End tool for surgical instrument

Abstract

To provide an end tool of a surgical instrument capable of independently and seamlessly performing a pitch motion and a yaw motion / actuation motion by compensating for a motion of a jaw wire that occurs during the pitch motion.SOLUTION: The present disclosure relates to an end tool of a surgical instrument, and more specifically, to an end tool of a surgical instrument that is mountable on a robotic arm or manually operable for use in laparoscopic surgery or various surgeries.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to an end tool of a surgical instrument, and more particularly to an end tool that can be attached to a robotic arm for use in laparoscopic surgery or various surgeries, or is provided in a manually operable surgical instrument.

Background Art

[0002] Medically, surgery refers to cutting, incising, or manipulating the skin, mucous membranes, and other tissues using medical devices to treat diseases. In particular, open surgeries such as laparotomy, which involves cutting open the skin at the surgical site and treating, shaping, or removing internal organs, etc., cause problems such as bleeding, side effects, patient pain, and scars. Therefore, recently, surgeries performed by forming a predetermined hole in the skin and inserting only medical devices such as laparoscopes, surgical instruments, microscopes for microsurgery, etc., or surgeries using robots have been in the spotlight as alternatives.

[0003] A surgical instrument is a tool for performing surgery on a surgical site by a doctor directly operating by hand or using a robotic arm on an end tool provided at one end of a shaft that passes through a hole pierced in the skin, using a predetermined driving unit. The end tool provided on the surgical instrument performs rotational movements, gripping movements, cutting movements, etc. through a predetermined structure.

[0004] The above-described background art is technical information that the inventor possessed for deriving the present invention or acquired during the derivation process of the present invention, and is not necessarily prior art publicly disclosed to the general public before the filing of the present invention.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention aims to provide an end tool for a surgical instrument that is attached to a robotic arm for use in laparoscopic surgery or various surgeries, or is manually operable, compensates for the movement of the joystick wire during pitch operation, and enables the pitch operation and yaw / actuation operation to be performed independently and smoothly.

Means for Solving the Problems

[0006] The present invention includes a first joystick, a second joystick formed to face the first joystick, a first joystick pulley coupled to the first joystick and rotatable about a first axis, a second joystick pulley coupled to the second joystick and rotatable about an axis substantially the same as or parallel to the first axis and formed to face the first joystick pulley, a pair of first joystick pitch main pulleys formed on one side of the first joystick pulley and rotatable about a second axis forming a predetermined angle with the first axis, a pair of second joystick pitch main pulleys formed on one side of the second joystick pulley and rotatable about an axis substantially the same as or parallel to the second axis, a first joystick pitch extra pulley disposed between the first joystick pulley and the pair of first joystick pitch main pulleys and rotatable about a third axis, a second joystick pitch extra pulley disposed between the second joystick pulley and the pair of second joystick pitch main pulleys and rotatable about a fourth axis, a first joystick wire coupled to the first joystick pulley to rotate the first joystick pulley and wound around at least a part of the pair of first joystick pitch main pulleys, and a second joystick wire coupled to the second joystick pulley to rotate the second joystick pulley and wound around at least a part of the pair of second joystick pitch main pulleys, and provides an end tool for a surgical instrument.

Advantages of the Invention

[0007] According to the present invention as described above, it is possible to obtain the effect that the pitch movement and the yaw movement / actuation movement are independently and smoothly performed by compensating for the movement of the joystick wire generated during the pitch movement.

Brief Description of the Drawings

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[0009] In the present invention, while moving from the proximal portion to the distal portion side of the end tool, among the two first jaw wires coupled to the first jaw pulley, any one of the first jaw wires is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other one of the first jaw wires can be wound around the first jaw pitch main pulley in a different one of the clockwise and counterclockwise directions.

[0010] In the present invention, with respect to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, among the two first jaw wires coupled to the first jaw pulley, any one of the first jaw wires can contact the upper side of the first jaw pitch main pulley, and the other one of the first jaw wires can contact the lower side of the first jaw pitch main pulley.

[0011] In the present invention, the first joystick wire can sequentially contact the first joystick pitch main pulley and the first joystick pitch extra pulley while moving from the proximal portion to the distal portion of the end tool.

[0012] In the present invention, with respect to a plane that is perpendicular to the first axis and passes between the first joystick pulley and the second joystick pulley, of the two first joystick wires coupled to the first joystick pulley, one of the first joystick wires can sequentially contact the lower side of the first joystick pitch main pulley and the lower side of the first joystick pitch extra pulley, and the other of the two first joystick wires coupled to the first joystick pulley can sequentially contact the upper side of the first joystick pitch main pulley and the lower side of the first joystick pitch extra pulley.

[0013] In the present invention, it can further include a first joystick auxiliary pulley formed between the first joystick pulley and the first joystick pitch extra pulley, and a second joystick auxiliary pulley formed between the second joystick pulley and the second joystick pitch extra pulley.

[0014] In the present invention, the first joystick wire is located on a common internal tangent line of the first joystick pulley and the first joystick auxiliary pulley, and the rotation angle of the first joystick pulley can be enlarged by the first joystick auxiliary pulley.

[0015] In the present invention, it can further include one or more first joystick pitch sub-pulleys formed on one side of the first joystick pitch main pulley and rotatably formed about an axis substantially parallel to the second axis, and one or more second joystick pitch sub-pulleys formed on one side of the second joystick pitch main pulley and rotatably formed about an axis substantially parallel to the second axis.

[0016] In the present invention, the first joystick pitch sub-pulley or the second joystick pitch sub-pulley can include only one pulley.

[0017] In the present invention, it can further include an end tool hub in which at least a part of the first jo and the second jo can be accommodated inside, and a pitch hub that is axially coupled to the end tool hub and is formed to be rotatable relative to the end tool hub.

[0018] In the present invention, the first jo and the second jo can rotate around the first axis to perform a yaw operation, and the end tool hub can rotate around the second axis to perform a pitch operation.

[0019] In the present invention, it can further include an end tool pitch pulley formed at the proximal end side of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0020] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jo wire wound around the first jo pitch main pulley and the second jo pitch main pulley can change.

[0021] In the present invention, in order to compensate for the amount of change in the length of the first jo wire wound around the first jo pitch main pulley and the second jo pitch main pulley when the end tool pitch pulley is rotated by the pitch wire, the first jo wire can be moved to a certain extent by an external force.

[0022] In the present invention, the first jo pitch extra pulley or the second jo pitch extra pulley can be integrally formed with the end tool hub.

[0023] In the present invention, the third axis and the fourth axis can be characterized in that they are substantially parallel to the second axis.

[0024] In the present invention, the third axis and the fourth axis can be formed to be inclined with respect to each of the first axis and the second axis.

[0025] In the present invention, the groove around which the first joe wire is wound by the first joe pulley and the groove around which the second joe wire is wound by the second joe pulley can be formed at a certain interval from each other.

[0026] In the present invention, the groove around which the first joe wire is wound by the first joe pulley and the groove around which the second joe wire is wound by the second joe pulley can be formed adjacent to each other.

[0027] In the present invention, the first joe pitch surplus pulley or the second joe pitch surplus pulley can include only one pulley.

[0028] The present invention provides a surgical instrument including an end tool of the surgical instrument according to any one of claims 1 to 20, a drive unit that provides a predetermined driving force required for rotation of the end tool, and a connecting unit that is formed to extend in a first direction (X-axis), has the end tool coupled to one end, and has the drive unit coupled to the other end to connect the drive unit and the end tool.

[0029] In the present invention, when the drive unit pitch pulley of the drive unit rotates for a pitch operation, the drive unit first joe pulley and the drive unit second joe pulley of the drive unit can rotate together for compensation of the pitch operation.

[0030] The present invention relates to a first jaw, a second jaw rotatably coupled to the first jaw, an end tool hub formed such that at least a part of the first jaw and the second jaw can be accommodated therein, a pitch hub axially coupled to the end tool hub and formed to be rotatable relative to the end tool hub, a first pin penetrating and inserted into the end tool hub and extending along a first direction, a second pin penetrating and inserted into the end tool hub, formed parallel to the first pin, and formed on one side of the first pin, a 2.5 - pin penetrating and inserted into the end tool hub, extending along a second direction forming a predetermined angle with the first direction, and formed on one side of the second pin, a third pin penetrating and inserted into the end tool hub and the pitch hub, formed parallel to the 2.5 - pin, and formed on one side of the 2.5 - pin, a fourth pin penetrating and inserted into the pitch hub, formed parallel to the third pin, and formed on one side of the third pin, a first jaw pulley coupled to the first jaw and formed to be rotatable about the first pin, a second jaw pulley coupled to the second jaw and formed to be rotatable about the first pin, a first jaw auxiliary pulley formed on one side of the first jaw pulley and formed to be rotatable about the second pin, a second jaw auxiliary pulley formed on one side of the second jaw pulley and formed to be rotatable about the second pin, one or more first jaw pitch excess pulleys formed on one side of the first jaw auxiliary pulley and formed to be rotatable about the 2.5 - pin, formed on one side of the second jaw auxiliary pulley, the 2.One or more second jog pitch excess pulleys rotatably formed around the fifth pin, a pair of first jog pitch main pulleys formed on one side of the first jog pitch excess pulley and rotatably formed around the third pin, a pair of second jog pitch main pulleys formed on one side of the second jog pitch excess pulley and rotatably formed around the third pin, one or more first jog pitch sub-pulleys formed on one side of the first jog pitch main pulley and rotatably formed around the fourth pin, one or more second jog pitch sub-pulleys formed on one side of the second jog pitch main pulley and rotatably formed around the fourth pin, a first jog wire coupled to the first jog pulley to rotate the first jog pulley and wound around at least a part of the pair of first jog pitch main pulleys, and a second jog wire coupled to the second jog pulley to rotate the second jog pulley and wound around at least a part of the pair of second jog pitch main pulleys, to provide an end tool of a surgical instrument.

[0031] In the present invention, while moving from the proximal portion to the distal portion side of the end tool, of the two first jog wires coupled to the first jog pulley, one of the first jog wires can be wound around the first jog pitch main pulley in either the clockwise direction or the counterclockwise direction, and the other first jog wire can be wound around the first jog pitch main pulley in a different one of the clockwise direction and the counterclockwise direction.

[0032] In the present invention, with respect to a plane perpendicular to the first pin and passing between the first jog pulley and the second jog pulley, of the two first jog wires coupled to the first jog pulley, one of the first jog wires can contact the upper side of the first jog pitch main pulley, and the other first jog wire can contact the lower side of the first jog pitch main pulley.

[0033] In the present invention, the first joystick wire can sequentially contact the first joystick pitch sub-pulley, the first joystick pitch main pulley, and the first joystick pitch extra pulley while moving from the proximal part to the distal part of the end tool.

[0034] In the present invention, with respect to a plane that is perpendicular to the first pin and passes between the first joystick pulley and the second joystick pulley, of the two first joystick wires coupled to the first joystick pulley, one of the first joystick wires can sequentially contact the upper side of the first joystick pitch sub-pulley, the lower side of the first joystick pitch main pulley, and the lower side of the first joystick pitch extra pulley, and the other of the two first joystick wires coupled to the first joystick pulley can sequentially contact the lower side of the first joystick pitch sub-pulley, the upper side of the first joystick pitch main pulley, and the lower side of the first joystick pitch extra pulley.

[0035] In the present invention, it can further include an end tool pitch pulley formed at the proximal end side of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0036] In the present invention, when the end tool pitch pulley rotates by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length by which the first joystick wire is wound around the first joystick pitch main pulley and the second joystick pitch main pulley can change.

[0037] In the present invention, in order to compensate for the amount of change in the length by which the first joystick wire is wound around the first joystick pitch main pulley and the second joystick pitch main pulley when the end tool pitch pulley rotates by the pitch wire, the first joystick wire can be moved to a certain extent by an external force.

[0038] In the present invention, the first pin, the second pin, the 2.5th pin, the third pin, and the fourth pin can be sequentially arranged in the direction from the distal end to the proximal end of the end tool.

[0039] In the present invention, the first jo pulley, the first jo auxiliary pulley, the first jo pitch surplus pulley, the first jo pitch main pulley, and the first jo pitch sub pulley can be sequentially arranged in the direction from the distal end to the proximal end of the end tool.

[0040] In the present invention, the first jo wire is located on the common internal tangent of the first jo pulley and the first jo auxiliary pulley, and the rotation angle of the first jo pulley can be enlarged by the first jo auxiliary pulley.

[0041] In the present invention, the first jo and the second jo rotate around the first pin to perform a yaw operation, and the end tool hub can rotate around the third pin to perform a pitch operation.

[0042] In the present invention, the groove around which the first jo wire is wound by the first jo pulley and the groove around which the second jo wire is wound by the second jo pulley can be formed at a certain interval from each other.

[0043] In the present invention, the groove around which the first jo wire is wound by the first jo pulley and the groove around which the second jo wire is wound by the second jo pulley can be formed adjacent to each other.

[0044] In the present invention, the first jo pitch surplus pulley or the second jo pitch surplus pulley can include only one pulley.

[0045] In the present invention, the first jog pitch surplus pulley or the second jog pitch surplus pulley can be integrally formed with the end tool hub.

[0046] In the present invention, the first jog pitch sub-pulley or the second jog pitch sub-pulley can include only one pulley.

