 1 enables surgeons to navigate complex anatomical structures more effectively, reducing the need for repositioning or using multiple instruments for specific tasks.

[0049] The laparoscopic hand instrument 1 integrates a real-time haptic feedback system to provide surgeons with tactile feedback during laparoscopic surgery. This real-time haptic feedback system improves depth perception and control, addressing the limited haptic feedback issues associated with traditional laparoscopic instruments.

[0050] The laparoscopic hand instrument 1 features an ergonomic design that conforms to the natural movements of the human hand. This ergonomic approach reduces surgeon fatigue during prolonged surgeries, improves overall comfort, and contributes to better surgical outcomes. The laparoscopic hand instrument 1 simplifies the control interface, making laparoscopic instruments more user-friendly. Intuitive operation allows surgeons to focus on the surgery rather than dealing with complex instrument controls, thus shortening the learning curve associated with laparoscopic surgery.

[0051] The laparoscopic hand instrument 1 is compatible and minimizes the need for extensive infrastructure modifications, thereby improving the feasibility of integrating pulley cable rigid rod drive mechanisms into current surgical practice.

[0052] In addition, laparoscopic hand instruments 1 are used for minimally invasive surgery because they have enhanced functionality and overcome the limitations of existing instruments.

[0053] Although this disclosure has now been described and exemplified according to certain preferred embodiments, those skilled in the art will readily understand that various modifications, alterations, omissions, and substitutions may be made without departing from the scope of the appended claims.

[0054] Figure Labels

Claims

1. A laparoscopic hand instrument, comprising: The system comprises a hand controller module, a motion transmission module, and an end effector module, wherein the hand controller module includes: The head is round, with a rectangular opening on the front and a rectangular opening on the rear. The inner ring, which is housed within the head, is formed by a circular head portion having a first groove and a cylindrical tail portion having a first horizontal protrusion. An outer ring, surrounding the inner ring, includes a circular head portion having a slit-3 and a second groove, and a cylindrical tail portion having a second horizontal protrusion. A base component having a cylindrical portion and a horizontal plate having a slit-4 and a plurality of holes, wherein the cylindrical portion is fixed to the head and the horizontal plate is fixed to the bottom component. The handle is formed by an open top and a closed bottom, the top being closed by a handle cover, and the handle being integrated via a slit into a ridge on the bottom member to allow the handle and the handle cover to rotate independently to a predetermined angle on either side. The motion transmission module includes: An elongated shaft has a proximal end integrated into a vertical ring via a shaft retainer and a distal end integrated into upper and lower pulley retainers, wherein the shaft accommodates a plurality of connecting rods, wherein a first and second connecting rod are attached to an inner ring encircling line, a third and fourth connecting rod are attached to an outer ring encircling line, and a fifth and sixth connecting rod are attached to a vertical ring encircling line; and The end effector module includes: The upper and lower pulleys are connected to the upper and lower pulley retainer by a first rivet and are surrounded by lines from the fifth and sixth connecting rods. Pulleys A and B, stacked and attached to the upper and lower pulleys by a second rivet, wherein the first and second horizontal protrusions in the hand controller module are adapted to receive a first finger holder and a second finger holder, the first and second finger holders being configured to slide laterally independently or simultaneously to actuate pulleys A and B. A first gripper and a second gripper are attached to the pulleys A and B and configured to move together or independently according to the movement of the first finger holder and the second finger holder.

2. The laparoscopic hand instrument according to claim 1, wherein, The hand controller module includes a rectangular protrusion located on the front rectangular opening, the rectangular protrusion being attached to both sides of the vertical ring via an upper triangular beam and a lower triangular beam.

3. The laparoscopic hand instrument according to claim 1, wherein, The vertical ring includes horizontal slits on both sides and a groove on the front side of the vertical ring.

4. The laparoscopic hand instrument according to claim 1, wherein, The bottom component includes multiple protrusions and a slit-2, and is integrally connected to the head.

5. The laparoscopic hand instrument according to claim 1, wherein, The hand controller module includes a top cover that closes the upper opening of the head.

6. The laparoscopic hand instrument according to claim 1, wherein, The first groove of the inner ring and the second groove of the outer ring are adapted to receive the inner ring winding line and the outer ring winding line, respectively.

7. The laparoscopic hand instrument according to claim 1, wherein, The vertical ring's axis of movement is perpendicular to the axes of movement of the inner and outer rings.

8. The laparoscopic hand instrument according to claim 1, wherein, The axes of motion of pulleys A and B are perpendicular to the axes of motion of the upper and lower pulleys.

9. The laparoscopic hand instrument according to claim 1, wherein, The first gripper and the second gripper are adapted to open when the first finger holder and the second finger holder move away from each other, and to close or remain in contact with each other when the first finger holder and the second finger holder move closer to each other.

10. The laparoscopic hand instrument according to claim 1, wherein, When the first finger holder and the second finger holder move individually or together to the limit angle on either side, the left and right movement of the first clamp and the second clamp reaches a predetermined angle from the longitudinal axis of the shaft to either side.

11. The laparoscopic hand instrument according to claim 1, wherein, When the hand controller module moves in the same direction relative to the vertical ring, the up and down movement of the upper and lower pulleys reaches a predetermined angle from the transverse axis of the shaft.

12. The laparoscopic hand instrument according to claim 1, wherein, The first gripper and the second gripper move together or independently of the movement of the first finger holder and the second finger holder.

13. The laparoscopic hand instrument according to claim 1, wherein, The opening and closing movements of the first and second grippers, the left and right movements of the first and second grippers, and the up and down movements of the upper and lower pulleys are promoted independently or together to provide multi-degree-of-freedom actuation of the pulleys A and B and the upper and lower pulleys.

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