[0047] The present invention includes a first jaw, a second jaw rotatably coupled to the first jaw, an end tool hub formed such that at least a part of the first jaw and the second jaw can be accommodated therein, a pitch hub axially coupled to the end tool hub and formed to be rotatable relative to the end tool hub, a first pin penetrating and inserted into the end tool hub and extending along a first direction, a second pin penetrating and inserted into the end tool hub, extending along a second direction forming a predetermined angle with the first direction, and formed on one side of the first pin, a third pin penetrating and inserted into the end tool hub and the pitch hub, extending along a third direction forming a predetermined angle with the first direction and the second direction, and formed on one side of the second pin, a fourth pin penetrating and inserted into the pitch hub, formed parallel to the third pin, and formed on one side of the third pin, a first jaw pulley coupled to the first jaw and formed to be rotatable about the first pin, a second jaw pulley coupled to the second jaw and formed to be rotatable about the first pin, a first jaw auxiliary pulley formed on one side of the first jaw pulley and formed to be rotatable about the second pin, a second jaw auxiliary pulley formed on one side of the second jaw pulley and formed to be rotatable about the second pin, a pair of first jaw pitch main pulleys formed on one side of the first jaw auxiliary pulley and formed to be rotatable about the third pin, a pair of second jaw pitch main pulleys formed on one side of the second jaw auxiliary pulley and formed to be rotatable about the third pin, one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and formed to be rotatable about the fourth pin, one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and formed to be rotatable about the fourth pin, a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wound around at least a part of the pair of first jaw pitch main pulleys, a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley,Provided is an end tool of a surgical instrument including a second jo wire wound around at least a part of the pair of second jo pitch main pulleys.

[0048] In the present invention, while moving from the proximal portion to the distal portion side of the end tool, among the two first jo wires coupled to the first jo pulley, one of the first jo wires is wound around the first jo pitch main pulley in either the clockwise direction or the counterclockwise direction, and the other first jo wire can be wound around the first jo pitch main pulley in a different one of the clockwise direction and the counterclockwise direction.

[0049] In the present invention, with respect to a plane perpendicular to the first pin and passing between the first jo pulley and the second jo pulley, among the two first jo wires coupled to the first jo pulley, one of the first jo wires can contact the upper side of the first jo pitch main pulley, and the other first jo wire can contact the lower side of the first jo pitch main pulley.

[0050] In the present invention, the first jo wire can sequentially contact the first jo pitch sub pulley, the first jo pitch main pulley, the first jo auxiliary pulley, and the first jo pulley while moving from the proximal portion to the distal portion of the end tool.

[0051] In the present invention, with respect to a plane that is perpendicular to the first pin and passes between the first jo pulley and the second jo pulley, of the two first jo wires coupled to the first jo pulley, either one of the first jo wires sequentially contacts above the first jo pitch sub-pulley, below the first jo pitch main pulley, and the first jo pulley; and the other one of the two first jo wires coupled to the first jo pulley can sequentially contact below the first jo pitch sub-pulley, above the first jo pitch main pulley, the first jo auxiliary pulley, and the first jo pulley.

[0052] In the present invention, it may further include an end tool pitch pulley formed at a proximal end side end of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0053] In the present invention, when the end tool pitch pulley rotates by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length by which the first jo wire is wound around the first jo pitch main pulley and the second jo pitch main pulley can change.

[0054] In the present invention, when the end tool pitch pulley rotates by the pitch wire, in order to compensate for the amount of change in the length by which the first jo wire is wound around the first jo pitch main pulley and the second jo pitch main pulley, the first jo wire can be moved to a certain extent by an external force.

[0055] In the present invention, the first pin, the second pin, the third pin, and the fourth pin can be sequentially arranged while facing from the distal end to the proximal end direction of the end tool.

[0056] In the present invention, the first jaw pulley, the first jaw auxiliary pulley, the first jaw pitch main pulley, and the first jaw pitch sub-pulley can be sequentially arranged in a direction from the distal end to the proximal end of the end tool.

[0057] In the present invention, the first jaw wire is located on a common internal tangent line between the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley can be enlarged by the first jaw auxiliary pulley.

[0058] In the present invention, a surgical instrument is characterized in that the first jaw and the second jaw rotate about the first pin to perform a yaw operation, and the end tool hub rotates about the third pin to perform a pitch operation.

[0059] In the present invention, the second pin includes a first sub-axis formed at a first jaw pulley coupling portion of the end tool hub and a second sub-axis formed at a second jaw pulley coupling portion of the end tool hub, and the first jaw auxiliary pulley can be coupled to the first sub-axis, and the second jaw auxiliary pulley can be coupled to the second sub-axis.

[0060] In the present invention, the first sub-axis and the second sub-axis can be formed to be inclined to a certain extent with respect to the first pin and the third pin.

[0061] In the present invention, with reference to a first plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, the first jaw wire can be characterized by crossing the first plane while passing through the first jaw auxiliary pulley.

[0062] In the present invention, with reference to a first plane that is perpendicular to the first pin and passes between the first and second jog pulleys, the first jog wire contacts the first jog pitch main pulley below the first plane, and the first jog auxiliary pulley can contact above the first plane.

[0063] Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

Embodiments for Carrying Out the Invention

[0064] The present invention can be subjected to various transformations and can have various embodiments. Specific embodiments are illustrated in the drawings and will be described in detail below. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that the present invention includes all transformations, equivalents, and alternatives included within the spirit and technical scope of the present invention. When it is determined that a specific description of related known technologies may impede the gist of the present invention in explaining the present invention, the detailed description thereof will be omitted.

[0065] Terms such as first and second can be used to describe various components, but the components should not be limited by these terms. These terms are used only for the purpose of distinguishing one component from another.

[0066] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "including" or "having" are used to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in this specification, and it should be understood that the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof is not precluded in advance.

[0067] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the accompanying drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0068] In addition, when describing various embodiments of the present invention, it should be understood that each embodiment does not need to be interpreted or implemented independently, and the technical ideas described in each embodiment can be combined with other embodiments described separately and interpreted or implemented.

[0069] <Surgical Instrument>

[0070] FIG. 1 is a diagram showing an example of the use of an end tool of a surgical instrument according to an embodiment of the present invention. Here, FIG. 1A is a conceptual diagram showing a surgical robot system to which an end tool of a surgical instrument according to an embodiment of the present invention is attached, FIG. 1B is a perspective view showing a slave robot of the surgical robot system of FIG. 1A, and FIG. 1C is a perspective view showing a surgical instrument attached to the slave robot of FIG. 1A. And FIG. 1D is a perspective view showing an example of a hand-held surgical instrument to which an end tool according to an embodiment of the present invention is attached.

[0071] Referring to FIGS. 1A, 1B, and 1C, the surgical robot system 1 includes a master robot 10, a slave robot 20, and a surgical instrument 30.

[0072] The master robot 10 includes an operation member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, 23.

[0073] Specifically, the master robot 10 is provided with an operation member 10a so that a surgeon can hold and operate it with both hands. And on the display member 10b of the master robot 10, the video captured through the laparoscope 50 is displayed as an image. Further, a predetermined virtual operation panel can be displayed together with the video captured through the laparoscope 50 on the display member 10b, or can be displayed independently. Details of the arrangement, configuration, etc. of such a virtual operation panel will be omitted.

[0074] On the other hand, the slave robot 20 can include one or more robot arm units 21, 22, 23. Here, each of the robot arm units 21, 22, 23 can be provided in a modular form that can operate independently of each other, and at this time, an algorithm for preventing collisions between the robot arm units 21, 22, 23 can be applied to the surgical robot system 1.

[0075] Here, the surgical instrument 30 can be attached to two or more of the robot arm units 21, 22, 23, and the laparoscope 50 can be attached to one or more of them. And the surgeon can select the robot arm units 21, 22, 23 to be controlled via the master robot 10. In this way, by directly operating three or more surgical instruments via the master robot 10, the surgeon can accurately and freely operate a plurality of instruments as intended without the need for a surgical assistant.

[0076] Continuing to refer to FIG. 1C, the surgical instrument 30 of the surgical robot system 1 can include an end tool 100, a drive unit 200, and a connecting unit 400.

[0077] Here, the connecting unit 400 is formed in the shape of a hollow shaft, and one or more wires (described later) can be accommodated therein. A drive unit 200 is coupled to one end thereof, and an end tool 100 is coupled to the other end, and it can serve to connect the drive unit 200 and the end tool 100.

[0078] The drive unit 200 is formed at one end of the connecting unit 400 and provides an interface that can be coupled to the robot arm units 21, 22, and 23. Thus, when the master robot 10 is operated by the user, the motors (not shown) of the robot arm units 21, 22, and 23 operate so that the end tool 100 of the surgical instrument 30 can perform corresponding operations. The driving force of this motor (not shown) is transmitted to the end tool 100 via the drive unit 200. In other words, it can also be explained that the drive unit 200 itself serves as an interface for connecting the surgical instrument 30 and the slave robot 20.

[0079] The end tool 100 is formed at the other end of the connecting unit 400, is inserted into the surgical site, and performs operations necessary for the surgery. Such an end tool 100 will be described in more detail below with reference to FIG. 2 and subsequent figures.

[0080] On the other hand, referring to FIG. 1D, a hand-held type surgical instrument 40 can include an end tool 100, a drive unit 200, and a connecting unit 400.

[0081] Here, the connecting unit 400 is formed in the shape of a hollow shaft and can accommodate one or more wires (described later) therein. The drive unit 200 is coupled to one end thereof, and the end tool 100 is coupled to the other end, and it can serve to connect the drive unit 200 and the end tool 100.

[0082] The drive unit 200 is formed at one end of the connecting unit 400 and is provided with an interface that can be directly manipulated by a doctor, such as a forceps shape, a stick shape, a lever shape, etc. When the doctor manipulates this, the end tool 100 that is connected to the interface and inserted into the body of the surgical patient performs a predetermined operation to perform the surgery. Here, FIG. 1D shows that the drive unit 200 is formed in a handle shape that can be rotated with fingers pinched, but the idea of the present invention is not limited to this, and it can be said that various forms of the drive unit 200 that are connected to the end tool 100 and can operate the end tool 100 are possible.

[0083] The end tool 100 is formed at the other end of the connecting unit 400, is inserted into the surgical site, and performs operations necessary for the surgery. Such an end tool 100 will be described in more detail with reference to FIG. 2 and below.

[0084] The end tool of the surgical instrument according to an embodiment of the present invention can be provided in the surgical instrument of the surgical robot system shown in FIGS. 1A, 1B, and 1C, or can also be provided in the hand-held type surgical instrument shown in FIG. 1D.

[0085] Hereinafter, the end tool that can be provided in the surgical instrument of the surgical robot system or the hand-held type surgical instrument in this way will be described in more detail.

[0086] <First Embodiment of the End Tool of the Surgical Instrument>

[0087] Figures 2 and 3 are perspective views showing the end tool of the surgical instrument according to the first embodiment of the present invention. Figure 4 is a plan view of the end tool of Figure 2. Figures 5 and 6 are plan views of the end tool of Figure 2. Figure 7 is a side view of the end tool of Figure 2. Figure 8 is a perspective view of the end tool hub of the end tool of Figure 2. Figures 9, 10 and 11 are conceptual diagrams of the pitch motion compensation of the surgical instrument according to an embodiment of the present invention.

[0088] And, Figures 12 and 13 are perspective views showing the state where the end tool of the surgical instrument of Figure 2 is pitch-rotated by -90°. Figures 14 and 15 are side views showing the state where the end tool of the surgical instrument of Figure 2 is pitch-rotated by -90°. Figures 16 and 17 are perspective views showing the state where the end tool of the surgical instrument of Figure 2 is pitch-rotated by +90°. Figures 18 and 19 are side views showing the state where the end tool of the surgical instrument of Figure 2 is pitch-rotated by +90°.

[0089] Here, Figure 3 shows the state where the end tool hub 106 is removed from the end tool of Figure 2. And, Figure 5 is a view showing the end tool of Figure 2 centered on the wire, and Figure 6 is a view showing the end tool of Figure 2 centered on the pulley. And, Figures 8 and 9 are cross-sectional views showing the state where the end tool hub 106 is removed from the end tool of Figure 7.

[0090] As described above with reference to Figure 1, the surgical instrument (refer to 30 in Figure 1C or 40 in Figure 1D) according to the first embodiment of the present invention can include an end tool 100, a drive unit (refer to 200 in Figure 1C or 200 in Figure 1D), and a connecting unit 400. And, the end tool 100 can include a power transmission unit 300.

[0091] Referring to FIGS. 2 to 11, the end tool 100 is formed at the end of the connecting portion 400 and is inserted into the surgical site to perform operations required for the surgery. As an example of such an end tool 100, as shown in FIG. 2, a pair of jaws 101, 102 for performing a grip operation can be used. However, the idea of the present invention is not limited to this, and various devices for surgery can be used as the end tool 100. For example, a configuration such as monopolar cautery can also be used as an end tool. Such an end tool 100 is connected to a drive unit (refer to 200 in FIG. 1C or 200 in FIG. 1D) by a power transmission unit 300, and by transmitting the driving force of the drive unit (refer to 200 in FIG. 1C or 200 in FIG. 1D) through the power transmission unit 300, operations required for the surgery, such as grip, cutting, and suturing operations, are performed.

[0092] Here, the end tool 100 of the surgical instrument according to the first embodiment of the present invention is formed to be rotatable in at least two or more directions. For example, the end tool 100 can be formed to perform a pitch motion about the rotation axis 143 in FIG. 2 and a yaw motion and an actuation motion about the rotation axis 141 in FIG. 2.

[0093] Here, the pitch, yaw, and actuation operations used in the present invention are defined as follows.

[0094] First, the pitch operation means a motion in which the end tool 100 rotates in the vertical direction with respect to the extending direction of the connecting portion 400 (the X-axis direction in FIG. 2), that is, a motion of rotating about the Y-axis in FIG. 2. In other words, it means a motion in which the end tool 100 formed to extend from the connecting portion 400 rotates vertically about the Y-axis with respect to the connecting portion 400.

[0095] Next, the yaw operation means an operation in which the end tool 100 rotates left and right with respect to the extending direction of the continuous part 400 (the X-axis direction in FIG. 2), that is, an operation of rotating about the Z-axis in FIG. 2. In other words, it means an operation in which the end tool 100 formed to extend from the connecting part 400 rotates left and right about the Z-axis with respect to the connecting part 400. That is, it means an operation in which the two jaws 101 and 102 formed on the end tool 100 rotate in the same direction with respect to each other about the Z-axis.

[0096] On the other hand, the actuation operation means that the end tool 100 rotates about the same rotation axis as the yaw operation, but the two jaws 101 and 102 rotate in opposite directions with respect to each other while the jaws open or close. That is, it means an operation in which the two jaws 101 and 102 formed on the end tool 100 rotate in opposite directions with respect to each other about the Z-axis.

[0097] Defining this from another perspective, the yaw rotation can be defined as an operation in which the jaw pulley rotates about the rotation axis 141, which is the jaw pulley rotation axis, and the pitch rotation can be defined as an operation in which the jaw pulley revolves about the rotation axis 143, which is the pitch main rotation axis.

[0098] The power transmission unit 300 connects the drive unit (refer to 200 in FIG. 1C or 200 in FIG. 1D) and the end tool 100, and serves to transmit the driving force of the drive unit (refer to 200 in FIG. 1C or 200 in FIG. 1D) to the end tool 100, and can include a plurality of wires, pulleys, links, joints, gears, and the like.

[0099] Hereinafter, the power transmission unit 300 and the end tool 100 including the same will be described in more detail.

[0100] (Power Transmission Unit)

[0101] Hereinafter, the power transmission unit 300 of the end tool of the surgical instrument in FIG. 2 will be described in more detail.

[0102] Referring to FIGS. 5, 6, 10, etc., the power transmission unit 300 of the end tool 100 of the surgical instrument according to an embodiment of the present invention can include wires 301, 302, 303, 304, 305, and 306.

[0103] Here, the wire 301 and the wire 305 can serve as a pair of first jaw wires. The wire 302 and the wire 306 can serve as a pair of second jaw wires. Here, a component including the wire 301 and 305 which are the first jaw wires and the wire 302 and 306 which are the second jaw wires can be referred to as a jaw wire. Also, the wire 303 and the wire 304 can serve as a pair of pitch wires.

[0104] Here, in the drawings, a pair of wires are shown as being related to the rotational movement of the first jaw 101 and a pair of wires are shown as being related to the rotational movement of the second jaw 102, but the idea of the present invention is not limited thereto. For example, a pair of wires can be related to a yaw movement, and a pair of wires can be related to an actuation movement.

[0105] Also, the power transmission unit 300 of the surgical instrument according to an embodiment of the present invention can include fastening members 321, 322, 323, 324, 326, 327, and 329, etc., which are coupled to each end of each wire in order to couple the wire and the pulley. Here, each fastening member can be in various forms as needed, such as ball-shaped, tube-shaped, etc.

[0106] Here, the fastening member 321, which is a pitch wire fastening member, is coupled to the end tool 100 side end of the wire 303, which is a pitch wire, and the fastening member 322, which is a pitch wire fastening member, is coupled to the end tool 100 side end of the wire 304, which is a pitch wire, so that it can serve as a pitch wire end tool fastening member. On the other hand, a pitch wire drive unit fastening member 329 can be coupled to the drive unit (see 200 in FIG. 1) side ends of the wire 303 and the wire 304, which are pitch wires.

[0107] On the other hand, the fastening member 323, which is a first jo wire fastening member, is coupled to the end tool 100 side ends of the wire 301 and the wire 305, which are first jo wires, so that it can serve as a first jo wire end tool fastening member. On the other hand, a first jo wire drive unit fastening member 324 can be coupled to the drive unit (see 200 in FIG. 1) side ends of the wire 301 and the wire 305, which are first jo wires.

[0108] On the other hand, the fastening member 326, which is a second jo wire fastening member, is coupled to the end tool 100 side ends of the wire 302 and the wire 306, which are second jo wires, so that it can serve as a second jo wire end tool fastening member. On the other hand, a second jo wire drive unit fastening member 327 can be coupled to the drive unit (see 200 in FIG. 1) side ends of the wire 302 and the wire 306, which are second jo wires.

[0109] Here, each fastening member has been classified as being included in the power transmission unit 300, but the fastening members on the end tool 100 side can also be classified as being included in the end tool 100, and the fastening members on the drive unit (see 200 in FIG. 1) side can be classified as being included in the drive unit (see 200 in FIG. 1).

[0110] The coupling relationship between the wire, the fastening member, and the pulley will be described in detail as follows.

[0111] First, the wire 302 and the wire 306, which are the second jaw wires, can be a single wire. After fitting a fastening member 326, which is a second jaw wire end tool fastening member, to the midpoint of the second jaw wire that is a single wire and crimping and fixing this fastening member 326, both sides of the second jaw wire can be respectively referred to as the wire 302 and the wire 306 with the fastening member 326 as the center.

[0112] Alternatively, the wire 302 and the wire 306, which are the second jaw wires, can be formed of separate wires respectively, and the wire 302 and the wire 306 can also be connected by the fastening member 326.

[0113] And by coupling this fastening member 326 to the pulley 121, the wire 302 and the wire 306 can be fixedly coupled to the pulley 121. As a result, the pulley 121 can rotate according to whether the wire 302 and the wire 306 are pulled or unwound.

[0114] On the other hand, at the end opposite to the position where the fastening member 326 is fastened by the wire 302 and the wire 306, a second jaw wire drive part fastening member 327 can be coupled. That is, the ends on the opposite side of the wire 302 and the wire 306 are fitted to the second jaw wire drive part fastening member 327, and this fastening member 327 can be crimped to fix the wire 302 and the wire 306 and the second jaw wire drive part fastening member 327 respectively.

[0115] And by coupling the second jaw wire drive part fastening member 327 coupled to the wire 302 and the wire 306 to the pulley 221 respectively, the wire 302 and the wire 306 can be fixedly coupled to the pulley 221 respectively. As a result, when the pulley 221 rotates by a motor or manual force, the wire 302 and the wire 306 are pulled or unwound, and the pulley 121 of the end tool 100 can rotate.

[0116] Here, as shown in the figure, the drive unit second jo pulley includes a pulley 221 that is one pulley, and the second jo wire drive unit fastening member also includes a fastening member 327 that is one fastening member. The wires 302 and 306 can be coupled to one fastening member 327 and can also be coupled to one drive unit second jo pulley 221. Alternatively, although not shown in the figure, the drive unit second jo pulley can include two pulleys, and the second jo wire drive unit fastening member can also include two fastening members.

[0117] Similarly, the wire 301 and the wire 305, which are the first jo wires, are respectively coupled to the first jo wire end tool fastening member 323 and the first jo wire drive unit fastening member 324. Then, the first jo wire end tool fastening member 323 is coupled to the pulley 111, and the first jo wire drive unit fastening member 324 is coupled to the pulley 211. As a result, when the pulley 211 rotates by a motor or manual force, the wires 301 and 305 are pulled or unwound, and the pulley 111 of the end tool 100 can rotate.

[0118] Similarly, one end of the wire 303, which is the pitch wire, can be coupled to a fastening member 321, which is the pitch wire end tool fastening member, and one end of the wire 304, which is the pitch wire, can be coupled to a fastening member 322, which is the pitch wire end tool fastening member. Then, the other ends of the wires 303 and 304 can be coupled to the pitch wire drive unit fastening member 329. And the fastening member 321 and the fastening member 322 are respectively coupled to the pulley 131, and the pitch wire drive unit fastening member 329 is coupled to the drive unit pitch pulley 231. As a result, when the drive unit pitch pulley 231 rotates by a motor or manual force, the wires 303 and 304 are pulled or unwound, and the pulley 131 of the end tool 100 can rotate.

[0119] As a result, the wire 301 and the wire 305, which are both strands of the first jaw wire, can be coupled to the fastening member 323, which is the first jaw wire end tool fastening member, and the first jaw wire drive unit fastening member 324, and can be formed to form a closed loop as a whole. Similarly, the second jaw wire and the pitch wire can also be formed to form a closed loop respectively.

[0120] (End tool)

[0121] Hereinafter, the end tool 100 of the surgical instrument in FIG. 2 will be described in more detail.

[0122] Continuing to refer to FIGS. 2 to 11, the end tool 100 of the first embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102 can be referred to as a jaw 103.

[0123] Further, the end tool 100 can include pulleys 111, 112, 113, 114, 115, 116, 117, and 118 related to the rotational movement of the first jaw 101. Further, the end tool 100 can include pulleys 121, 122, 123, 124, 125, 126, 127, and 128 related to the rotational movement of the second jaw 102.

[0124] Here, in the figure, a group of pulleys is shown to be related to the rotational movement of the first jaw 101, and a group of pulleys is shown to be related to the rotational movement of the second jaw 102. However, the idea of the present invention is not limited to this. For example, a group of pulleys within the end tool can be related to the yaw movement, and a group of pulleys can also be related to the actuation movement. Here, the pulleys included within the end tool 100, including the above-described pulleys, can also be generically referred to as end tool pulleys.

[0125] Here, in the figure, it is shown that the opposing pulleys are formed parallel to each other. However, the idea of the present invention is not limited to this, and it can be said that each pulley can be formed in various ways at positions and sizes suitable for the configuration of the end tool.

[0126] Also, the end tool 100 of the first embodiment of the present invention can include an end tool hub 106 and a pitch hub 107.

[0127] The rotation axes 141, 142, and 145, which will be described later, are inserted through the end tool hub 106. Also, the end tool hub 106 can internally accommodate at least a part of the pulleys 111 and 121 axially coupled to the rotation axis 141. Also, the end tool hub 106 can internally accommodate at least a part of the pulleys 112 and 122 axially coupled to the rotation axis 142. Also, the pulleys 117 / 118 and 127 / 128 axially coupled to the rotation axis 145 can be coupled to the end tool hub 106.

[0128] Specifically, referring to FIG. 8 and the like, the end tool hub 106 includes a first jaw pulley coupling portion 106a, a second jaw pulley coupling portion 106b, a guide portion 106c, a pitch extra pulley accommodation portion 106d, and a pitch pulley coupling portion 106e.

[0129] Specifically, the first pulley coupling portion 106a and the second pulley coupling portion 106b are formed to face each other, and the pulleys 111 and 121 are accommodated therein. Further, through holes are formed in the first pulley coupling portion 106a and the second pulley coupling portion 106b, respectively, and the rotating shaft 141 penetrates through the first pulley coupling portion 106a, the pulley 111, the pulley 121, and the second pulley coupling portion 106b to axially couple them. Also, the rotating shaft 142 penetrates through the first pulley coupling portion 106a, the pulley 112, the pulley 122, and the second pulley coupling portion 106b to axially couple them.

[0130] The first pulley coupling portion 106a and the second pulley coupling portion 106b are connected by the guide portion 106c. That is, the first pulley coupling portion 106a and the second pulley coupling portion 106b that are parallel to each other are coupled by the guide portion 106c formed in a direction substantially perpendicular thereto, and the first pulley coupling portion 106a, the second pulley coupling portion 106b, and the guide portion 106c form a substantially "C" shape, and the pulleys 111, 112, 121, and 122 are accommodated therein.

[0131] Here, the pulley 111, which is the first pulley, is disposed adjacent to the first pulley coupling portion 106a of the end tool hub 106, the pulley 121, which is the second pulley, is disposed adjacent to the second pulley coupling portion 106b of the end tool hub 106, and a predetermined space can be formed between the first joystick wires, i.e., the wires 301 / 305, and the second joystick wires, i.e., the wires 302 and 306.

[0132] On the other hand, a pitch extra pulley accommodating portion 106d can be formed on the proximal side of the guide portion 106c of the end tool hub 106. Then, the pitch extra pulleys, i.e., the pulleys 117, 118, 127, and 128, can be accommodated in the pitch extra pulley accommodating portion 106d, and these pitch extra pulleys can be axially coupled to the end tool hub 106 by the rotating shaft 145.

[0133] On the other hand, a pulley 131 that serves as an end tool pitch pulley can be formed at a pitch pulley coupling portion 106e at one end of the end tool hub 106. Here, the pulley 131 can be formed integrally (one-body) with the end tool hub 106. That is, one end of the end tool hub 106 is formed in a disc shape or a semi-circular shape, and a groove around which a wire is wound is formed on its outer peripheral surface, and a kind of guide channel can be formed. Alternatively, the pulley 131 can be formed as a member separate from the end tool hub 106 and can also be coupled to the end tool hub 106. The above-described wires 303 and 304 are coupled to the pulley 131 that serves as an end tool pitch pulley, and this pulley 131 performs a pitch operation while rotating around the rotation axis 143.

[0134] The pitch hub 107 has a rotation axis 143 and a rotation axis 144, which will be described later, penetrating and inserted therethrough, and can be axially coupled to the end tool hub 106 and the pulley 131 by the rotation axis 143. Therefore, the end tool hub 106 and the pulley 131 (coupled thereto) can be formed rotatable with respect to the pitch hub 107 around the rotation axis 143.

[0135] In addition, the pitch hub 107 can accommodate at least a part of the pulleys 113, 114, 123, and 124 axially coupled to the rotation axis 143 inside. Also, the pitch hub 107 can accommodate at least a part of the pulleys 115, 116, 125, and 126 axially coupled to the rotation axis 144 inside.

[0136] In addition, the end tool 100 of the first embodiment of the present invention can include a rotation axis 141, a rotation axis 142, a rotation axis 145, a rotation axis 143, and a rotation axis 144. As described above, the rotation axis 141, the rotation axis 142, and the rotation axis 145 can penetrate and be inserted into the end tool hub 106, and the rotation axis 143 and the rotation axis 144 can penetrate and be inserted into the pitch hub 107.

[0137] The rotation axes 141, 142, 145, 143, and 144 can be sequentially arranged in the direction from the distal end 104 to the proximal end 105 of the end tool 100. Therefore, in order from the distal end 104, the rotation axis 141 can also be referred to as the first pin, the rotation axis 142 as the second pin, the rotation axis 145 as the 2.5th pin, the rotation axis 143 as the third pin, and the rotation axis 144 as the fourth pin.

[0138] Here, the rotation axis 141 can function as a jaw pulley rotation axis, the rotation axis 142 can function as a jaw auxiliary pulley rotation axis, the rotation axis 143 can function as a pitch main rotation axis, and the rotation axis 144 can function as a pitch sub-rotation axis of the end tool 100. And the rotation axis 145 arranged between the rotation axis 142 and the rotation axis 143 can function as a pitch extra rotation axis of the end tool 100.

[0139] One or more pulleys can be fitted to each of such rotation axes 141, 142, 143, 144, 145, and this will be described in detail below.

[0140] The pulley 111 functions as a first jaw pulley, and the pulley 121 functions as a second jaw pulley. These two components can also be collectively referred to as jaw pulleys.

[0141] The pulleys 111 and 121, which are jaw pulleys, are formed to face each other and are rotatably formed independently of each other about the rotary shaft 141, which is the jaw pulley rotation axis. Here, in the figure, the pulleys 111 and 121 are formed to rotate about one rotary shaft 141, but it goes without saying that each jaw pulley can be formed to rotate about a different axis. Here, the first jaw 101 is fixedly coupled to the pulley 111 and rotates together with the pulley 111, and the second jaw 102 can be fixedly coupled to the pulley 121 and rotate together with the pulley 121. In response to the rotation of the pulleys 111 and 121, the yaw operation and the actuation operation of the end tool 100 are performed. That is, when the pulleys 111 and 121 rotate in the same direction about the rotary shaft 141, the yaw operation is executed, and when the pulleys 111 and 121 rotate in opposite directions about the rotary shaft 141, the actuation operation is executed.

[0142] Here, the first jaw 101 and the pulley 111 can be formed of separate members and coupled to each other, or the first jaw 101 and the pulley 111 can be integrally formed. Similarly, the second jaw 102 and the pulley 121 can be formed of separate members and coupled to each other, or the second jaw 102 and the pulley 121 can be integrally formed.

[0143] Here, the groove 111a around which the wire 301 / wire 305, which is the first wire, is wound from the pulley 111, which is the first jump pulley, is arranged adjacent to the first jump pulley coupling portion 106a of the end tool hub 106, and the groove 121a around which the wire 302 / wire 306, which is the second wire, is wound from the pulley 121, which is the second jump pulley, is arranged adjacent to the first jump pulley coupling portion 106a of the end tool hub 106. Therefore, a predetermined space can be formed between the wire 301 / wire 305, which is the first jump wire, and the wires 302, 306, which are the second jump wires. In this way, by arranging the wire 301 / wire 305, which is the first jump wire, and the wires 302, 306, which are the second jump wires, so as to be separated from each other, the wire can be wound around each pulley while maintaining a straight line.

[0144] The pulley 112 functions as the first jump auxiliary pulley, the pulley 122 functions as the second jump auxiliary pulley, and these two components can also be collectively referred to as the jump auxiliary pulley.

[0145] Specifically, the pulleys 112 and 122, which are the jump auxiliary pulleys, can be additionally provided on one side of the pulleys 111 and 121. In other words, the pulley 112, which is the jump auxiliary pulley, can be arranged between the pulley 111 and the pulleys 113 / 114. Also, the pulley 122, which is the jump auxiliary pulley, can be arranged between the pulley 121 and the pulleys 123 / 124. The pulley 112 and the pulley 122 can be formed to be rotatable independently of each other about the rotation axis 142. Here, in the figure, the pulleys 112 and 122 are formed to rotate about one rotation axis 142, but it goes without saying that each of the pulley 112 and the pulley 122 can be formed to be rotatable about a different axis. Such auxiliary pulleys will be described in more detail later.

[0146] Pulley 113 and pulley 114 function as the first jo pitch main pulley, pulley 123 and pulley 124 function as the second jo pitch main pulley, and these two components can also be collectively referred to as the pitch main pulley.

[0147] Pulley 115 and pulley 116 function as the first jo pitch sub-pulley, pulley 125 and pulley 126 function as the second jo pitch sub-pulley, and these two components can also be collectively referred to as the pitch sub-pulley.

[0148] On the other hand, the present invention is characterized in that redundant pulleys, namely pulley 117, pulley 118, pulley 127, and pulley 128, are further arranged between pulley 112 and pulley 122, which are jo auxiliary pulleys, and pulley 113, pulley 114, pulley 123, and pulley 124, which are pitch main pulleys.

[0149] Pulley 117 and pulley 118 function as the first jo pitch redundant pulley, pulley 127 and pulley 128 function as the second jo pitch redundant pulley, and these two components can also be collectively referred to as the pitch redundant pulley.

[0150] Furthermore, a rotating shaft 145 that functions as a pitch redundant rotating shaft can be further provided, and the rotating shaft 145 can be inserted through the end tool hub 106. Here, the rotating shaft 145 can be formed substantially parallel to the rotating shaft 143, which is the pitch main rotating shaft, and the rotating shaft 144, which is the pitch sub-rotating shaft. At this time, the rotating shaft 145 is arranged between the rotating shaft 142, which is the second pin, and the rotating shaft 143, which is the third pin, and thus can also be referred to as the 2.5th pin in terms of its position.

[0151] Such a pitch redundant pulley can serve to change the pulling-in / pulling-out path of the jo wire that enters from the proximal part to the distal part or exits from the distal part to the proximal part of the end tool. This will be described in more detail later.

[0152] As a result, while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, the rotary shafts 141, 142, 145, 143, and 144 can be sequentially arranged.

[0153] Also, pulleys 111, 112, 117 / 118, 113 / 114, and 115 / 116, which are pulleys related to the rotation of the first jaw 101 while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, can be sequentially arranged.

[0154] Also, pulleys 121, 122, 127 / 128, 123 / 124, and 125 / 126, which are pulleys related to the rotation of the second jaw 102 while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, can be sequentially arranged.

[0155] Hereinafter, pulleys 112 and 122 that serve as auxiliary pulleys will be described in more detail.

[0156] Pulleys 112 and 122 can serve to expand the rotation angles of the first jaw 101 and the second jaw 102 respectively by contacting the wire 305 which is the first jaw wire and the wire 302 which is the second jaw wire and changing the arrangement paths of the wires 305 and 302 to a certain extent.

[0157] That is, when the auxiliary pulley is not arranged, each of the first jaw and the second jaw could only rotate up to a right angle. However, in one embodiment of the present invention, by additionally providing pulley 112 and pulley 122 which are auxiliary pulleys, the effect that the maximum rotation angle increases by θ when viewed from FIG. 6 can be obtained. Thereby, in a state where the two jaws of the end tool 120 are yaw-rotated together by 90° in the L direction, an operation in which the two jaws must be opened for an actuation operation is enabled. This is because the second jaw 102 can rotate by an additional angle θ as in FIG. 6. Similarly, the actuation operation is also possible in a state where the two jaws are yaw-rotated in the R direction. In other words, it has a feature that the range of yaw rotation in which the actuation operation is possible can be expanded via pulley 112 and pulley 122.

[0158] Explaining this in more detail is as follows.

[0159] When the auxiliary pulley is not arranged, since the first jaw wire is fixedly coupled to the first jaw pulley and the second jaw wire is fixedly coupled to the second jaw pulley, the first jaw pulley and the second jaw pulley can only rotate up to 90° respectively. In this case, when the first jaw and the second jaw perform the actuation operation in a state where they are located on the 90° line, the first jaw can be opened, but the second jaw cannot rotate more than 90°. Therefore, there is a problem that the actuation operation cannot be performed smoothly when the first jaw and the second jaw are performing a yaw operation by a certain angle or more.

[0160] To solve such problems, in the case of the surgical instrument end tool 100 of the present invention, auxiliary pulleys 112 and 122 are additionally arranged on one side of the pulleys 111 and 121. By arranging the pulleys 112 and 122 in this way and changing the arrangement paths of the wire 305 which is the first joystick wire and the wire 302 which is the second joystick wire to a certain extent, the tangential directions of the wire 305 and the wire 302 are changed. Accordingly, the fastening member 326 that couples the wire 302 and the pulley 121 can rotate up to the N line in FIG. 6. That is, the fastening member 326 which is the coupling part between the wire 302 and the pulley 121 can be rotated until it is located on the common internal tangent of the pulley 121 and the pulley 122. Similarly, the fastening member 323 which is the coupling part between the wire 305 and the pulley 111 can be rotated until it is located on the common internal tangent of the pulley 111 and the pulley 112, and the rotation range in the L direction can be expanded.

[0161] In other words, by the pulley 112, the wires 301 and 305 which are two of the first joystick wires wound around the pulley 111 are perpendicular to the Y axis and are arranged on either side with reference to the plane passing through the X axis. At the same time, by the pulley 122, the wires 302 and 306 which are two of the second joystick wires wound around the pulley 121 are perpendicular to the Y axis and are arranged on the other side with reference to the plane passing through the X axis.

[0162] In other words, the pulleys 113 and 114 are perpendicular to the Y axis and are arranged on either side with reference to the plane passing through the X axis, and the pulleys 123 and 124 are perpendicular to the Y axis and are arranged on the other side with reference to the plane passing through the X axis.

[0163] In other words, the wire 305 is located on the internal tangent of the pulley 111 and the pulley 112, and the rotation angle of the pulley 111 is expanded by the pulley 112. Also, the wire 302 is located on the internal tangent of the pulley 121 and the pulley 122, and the rotation angle of the pulley 121 is expanded by the pulley 122.

[0164] According to the present invention as described above, by increasing the rotation radii of Joe 101 and Joe 102, it is possible to obtain an effect of expanding the yaw operation range in which normal opening and closing actuation operations can be performed.

[0165] Hereinafter, components related to the rotation of pulley 111 will be described.

[0166] Pulley 113 and pulley 114 form a pair and function as a first Joe pitch main pulley. That is, pulley 113 and pulley 114 function as the main rotation pulleys for the pitch operation of the first Joe 101. Here, the wire 301, which is the first Joe wire, is wound around pulley 113, and the wire 305, which is the first Joe wire, is wound around pulley 114.

[0167] Pulley 115 and pulley 116 form a pair and function as a first Joe pitch sub-pulley. That is, pulley 115 and pulley 116 function as the sub-rotation pulleys for the pitch operation of the first Joe 101. Here, the wire 301, which is the first Joe wire, is wound around pulley 115, and the wire 305, which is the first Joe wire, is wound around pulley 116.

[0168] Pulley 117 and pulley 118 form a pair and function as a first Joe extra pulley. That is, pulley 117 and pulley 118 function as the extra rotation pulleys for the pitch operation of the first Joe 101. Here, the wire 301, which is the first Joe wire, is wound around pulley 117, and the wire 305, which is the first Joe wire, is wound around pulley 118.

[0169] Here, on one side of the pulley 111 and the pulley 112, the pulleys 117 and 118 are arranged to face each other. Here, the pulleys 117 and 118 are formed to be rotatable independently of each other about a rotation axis 145 which is a pitch extra rotation axis. Also, on one side of each of the pulleys 117 and 118, the pulleys 113 and 114 are arranged to face each other. Here, the pulleys 113 and 114 are formed to be rotatable independently of each other about a rotation axis 143 which is a pitch main rotation axis. Also, on one side of each of the pulleys 113 and 114, the pulleys 115 and 116 are arranged to face each other. Here, the pulleys 115 and 116 are formed to be rotatable independently of each other about a rotation axis 144 which is a pitch sub rotation axis. Here, in the figure, although it is shown that all of the pulleys 117, 118, 113, 114, 115 and 116 are formed to be rotatable about the Y-axis direction, the idea of the present invention is not limited thereto, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for the configuration.

[0170] The wire 301 which is the first jow wire is sequentially wound so as to be in contact with at least a part of the pulleys 115, 113, 117 and 111. Then, the wire 305 connected to the wire 301 by the fastening member 323 is sequentially wound so as to be in contact with at least a part of the pulleys 111, 112, 118, 114 and 116.

[0171] In other words, the wire 301 and the wire 305 which are the first jow wire are sequentially wound so as to be in contact with at least a part of the pulleys 115, 113, 117, 111, 112, 118, 114 and 116, and the wire 301 and the wire 305 are formed to be movable along the pulleys while rotating the pulleys.

[0172] Therefore, when the wire 301 is pulled to the side of the arrow 301 in FIG. 7, the fastening member 323 to which the wire 301 is coupled and the pulley 111 coupled thereto rotate in the direction of the arrow L in FIG. 7. Conversely, when the wire 305 is pulled to the side of the arrow 305 in FIG. 7, the fastening member 323 to which the wire 305 is coupled and the pulley 111 coupled thereto rotate in the direction of the arrow R in FIG. 7.

[0173] Next, the components related to the rotation of the pulley 121 will be described.

[0174] The pulleys 123 and 124 form a pair and function as a second joystick pitch main pulley. That is, the pulleys 123 and 124 function as the main rotation pulleys for the pitch operation of the second joystick 102. Here, the wire 306, which is the second joystick wire, is wound around the pulley 123, and the wire 302, which is the second joystick wire, is wound around the pulley 124.

[0175] The pulleys 125 and 126 form a pair and function as a second joystick pitch sub-pulley. That is, the pulleys 125 and 126 function as the sub-rotation pulleys for the pitch operation of the second joystick 102. Here, the wire 306, which is the second joystick wire, is wound around the pulley 125, and the wire 302, which is the second joystick wire, is wound around the pulley 126.

[0176] The pulleys 127 and 128 form a pair and function as a second joystick pitch extra pulley. That is, the pulleys 127 and 128 function as the extra rotation pulleys for the pitch operation of the second joystick 102. Here, the wire 306, which is the second joystick wire, is wound around the pulley 127, and the wire 302, which is the second joystick wire, is wound around the pulley 128.

[0177] Here, on one side of the pulleys 121 and 122, the pulleys 127 and 128 are arranged to face each other. Here, the pulleys 127 and 128 are formed to be rotatable independently of each other about a rotation axis 145 which is a pitch extra rotation axis. Also, on one side of each of the pulleys 127 and 128, the pulleys 123 and 124 are arranged to face each other. Here, the pulleys 123 and 124 are formed to be rotatable independently of each other about a rotation axis 143 which is a pitch main rotation axis. Also, on one side of each of the pulleys 123 and 124, the pulleys 125 and 126 are arranged to face each other. Here, the pulleys 125 and 126 are formed to be rotatable independently of each other about a rotation axis 144 which is a pitch sub rotation axis. Here, in the figure, it is shown that all of the pulleys 127, 128, 123, 124, 125 and 126 are formed to be rotatable about the Y-axis direction as the center, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0178] The wire 306 which is the second joystick wire is sequentially wound so as to be in contact with at least a part of the pulleys 125, 123, 127 and 121. And the wire 302 connected to the wire 306 by the fastening member 326 is sequentially wound so as to be in contact with at least a part of the pulleys 121, 122, 128, 124 and 126.

[0179] In other words, the wire 306 and the wire 302 which are the second joystick wires are sequentially wound so as to be in contact with at least a part of the pulleys 125, 123, 127, 121, 122, 128, 124 and 126, and the wire 306 and the wire 302 are formed to be movable along the pulleys while rotating the pulleys.

[0180] Therefore, when the wire 306 is pulled in the direction of the arrow 306 in FIG. 7, the fastening member 326 to which the wire 306 is coupled and the pulley 121 coupled thereto will rotate in the direction of the arrow R in FIG. 7. Conversely, when the wire 302 is pulled in the direction of the arrow 302 in FIG. 7, the fastening member 326 to which the wire 302 is coupled and the pulley 121 coupled thereto will rotate in the direction of the arrow L in FIG. 7.

[0181] Here, the present invention is characterized in that the control of the pitch operation is facilitated by winding two jo-wires wound around one jo-pulley around the pitch main pulley in opposite directions to each other.

[0182] Specifically, when the +Z-axis direction is defined as the upper side and the -Z-axis direction is defined as the lower side with reference to the plane passing between the pulley 111 which is the first jo-pulley and the pulley 121 which is the second jo-pulley (that is, the XY plane), any one of the two first jo-wires (for example, the wire 301) enters the pulley 113 which is the first jo-pitch main pulley from below the XY plane, and the other one (for example, the wire 305) can exit from the pulley 114 which is the first jo-pitch main pulley above the XY plane. That is, it can be expressed as a structure in which the jo-wire enters from below the first jo-pitch main pulley and exits above. (The second jo-wire has a structure of entering from above the second jo-pitch main pulley and exiting below.)

[0183] In other words, the wire 301 which is one of the first jo-wires contacts the upper side of the pulley 115, the lower side of the pulley 113, and the lower side of the pulley 117 in sequence, and then contacts the pulley 111. Subsequently, the other wire 305 which is one of the first jo-wires is wound around the pulley 111 and the pulley 112, then contacts the lower side of the pulley 118, the upper side of the pulley 114, and the lower side of the pulley 116 in sequence, and then exits from the connecting portion 400. As a result, the first jo-wire exits from the connecting portion 400 and enters the lower side of the pulley 113, then passes through each pulley, and then enters the connecting portion 400 again through the upper side of the pulley 114.

[0184] Similarly, one wire 306 of the second jaw wire sequentially contacts the lower side of pulley 125, the upper side of pulley 123, and the upper side of pulley 127, and then contacts pulley 121. Subsequently, another wire 302 of the second jaw wire is wound around pulleys 121 and 122, then sequentially contacts the upper side of pulley 128, the lower side of pulley 124, and the upper side of pulley 126, and then exits to the connecting portion 400. As a result, the second jaw wire exits from the connecting portion 400, enters the upper side of pulley 123, passes through each pulley, and then enters the connecting portion 400 again through the lower side of pulley 124.

[0185] In other words, of the two first jaw wires, one wire can be described as being wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other wire is wound around the first jaw pitch main pulley in the other one of the clockwise and counterclockwise directions. That is, as shown in FIG. 10, wire 301 is wound clockwise while entering from the connecting portion 400 toward the end tool 100 side, and wire 305 is wound counterclockwise while entering from the connecting portion 400 toward the end tool 100 side.

[0186] Similarly, of the two second jaw wires, one wire can be described as being wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other wire is wound around the second jaw pitch main pulley in the other one of the clockwise and counterclockwise directions. That is, as shown in FIG. 10, wire 302 is wound clockwise while entering from the connecting portion 400 toward the end tool 100 side, and wire 306 is wound counterclockwise while entering from the connecting portion 400 toward the end tool 100 side.

[0187] In this way, by winding the two jaw wires wound around one jaw pulley around the pitch main pulley in opposite directions to each other, it is possible to obtain the effect of facilitating the control of the pitch operation. This will be described in more detail later.

[0188] On the one hand, when viewed from the perspective of the XZ plane, the two wires of each joystick wire are arranged on the same side with respect to the XZ plane. Specifically, when the +Y-axis direction is defined as the first side and the -Y-axis direction is defined as the second side with respect to the plane passing between the pulley 114 which is the first joystick pitch main pulley and the pulley 124 which is the second joystick pitch main pulley (i.e., the XZ plane), any one of the two wires of the first joystick wire (for example, wire 301) can be arranged on the first side of the XZ plane, and the remaining one (for example, wire 305) can also be arranged on the same first side. Similarly, any one of the two wires of the second joystick wire (for example, wire 306) can be arranged on the second side of the XZ plane, and the remaining one (for example, wire 302) can also be arranged on the same second side. That is, it can be expressed as a structure in which one joystick wire enters from the first side and exits from the first side. (Also, the other joystick wire can be expressed as a structure that enters from the second side and exits from the second side.)

[0189] (Pitch Motion)

[0190] The end tool 100 of the surgical instrument of the present invention includes a pulley 131 which is an end tool pitch pulley, the drive unit (refer to 200 in FIG. 1) includes a drive unit pitch pulley 231, and the power transmission unit 300 can further include wires 303 and 304 which are pitch wires.

[0191] Specifically, the pulley 131 of the end tool 100 is rotatable about the rotation axis 143 which is the pitch main rotation axis, and can be formed integrally with the end tool hub 106 (or fixedly coupled to the end tool hub 180). Also, the wires 303 and 304 can serve to connect the pulley 131 of the end tool 100 and the drive unit pitch pulley 231 of the drive unit (refer to 200 in FIG. 1).

[0192] Therefore, when the drive unit pitch pulley 231 of the drive unit (see 200 in FIG. 1) rotates, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via the wires 303 and 304, causing the pulley 131 to rotate together. As a result, the end tool 100 performs a pitch motion while rotating.

[0193] By the way, when the drive unit pitch pulley 231 rotates to perform such a pitch operation, if separate pitch compensation for the joystick wire is not performed in the drive unit, at the end tool, along with the pitch operation, the joystick also rotates about the rotation axis 141 which is the rotation axis of the joystick pulley, resulting in a problem that a pure pitch operation cannot be performed.

[0194] Hereinafter, such pitch compensation will be described in more detail.

[0195] FIGS. 9, 10, and 11 are conceptual diagrams showing the pitch operation of the surgical instrument shown in FIG. 2. Specifically, FIG. 9 is a diagram showing the surgical instrument in a neutral state, FIG. 10 is a diagram showing the surgical instrument when pitch compensation is not performed, and FIG. 11 is a diagram showing the surgical instrument when pitch compensation is performed. Here, for convenience of explanation, in FIGS. 9A, 10A, and 11A, the pulleys and wires related to the rotation of the first joystick are shown centered, and in FIGS. 9B, 10B, and 11B, the pulleys and wires related to the rotation of the second joystick are shown centered.

[0196] Here, the surgical instrument according to an embodiment of the present invention is characterized in that the pitch operation of the end tool 100 can be executed by winding or unwinding the joystick wire while the drive unit first joystick pulley 211 and the drive unit second joystick pulley 221 rotate during the pitch operation.

[0197] As described above, when the drive unit pitch pulley 231 rotates in the drive unit to perform the pitch operation, if no separate pitch compensation for the wire rope is performed in the drive unit, at the end tool, along with the pitch operation, the arm will also rotate about the rotation axis 141 which is the arm pulley rotation axis, and as a result, a pure pitch operation cannot be executed.

[0198] Specifically, referring to FIGS. 9 and 10, in order for the pitch operation of the end tool to be executed, when the drive unit pitch pulley 231 in the drive unit (see 200 in FIG. 1) rotates, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via the wire ropes 303 and 304, and the pulley 131 will also rotate accordingly. As a result, the end tool 100 will execute a pitch motion while rotating.

[0199] That is, when the drive unit pitch pulley 231 rotates in the direction of arrow P1 in FIG. 10A, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via the wire ropes 303 and 304, and the pulley 131 will rotate in the direction of arrow P2 in FIG. 10A, thereby causing the end tool hub (see 106 in FIG. 2) to rotate relative to the pitch hub (see 107 in FIG. 2). Also, the first arm 101, the second arm 102, the first arm pulley 111, the second arm pulley 122, the first arm auxiliary pulley 112, and the second arm auxiliary pulley 122 which are coupled to the end tool hub (see 106 in FIG. 2) will also rotate relative to the pitch hub (see 107 in FIG. 2) together with the end tool hub (see 106 in FIG. 2).

[0200] By the way, at this time, the wire ropes 301 and 302 which are the wire ropes of the arm are wound around the pulley 113 / pulley 114 by only JPEG2025111750000002.jpg614 more, and the wire ropes 305 and 306 are unwound around the pulley 114 / pulley 114 by only

[0201] Therefore, if no compensation is made for this, the first pulley 111 will rotate to a certain extent in the direction of arrow J1 in FIG. 10B, and the second pulley 121 will rotate to a certain extent in the direction of arrow J2 in FIG. 10A.

[0202] Therefore, if no compensation is made for the movement of the wire, in the end tool, together with the pitch movement, the jo will also rotate about the rotation axis 141 which is the rotation axis of the pulley, and as a result, a pure pitch movement will not be performed, and there is a problem that the pitch movement and the yaw movement are mixed.

[0203] For the operation compensation for the pitch movement as described above, the surgical instrument according to an embodiment of the present invention winds and unwinds the wire while the driving unit first pulley 211 and the driving unit second pulley 221 rotate during the pitch movement, thereby performing a kind of compensation for the pitch movement and enabling the pitch movement of the end tool 100 to be executed.

[0204] That is, during the pitch movement, the driving unit first pulley 211 rotates to a certain extent in the direction of arrow A1 in FIG. 11B. Then, the wire 301 is JPEG2025111750000004.jpg834) unwound by a certain extent by the driving unit first pulley 211 and will be wound around the first jo pitch main pulley 113 accordingly. At the same time, the wire 305 is JPEG2025111750000005.jpg835 wound by a certain extent around the driving unit first pulley 211 and will be unwound by the first jo pitch main pulley 114 accordingly.

[0205] Similarly, during the pitch movement, the driving unit second pulley 221 rotates to a certain extent in the direction of arrow A2 in FIG. 11A. Then, the wire 302 is JPEG2025111750000006.jpg will be unwound by 835, and thus will be wound around the second pitch main pulley 123 by the same amount. At the same time, the wire 306 will be wound around the drive unit second jockey pulley 221 to a certain extent JPEG2025111750000007.jpg will be wound by 835, and thus will be unwound by the second pitch main pulley 124 by the same amount.

[0206] In other words, when the drive unit pitch pulley 231 rotates, the drive unit first jockey pulley 211 and the drive unit second jockey pulley 221 will also rotate. As a result, the lengths of the respective jowires wound around the drive unit first jockey pulley 211 and the drive unit second jockey pulley 221 are changed. That is, the jowire wound on the end tool 100 side is unwound by the same amount on the drive unit (refer to 200 in FIG. 1) side due to the rotation of the drive unit pitch pulley 231, and the jowire unwound on the end tool 100 side is wound by the same amount on the drive unit (refer to 200 in FIG. 1) side, so that the pitch operation does not affect the yaw operation.

[0207] In other words, when the end tool 100 performs a pitch operation due to the rotation of the drive unit pitch pulley 231, the joystick wire (responsible for the yaw movement and the actuation movement) also moves due to the pitch operation. That is, pitch rotation is performed around the rotation axis 143 of the end tool 100, and any one of the joystick wires coupled to one jaw is pulled, and the other one is unwound. At the same time, any one of the joystick wires coupled to the other jaw is pulled, and the other one is unwound. Therefore, in order to compensate for the movement of such a joystick wire, when the drive unit pitch pulley 231 rotates for the pitch operation of the end tool, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 also rotate, the total length of the joystick wire in the drive unit is changed, and the amount by which the joystick wire is pulled (or unwound) on the end tool side, the drive unit side winds out (or pulls) the joystick wire, and it can also be expressed that it compensates for the movement of the joystick wire when the end tool performs a pitch operation.

[0208] As described above, for the end tool 100 of the surgical instrument according to an embodiment of the present invention, two joystick wires wound around one jaw pulley are wound around the pitch main pulley in opposite directions to each other, so that the effect of facilitating the control of the pitch operation can be obtained. That is, when the pitch operation is performed, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 rotate, and by winding or unwinding the joystick wire, a kind of compensation for the pitch operation is performed, and the effect that the pitch operation of the end tool 100 can be executed can be obtained.

[0209] <First Variant of the First Embodiment>

[0210] Hereinafter, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention will be described. Here, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention is characteristically different in that a part of the pulley is omitted as compared with the end tool of the surgical instrument according to the first embodiment of the present invention described above. Hereinafter, the configuration that is different from the first embodiment in this way will be described in detail.

[0211] FIGS. 20 and 21 are perspective views showing an end tool of a surgical instrument according to a first modified form of a first embodiment of the present invention. FIG. 22 is a plan view of the end tool of FIG. 20. FIGS. 23 and 24 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 20 is pitch-rotated by -90°. FIGS. 25 and 26 are side views showing a state in which the end tool of the surgical instrument of FIG. 20 is pitch-rotated by -90°.

[0212] Referring to FIGS. 20 to 26, the end tool 100 according to the first modified form of the first embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102 can be referred to as a jaw 103.

[0213] Further, the end tool 100 of the first embodiment of the present invention can include an end tool hub 106 and a pitch hub 107.

[0214] Further, the end tool 100 of the first modified form of the first embodiment of the present invention can include a rotation axis 141, a rotation axis 142, a rotation axis 145, a rotation axis 143, and a rotation axis 144. As described above, the rotation axis 141, the rotation axis 142, and the rotation axis 145 can be inserted through the end tool hub 106, and the rotation axis 143 and the rotation axis 144 can be inserted through the pitch hub 107.

[0215] In this modified form, since the end tool hub 106, the pitch hub 107, and each of the rotation axes 141, 142, 143, 144, 145 are substantially the same as the end tool hub 106, the pitch hub 107, and each of the rotation axes 141, 142, 143, 144, 145 described in FIG. 2 of the first embodiment, etc., the detailed description thereof is omitted here.

[0216] On the other hand, the end tool 100 can include pulleys 111, 112, 113, 114, 115, 116, and 118 related to the rotational movement of the first jaw 101. Further, the end tool 100 can include pulleys 121, 122, 123, 124, 125, 126, and 128 related to the rotational movement of the second jaw 102.

[0217] Here, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley each include only one pulley.

[0218] Specifically, the end tool 100 of the surgical instrument according to the first embodiment of the present invention shown in FIG. 6 etc. includes a pair of pulleys, pulley 117 and pulley 118, as the first jaw pitch extra pulley, and a pair of pulleys, pulley 127 and pulley 128, as the second jaw pitch extra pulley.

[0219] In contrast, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in FIG. 6 etc. in that it includes a single pulley, pulley 118, as the first jaw pitch extra pulley and a single pulley, pulley 128, as the second jaw pitch extra pulley.

[0220] As a result, pulleys 111, 112, 118, 113 / 114, and 115 / 116, which are pulleys related to the rotation of the first joystick 101 while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, can be sequentially arranged.

[0221] Also, pulleys 121, 122, 128, 123 / 124, and 125 / 126, which are pulleys related to the rotation of the second joystick 102 while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, can be sequentially arranged.

[0222] Here, the pulleys 117 and 127 of the end tool 100 of the first embodiment of the present invention shown in FIG. 6 and the like are not pulleys around which the wire is wound but are pulleys that skim straight, so the omission of the pulleys is possible as in this modified form.

[0223] In other words, in the first embodiment of the present invention, the first joystick pitch extra pulleys and the second joystick pitch extra pulleys are each composed of two rows, whereas in the first modified form of the first embodiment of the present invention, the first joystick pitch extra pulleys and the second joystick pitch extra pulleys are each characterized by being composed of one row.

[0224] Here, a pulley 118 is disposed on one side of the pulleys 111 and 112. Here, the pulley 118 is formed to be rotatable about a rotation axis 145 which is a pitch extra rotation axis. Also, on one side of the pulley 118, pulleys 113 and 114 are disposed so as to face each other. Here, the pulleys 113 and 114 are formed to be rotatable independently of each other about a rotation axis 143 which is a pitch main rotation axis. Also, on one side of each of the pulleys 113 and 114, pulleys 115 and 116 are disposed so as to face each other. Here, the pulleys 115 and 116 are formed to be rotatable independently of each other about a rotation axis 144 which is a pitch sub-rotation axis. Here, in the figure, it is shown that all of the pulley 118, the pulleys 113, 114, 115, and 116 are formed to be rotatable about the Y-axis direction as the center, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0225] A wire 301 which is a first jo-wire is sequentially wound so as to be in contact with at least a part of the pulleys 115, 113, and 111. Then, a wire 305 connected to the wire 301 by a fastening member 323 is sequentially wound so as to be in contact with at least a part of the pulleys 111, 112, 118, 114, and 116.

[0226] In other words, the wire 301 and the wire 305 which are the first jo-wires are sequentially wound so as to be in contact with at least a part of the pulleys 115, 113, 111, 112, 118, 114, and 116, and the wire 301 and the wire 305 are formed to be movable along the pulleys while rotating the pulleys.

[0227] On one side, a pulley 128 is disposed on one side of the pulleys 121 and 122. Here, the pulley 128 is formed to be rotatable about a rotation axis 145 which is a pitch extra rotation axis. Also, on one side of the pulley 128, pulleys 123 and 124 are disposed so as to face each other. Here, the pulleys 123 and 124 are formed to be rotatable independently of each other about a rotation axis 143 which is a pitch main rotation axis. Also, on one side of each of the pulleys 123 and 124, pulleys 125 and 126 are disposed so as to face each other. Here, the pulleys 125 and 126 are formed to be rotatable independently of each other about a rotation axis 144 which is a pitch sub rotation axis. Here, in the figure, it is shown that all of the pulleys 128, 123, 124, 125, and 126 are formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited thereto, and the rotation axes of the respective pulleys can be formed in various directions so as to suit their configurations.

[0228] The wire 306 which is the second jow wire is sequentially wound so as to be in contact with at least a part of the pulleys 125, 123, and 121. Then, the wire 302 connected to the wire 306 by the fastening member 326 is sequentially wound so as to be in contact with at least a part of the pulleys 121, 122, 128, 124, and 126.

[0229] In other words, the wire 306 which is the second jow wire and the wire 302 are sequentially wound so as to be in contact with at least a part of the pulleys 125, 123, 121, 122, 128, 124, and 126, and the wire 306 and the wire 302 are formed to be movable along the pulleys while rotating the pulleys.

[0230] As a result, in the first embodiment of the present invention, the first jog pitch extra pulley and the second jog pitch extra pulley are each composed of two rows, whereas in the first modified form of the first embodiment of the present invention, the first jog pitch extra pulley and the second jog pitch extra pulley are each composed of one row, so that the number of parts can be reduced and the manufacturing process can be simplified.

[0231] <Second Variant of the First Embodiment>

[0232] Hereinafter, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention will be described. Here, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention is characteristically different in the configuration of the end tool hub as compared with the end tool of the surgical instrument according to the first embodiment of the present invention described above. Hereinafter, the configuration that is different from the first embodiment in this way will be described in detail.

[0233] FIGS. 27 and 28 are perspective views showing an end tool of a surgical instrument according to a second modified form of the first embodiment of the present invention. FIG. 29 is an assembled perspective view showing the second jaw of the end tool of FIG. 27. FIG. 30 is an exploded perspective view showing the second jaw of the end tool of FIG. 27. FIG. 31 is an assembled perspective view showing the first jaw of the end tool of FIG. 27. FIG. 32 is an exploded perspective view showing the first jaw of the end tool of FIG. 27. FIGS. 33 and 34 are perspective views showing the end tool hub of the end tool of FIG. 27. FIG. 35 is a plan view of the end tool of FIG. 27. FIGS. 36 and 37 are side views of the end tool of FIG. 27. FIGS. 38 and 39 are perspective views showing a state where the end tool of the surgical instrument of FIG. 27 is pitch-rotated by -90°. FIGS. 40 and 41 are perspective views showing a state where the end tool of the surgical instrument of FIG. 27 is pitch-rotated by +90°.

[0234] Referring to FIGS. 27 to 41, the end tool 100 according to the second modified form of the first embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102 can be referred to as a jaw 103.

[0235] On the other hand, an electric wire 411 can be coupled to the first jaw 101, and an electric wire 412 can be coupled to the second jaw 102.

[0236] Also, the end tool 100 according to the second modified form of the first embodiment of the present invention can include an end tool hub 180 and a pitch hub 107. The end tool hub 180 will be described in more detail later.

[0237] Also, the end tool 100 according to the second modified form of the first embodiment of the present invention can include a rotation axis 141, a rotation axis 142, a rotation axis 145, a rotation axis 143, and a rotation axis 144. As described above, the rotation axis 141, the rotation axis 142, and the rotation axis 145 can be inserted through the end tool hub 106, and the rotation axis 143 and the rotation axis 144 can be inserted through the pitch hub 107.

[0238] On the other hand, the end tool 100 can include pulleys 111, 112, 113, 114, 115, and 116 related to the rotational movement of the first jaw 101. Also, the end tool 100 can include pulleys 121, 122, 123, 124, 125, and 126 related to the rotational movement of the second jaw 102.

[0239] In this modified form, the first jaw 101 and the second jaw 102, the pitch hub 107, the respective pulleys, and each rotation axis are substantially the same as the end tool 100 described in FIG. 2 and the like of the first embodiment, and thus the detailed description thereof is omitted here.

[0240] Hereinafter, the end tool hub 180 of the second modified form of the first embodiment of the present invention will be described in more detail, and in particular, the first pitch surplus pulley portion 183 and the second pitch surplus pulley portion 184 of the end tool hub 180 that serve as the pitch surplus pulley will be mainly described.

[0241] The end tool hub 180 includes a first jo pulley coupling portion 181, a second jo pulley coupling portion 182, a first pitch surplus pulley portion 183, a second pitch surplus pulley portion 184, and a pitch pulley coupling portion 185.

[0242] Specifically, the first jo pulley coupling portion 181 and the second jo pulley coupling portion 182 are formed to face each other, and the pulleys 111, 112, 121, and 122 are accommodated therein. Further, through holes are formed in each of the jo pulley coupling portions 181 and 182, and the rotating shafts 141 penetrate the jo pulley coupling portions 181 and 182 and the pulleys 111 and 121 to axially couple them. Further, through holes are formed in each of the jo pulley coupling portions 181 and 182, and the rotating shafts 142 penetrate the jo pulley coupling portions 181 and 182 and the pulleys 112 and 122 to axially couple them.

[0243] The first jo pulley coupling portion 181 and the second jo pulley coupling portion 182 are connected by a guide portion 186. That is, the first jo pulley coupling portion 181 and the second jo pulley coupling portion 182 that are parallel to each other are coupled by a guide portion 186 formed in a direction substantially perpendicular thereto, and the first jo pulley coupling portion 181, the second jo pulley coupling portion 182, and the guide portion 186 are substantially in a "C" shape, and the pulleys 111, 112, 121, and 122 are accommodated therein.

[0244] In other words, it can also be considered that the first jo pulley coupling portion 181 and the second jo pulley coupling portion 182 extend in the X-axis direction from both ends of the guide portion 186 that is long in the Z-axis direction.

[0245] On one side surface of the guide portion 186, a first pitch extra pulley portion 183 can be formed, and on the other side surface, a second pitch extra pulley portion 184 can be formed.

[0246] Specifically, on both side surfaces of the guide portion 186, a first pitch extra pulley portion 183 and a second pitch extra pulley portion 184 can be formed, which are formed in a disc shape like a pulley and have grooves on their outer peripheral surfaces where a wire can be wound.

[0247] And the wire 305, which is the first jow wire, can be wound around the first pitch extra pulley portion 183, and the wire 302, which is the second jow wire, can be wound around the second pitch extra pulley portion 184.

[0248] On the other hand, the wire 301, which is the first jow wire, can pass along the side surface of the first pitch extra pulley portion 183, and the wire 306, which is the second jow wire, can pass through the side surface of the second pitch extra pulley portion 184.

[0249] On the other hand, on the pitch pulley coupling portion 185 at one end of the end tool hub 180, a pulley 131 that serves as an end tool pitch pulley can be formed. Here, the pulley 131 can be formed integrally with the end tool hub 180. That is, one end of the end tool hub 180 is formed in a disc shape or a semi-circular shape, and a groove where a wire can be wound is formed on its outer peripheral surface, which can form a kind of guide channel. Or, the pulley 131 can be formed as a separate member from the end tool hub 180 and can also be coupled to the end tool hub 180. The above-mentioned wires 303 and 304 are coupled to the pulley 131 that serves as an end tool pitch pulley, and this pulley 131 will perform a pitch operation while rotating around the rotation axis 143.

[0250] In this way, without adding a separate structure such as a pitch surplus pulley, by forming the first pitch surplus pulley portion 183 and the second pitch surplus pulley portion 184 on the already existing end tool hub 180, it has the feature that the expansion of the rotation range can be realized without adding parts and manufacturing processes.

[0251] <Third Variant of the First Embodiment>

[0252] Hereinafter, the end tool 100 of the surgical instrument according to the third modified form of the first embodiment of the present invention will be described. Here, the end tool 100 of the surgical instrument according to the third modified form of the first embodiment of the present invention is characteristically different in that a part of the pulley is omitted as compared with the end tool of the surgical instrument according to the first embodiment of the present invention described above. Hereinafter, the configuration that is different from the first embodiment in this way will be described in detail.

[0253] Figures 42 and 43 are perspective views showing the end tool of the surgical instrument according to the third modified form of the first embodiment of the present invention. Figures 44 and 45 are plan views of the end tool of Figure 42. Figures 46, 47 and 48 are side views of the end tool of Figure 42. Figures 49 and 50 are plan views of the end tool of Figure 42. Figures 51 and 52 are perspective views showing the state where the end tool of the surgical instrument of Figure 42 is pitch-rotated by -90°. Figures 53 and 54 are side views showing the state where the end tool of the surgical instrument of Figure 42 is pitch-rotated by -90°. Figures 55 and 56 are perspective views showing the state where the end tool of the surgical instrument of Figure 42 is pitch-rotated by +90°. Figures 57 and 58 are side views showing the state where the end tool of the surgical instrument of Figure 42 is pitch-rotated by +90°.

[0254] Referring to FIGS. 42 to 58, the end tool 100 according to the third modified form of the first embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102 can be referred to as a jaw 103.

[0255] Further, the end tool 100 of the first embodiment of the present invention can include an end tool hub 106 and a pitch hub 107.

[0256] Further, the end tool 100 of the third modified form of the first embodiment of the present invention can include a rotation axis 141, a rotation axis 142, a rotation axis 145, a rotation axis 143, and a rotation axis 144. As described above, the rotation axis 141, the rotation axis 142, and the rotation axis 145 can be inserted through the end tool hub 106, and the rotation axis 143 and the rotation axis 144 can be inserted through the pitch hub 107.

[0257] In this modified form, since the end tool hub 106, the pitch hub 107, and each of the rotation axes 141, 142, 143, 144, 145 are substantially the same as the end tool hub 106, the pitch hub 107, and each of the rotation axes 141, 142, 143, 144, 145 described in FIG. 2 of the first embodiment, etc., the detailed description thereof is omitted here.

[0258] On the other hand, the end tool 100 can include pulleys 111, 112, 113, 114, 115, 117, and 118 related to the rotational movement of the first jaw 101. Further, the end tool 100 can include pulleys 121, 122, 123, 124, 125, 127, and 128 related to the rotational movement of the second jaw 102.

[0259] Here, the end tool 100 of the surgical instrument according to the third modification of the first embodiment of the present invention is characterized in that the first pitch sub-pulley and the second pitch sub-pulley each include only one pulley.

[0260] Specifically, the end tool 100 of the surgical instrument according to the first embodiment of the present invention shown in FIG. 6 and the like includes a pair of pulleys, pulley 115 and pulley 116, as the first pitch sub-pulley, and a pair of pulleys, pulley 125 and pulley 126, as the second pitch sub-pulley.

[0261] In contrast, the end tool 100 of the surgical instrument according to the third modification of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in FIG. 6 and the like in that it includes a single pulley, pulley 115, as the first pitch sub-pulley and a single pulley, pulley 125, as the second pitch sub-pulley.

[0262] As a result, pulleys 111, 112, 117 / 118, 113 / 114, and 115, which are pulleys related to the rotation of the first joe 101 while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, can be sequentially arranged.

[0263] Also, pulleys 121, 122, 127 / 128, 123 / 124, and 125, which are pulleys related to the rotation of the second joe 102 while moving from the distal portion 104 to the proximal portion 105 of the end tool 100, can be sequentially arranged.

[0264] Here, pulleys 116 and 126 of the end tool 100 of the first embodiment of the present invention shown in FIG. 6 and the like are not pulleys around which the wire is wound but are pulleys that skim in a straight line, so that the pulleys can be omitted as in this modification.

[0265] In other words, in the first embodiment of the present invention, the first jog pitch sub-pulley and the second jog pitch sub-pulley are each composed of two rows, whereas in the third modified form of the first embodiment of the present invention, the first jog pitch sub-pulley and the second jog pitch sub-pulley are each composed of one row.

[0266] Here, pulleys 117 / 118 are arranged on one side of pulley 111 and pulley 112. Here, pulleys 117 / 118 are formed to be rotatable about a rotation shaft 145 which is a pitch extra rotation shaft. Also, on one side of pulleys 117 / 118, pulleys 113 and 114 are arranged so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other about a rotation shaft 143 which is a pitch main rotation shaft. Also, on one side of each of pulleys 113 and 114, a pulley 115 is arranged. Here, pulley 115 is formed to be rotatable about a rotation shaft 144 which is a pitch sub-rotation shaft. Here, in the figure, it is shown that all of pulleys 117, 118, 113, 114, and 115 are formed to be rotatable about the Y-axis direction as the center, but the idea of the present invention is not limited to this, and the rotation shafts of the respective pulleys can be formed in various directions so as to suit their configurations.

[0267] The wire 301 which is the first jog wire is sequentially wound so as to be in contact with at least a part of pulley 115, pulley 113, pulley 117, and pulley 111. And the wire 305 connected to the wire 301 by the fastening member 323 is sequentially wound so as to be in contact with at least a part of pulley 111, pulley 112, pulley 118, and pulley 114.

[0268] In other words, the wire 301 which is the first jog wire and the wire 305 are sequentially wound so as to be in contact with at least a part of pulley 115, pulley 113, pulley 117, pulley 111, pulley 112, pulley 118, and pulley 114, and the wire 301 and the wire 305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0269] On one side of the pulley 121 and the pulley 122, the pulley 127 / pulley 128 is arranged. Here, the pulley 127 / pulley 128 is formed to be rotatable about the rotation axis 145 which is the pitch extra rotation axis. Also, on one side of the pulley 127 / pulley 128, the pulley 123 and the pulley 124 are arranged so as to face each other. Here, the pulley 123 and the pulley 124 are formed to be rotatable independently of each other about the rotation axis 143 which is the pitch main rotation axis. Also, on one side of each of the pulley 123 and the pulley 124, the pulley 125 is arranged. Here, the pulley 125 is formed to be rotatable about the rotation axis 144 which is the pitch sub rotation axis. Here, in the figure, all of the pulley 127, the pulley 128, the pulley 123, the pulley 124, the pulley 125 and the pulley 126 are shown to be formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited thereto, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0270] The wire 306 which is the second jow wire is sequentially wound so as to be in contact with at least a part of the pulley 125, the pulley 123, the pulley 127 and the pulley 121. Then, the wire 302 connected to the wire 306 by the fastening member 326 is sequentially wound so as to be in contact with at least a part of the pulley 121, the pulley 122, the pulley 128 and the pulley 124.

[0271] In other words, the wire 306 and the wire 302 which are the second jow wires are sequentially wound so as to be in contact with at least a part of the pulley 125, the pulley 123, the pulley 127, the pulley 121, the pulley 122, the pulley 128 and the pulley 124, and the wire 306 and the wire 302 are formed to be movable along the pulley while rotating the pulley.

[0272] As a result, in the first embodiment of the present invention, the first jog pitch sub-pulley and the second jog pitch sub-pulley are each composed of two rows, whereas in the third modified form of the first embodiment of the present invention, the first jog pitch sub-pulley and the second jog pitch sub-pulley are each composed of one row, so that the number of parts is reduced and the manufacturing process can be simplified.

[0273] <Second Embodiment of the End Tool of the Surgical Instrument>

[0274] Hereinafter, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention will be described. Here, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention is characterized in that the arrangement of the jog pulley and the jog wire is different from that of the end tool (refer to 100 in FIG. 2 etc.) of the surgical instrument according to the first embodiment of the present invention described above. Such a configuration different from the first embodiment will be described in detail later.

[0275] FIG. 59 is a diagram showing an example of use of the end tool of the surgical instrument according to the second embodiment of the present invention. FIGS. 60 and 61 are perspective views showing the end tool of the surgical instrument according to the second embodiment of the present invention. FIGS. 62, 63, 64 and 65 are plan views of the end tool of FIG. 60. FIGS. 66, 67 and 68 are side views of the end tool of FIG. 60. FIGS. 69 and 70 are perspective views showing a state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by -90°. FIGS. 71 and 72 are side views showing a state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by -90°. FIGS. 73 and ۷4 are perspective views showing a state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by +90°. FIGS. 75 and 76 are side views showing a state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by +90°.

[0276] Referring to FIGS. 59 to 76, the power transmission unit 1300 of the end tool 1100 of the surgical instrument according to the second embodiment of the present invention can include wire 1301, wire 1302, wire 1303, wire 1304, wire 1305, and wire 1306. Since the wires in this embodiment are substantially the same as the wires 301, 302, 303, 304, 305, and 306 described in FIG. 5 etc. of the first embodiment, the detailed description thereof is omitted here.

[0277] Also, the power transmission unit 1300 of the end tool 100 of the surgical instrument according to the second embodiment of the present invention can include fastening members 1321, 1322, 1323, 1324, 1326, 1327, and 1329 etc. that are coupled to each end of each wire to couple the wire and the pulley. Here, each fastening member can be in various forms as needed, such as ball-shaped, tube-shaped, etc. Since the fastening members in this embodiment are substantially the same as the fastening members 321, 322, 323, 324, 326, 327, and 329 described in FIG. 5 etc. of the first embodiment, the detailed description thereof is omitted here.

[0278] (End Tool)

[0279] Hereinafter, the end tool 1100 of the surgical instrument in FIG. 59 will be described in more detail.

[0280] Continuing to refer to FIGS. 59 to 76, the end tool 1100 of the second embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or the components including the first jaw 1101 and the second jaw 1102 can be referred to as a jaw 1103.

[0281] Further, the end tool 1100 can include pulleys 1111, 1112, 1113, 1114, 1115, 1116, 1117, and 1118 related to the rotational movement of the first jaw 1101. Also, the end tool 1100 can include pulleys 1121, 1122, 1123, 1124, 1125, 1126, 1127, and 1128 related to the rotational movement of the second jaw 1102. These pulleys will be described in more detail later.

[0282] Also, the end tool 1100 of the second embodiment of the present invention can include an end tool hub 1106 and a pitch hub 1107.

[0283] The end tool hub 1106 has a rotation axis 1141, a rotation axis 1142, and a rotation axis 1145 penetrating and inserted therein. Also, the end tool hub 1106 can internally accommodate at least a part of the pulleys 1111 and 1121 axially coupled to the rotation axis 1141. Also, the end tool hub 1106 can internally accommodate at least a part of the pulleys 1112 and 1122 axially coupled to the rotation axis 1142. Also, the pulleys 1117 / 1118 and 1127 / 1128 axially coupled to the rotation axis 1145 can be coupled to the end tool hub 1106.

[0284] The pitch hub 1107 has a rotation axis 1143 and a rotation axis 1144 penetrating and inserted therein, and can be axially coupled to the end tool hub 1106 and the pulley 1131 by the rotation axis 1143. Therefore, the end tool hub 1106 and the pulley 1131 (formed integrally therewith) can be formed to be rotatable with respect to the pitch hub 1107 about the rotation axis 1143.

[0285] In addition, the pitch hub 1107 can accommodate at least a part of the pulleys 1113, 1114, 1123, and 1124 that are axially coupled to the rotation shaft 1143 inside. Further, the pitch hub 1107 can accommodate at least a part of the pulleys 1115, 1116, 1125, and 1126 that are axially coupled to the rotation shaft 1144 inside.

[0286] In addition, the end tool 1100 of the second embodiment of the present invention can include the rotation shafts 1141, 1142, 1145, 1143, and 1144. As described above, the rotation shafts 1141, 1142, and 1145 can be inserted through the end tool hub 1106, and the rotation shafts 1143 and 1144 can be inserted through the pitch hub 1107.

[0287] The rotation shafts 1141, 1142, 1145, 1143, and 1144 can be sequentially arranged in the direction from the distal end 1104 to the proximal end 1105 of the end tool 1100. Therefore, in order from the distal end 1104, the rotation shaft 1141 can also be referred to as the first pin, the rotation shaft 1142 as the second pin, the rotation shaft 1145 as the 2.5th pin, the rotation shaft 1143 as the third pin, and the rotation shaft 1144 as the fourth pin.

[0288] Here, the rotation shaft 1141 can function as a jo pulley rotation shaft, the rotation shaft 1142 can function as a jo auxiliary pulley rotation shaft, the rotation shaft 1143 can function as a pitch main rotation shaft, and the rotation shaft 1144 can function as a pitch sub-rotation shaft of the end tool 1100. And the rotation shaft 1145 arranged between the rotation shaft 1142 and the rotation shaft 1143 can function as a pitch extra rotation shaft of the end tool 1100.

[0289] In this embodiment, the end tool hub 1106, the pitch hub 1107, and each of the rotating shafts 1141, 1142, 1143, 1144, 1145 are substantially the same as the end tool hub 1106, the pitch hub 1107, and each of the rotating shafts 1141, 1142, 1143, 1144, 1145 described in FIG. 2 of the first embodiment and the like. Therefore, detailed description thereof is omitted here.

[0290] On the other hand, one or more pulleys can be fitted to each of the rotating shafts 1141, 1142, 1143, 1144, 1145, and this will be described in detail below.

[0291] The pulley 1111 functions as a first jaw pulley, and the pulley 1121 functions as a second jaw pulley, and these two components can also be collectively referred to as jaw pulleys.

[0292] The pulleys 1111 and 1121, which are jaw pulleys, are formed to face each other and are rotatable independently of each other about the rotating shaft 1141, which is the jaw pulley rotating shaft. Here, in the figure, the pulleys 1111 and 1121 are formed to rotate about one rotating shaft 1141, but it goes without saying that each jaw pulley can be formed to rotate about a different axis. Here, a first jaw 1101 is fixedly coupled to the pulley 1111 and rotates together with the pulley 1111, and a second jaw 1102 can be fixedly coupled to the pulley 1121 and rotate together with the pulley 1121. In response to the rotation of the pulleys 1111 and 1121, the yaw operation and the actuation operation of the end tool 1100 are performed. That is, when the pulleys 1111 and 1121 rotate in the same direction about the rotating shaft 1141, the yaw operation is executed, and when the pulleys 1111 and 1121 rotate in opposite directions about the rotating shaft 1141, the actuation operation is executed.

[0293] Here, the first jaw 1101 and the pulley 1111 can be formed as separate members and coupled to each other, or the first jaw 1101 and the pulley 1111 can be integrally formed. Similarly, the second jaw 1102 and the pulley 1121 can be formed as separate members and coupled to each other, or the second jaw 1102 and the pulley 1121 can be integrally formed.

[0294] Here, a groove 1111a around which the wire 1301 / wire 1305, which is the first wire, is wound from the pulley 1111, which is the first jaw pulley, and a groove 1121a around which the wire 1302 / wire 1306, which is the second wire, is wound from the pulley 1121, which is the second jaw pulley, are arranged adjacent to each other. Accordingly, the wire 1301 / wire 1305, which is the first jaw wire, and the wires 1302, 1306, which are the second jaw wires, can be arranged close to each other in the Z-axis direction, and there can be no space in which a separate structure is interposed between the first jaw wire and the second jaw wire.

[0295] The pulley 1112 functions as the first jaw auxiliary pulley, the pulley 1122 functions as the second jaw auxiliary pulley, and these two components can also be collectively referred to as the jaw auxiliary pulley.

[0296] Specifically, pulleys 1112 and 1122, which are Joe auxiliary pulleys, can be additionally provided on one side of pulleys 1111 and 1121. In other words, pulley 1112, which is a Joe auxiliary pulley, can be arranged between pulley 1111 and pulley 1113 / pulley 1114. Also, pulley 1122, which is a Joe auxiliary pulley, can be arranged between pulley 1121 and pulley 1123 / pulley 1124. Pulleys 1112 and 1122 can be formed to be rotatable independently of each other about the rotation axis 1142. Here, in the figure, pulleys 1112 and 1122 are formed to rotate about one rotation axis 1142, but it goes without saying that each of pulleys 1112 and 1122 can be formed to be rotatable about a different axis. Such auxiliary pulleys will be described in more detail later.

[0297] Pulleys 1113 and 1114 function as the first Joe pitch main pulleys, and pulleys 1123 and 1124 function as the second Joe pitch main pulleys. These two components can also be collectively referred to as the pitch main pulleys.

[0298] Pulleys 1115 and 1116 function as the first Joe pitch sub-pulleys, and pulleys 1125 and 1126 function as the second Joe pitch sub-pulleys. These two components can also be collectively referred to as the pitch sub-pulleys.

[0299] On the other hand, the present invention is characterized in that pulleys 1117, 1118, 1127, and 1128, which are redundant pulleys, are further arranged between pulleys 1112 and 1122, which are Joe auxiliary pulleys, and pulleys 1113, 1114, 1123, and 1124, which are pitch main pulleys.

[0300] Pulley 1117 and pulley 1118 function as the first jog pitch extra pulleys, and pulley 1127 and pulley 1128 function as the second jog pitch extra pulleys. These two components can also be collectively referred to as jog pitch extra pulleys.

[0301] Furthermore, a rotating shaft 1145 that functions as a jog pitch extra rotating shaft can be further provided, and the rotating shaft 1145 can be inserted through the end tool hub 1106. Here, the rotating shaft 1145 can be formed substantially parallel to the rotating shaft 1143 that is the pitch main rotating shaft and the rotating shaft 1144 that is the pitch sub-rotating shaft. At this time, the rotating shaft 1145 is disposed between the rotating shaft 1142 that is the second pin and the rotating shaft 1143 that is the third pin, and thus can also be referred to as the 2.5th pin in terms of its position.

[0302] Such jog pitch extra pulleys can serve to change the drawing-in / drawing-out path of the jog wire that enters from the proximal part to the distal part or exits from the distal part to the proximal part of the end tool. This will be described in more detail later.

[0303] As a result, the rotating shaft 1141, the rotating shaft 1142, the rotating shaft 1145, the rotating shaft 1143, and the rotating shaft 1144 can be sequentially arranged while moving from the distal part 1104 to the proximal part 1105 direction of the end tool 1100.

[0304] Also, pulleys 1111, 1112, 1117 / 1118, 1113 / 1114, 1115 / 1116, which are pulleys related to the rotation of the first jog 1101 while moving from the distal part 1104 to the proximal part 1105 direction of the end tool 1100, can be sequentially arranged.

[0305] Further, pulleys 1121, 1122, 1127 / 1128, 1123 / 1124, and 1125 / 1126, which are pulleys related to the rotation of the second joystick 1102 while moving from the distal portion 1104 to the proximal portion 1105 of the end tool 1100, can be sequentially arranged.

[0306] Hereinafter, components related to the rotation of pulley 1111 will be described.

[0307] Pulleys 1113 and 1114 form a pair and function as a first joystick pitch main pulley. That is, pulleys 1113 and 1114 function as the main rotation pulleys for the pitch operation of the first joystick 1101. Here, wire 1301, which is a first joystick wire, is wound around pulley 1113, and wire 1305, which is a first joystick wire, is wound around pulley 1114.

[0308] Pulleys 1115 and 1116 form a pair and function as a first joystick pitch sub-pulley. That is, pulleys 1115 and 1116 function as the sub-rotation pulleys for the pitch operation of the first joystick 1101. Here, wire 1301, which is a first joystick wire, is wound around pulley 1115, and wire 1305, which is a first joystick wire, is wound around pulley 1116.

[0309] Pulleys 1117 and 1118 form a pair and function as a first joystick extra pulley. That is, pulleys 1117 and 1118 function as the extra rotation pulleys for the pitch operation of the first joystick 1101. Here, wire 1301, which is a first joystick wire, is wound around pulley 1117, and wire 1305, which is a first joystick wire, is wound around pulley 1118.

[0310] Here, on one side of pulley 1111 and pulley 1112, pulley 1117 and pulley 1118 are arranged to face each other. Here, pulley 1117 and pulley 1118 are formed to be rotatable independently of each other about a rotation axis 1145 which is a pitch extra rotation axis. Also, on one side of each of pulley 1117 and pulley 1118, pulley 1113 and pulley 1114 are arranged to face each other. Here, pulley 1113 and pulley 1114 are formed to be rotatable independently of each other about a rotation axis 1143 which is a pitch main rotation axis. Also, on one side of each of pulley 1113 and pulley 1114, pulley 1115 and pulley 1116 are arranged to face each other. Here, pulley 1115 and pulley 1116 are formed to be rotatable independently of each other about a rotation axis 1144 which is a pitch sub rotation axis. Here, in the figure, it is shown that pulley 1117, pulley 1118, pulley 1113, pulley 1114, pulley 1115 and pulley 1116 are all formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0311] Wire 1301, which is the first jo-wire, is sequentially wound so as to be in contact with at least a part of pulley 1115, pulley 1113, pulley 1117 and pulley 1111. And wire 1305 connected to wire 1301 by fastening member 1323 is sequentially wound so as to be in contact with at least a part of pulley 1111, pulley 1112, pulley 1118, pulley 1114 and pulley 1116.

[0312] In other words, wire 1301 and wire 1305, which are the first jo-wire, are sequentially wound so as to be in contact with at least a part of pulley 1115, pulley 1113, pulley 1117, pulley 1111, pulley 1112, pulley 1118, pulley 1114 and pulley 1116, and wire 1301 and wire 1305 are formed to be movable along the pulleys while rotating the pulleys.

[0313] Therefore, when the wire 1301 is pulled to the side of the arrow 1301 in FIG. 64, the fastening member 1323 to which the wire 1301 is coupled and the pulley 1111 coupled thereto will rotate in the direction of the arrow L in FIG. 64. Conversely, when the wire 1305 is pulled to the side of the arrow 1305 in FIG. 64, the fastening member 1323 to which the wire 1305 is coupled and the pulley 1111 coupled thereto will rotate in the direction of the arrow R in FIG. 64.

[0314] Next, the components related to the rotation of the pulley 1121 will be described.

[0315] The pulley 1123 and the pulley 1124 form a pair and function as a second jog pitch main pulley. That is, the pulley 1123 and the pulley 1124 function as the main rotation pulleys for the pitch operation of the second jog 1102. Here, the wire 1306, which is the second jog wire, is wound around the pulley 1123, and the wire 1302, which is the second jog wire, is wound around the pulley 1124.

[0316] The pulley 1125 and the pulley 1126 form a pair and function as a second jog pitch sub-pulley. That is, the pulley 1125 and the pulley 1126 function as the sub-rotation pulleys for the pitch operation of the second jog 1102. Here, the wire 1306, which is the second jog wire, is wound around the pulley 1125, and the wire 1302, which is the second jog wire, is wound around the pulley 1126.

[0317] The pulley 1127 and the pulley 1128 form a pair and function as a second jog pitch extra pulley. That is, the pulley 1127 and the pulley 1128 function as the extra rotation pulleys for the pitch operation of the second jog 1102. Here, the wire 1306, which is the second jog wire, is wound around the pulley 1127, and the wire 1302, which is the second jog wire, is wound around the pulley 1128.

[0318] Here, on one side of the pulley 1121 and the pulley 1122, the pulley 1127 and the pulley 1128 are arranged to face each other. Here, the pulley 1127 and the pulley 1128 are formed to be rotatable independently of each other about the rotation axis 1145 which is the pitch extra rotation axis. Also, on one side of each of the pulley 1127 and the pulley 1128, the pulley 1123 and the pulley 1124 are arranged to face each other. Here, the pulley 1123 and the pulley 1124 are formed to be rotatable independently of each other about the rotation axis 1143 which is the pitch main rotation axis. Also, on one side of each of the pulley 1123 and the pulley 1124, the pulley 1125 and the pulley 1126 are arranged to face each other. Here, the pulley 1125 and the pulley 1126 are formed to be rotatable independently of each other about the rotation axis 1144 which is the pitch sub rotation axis. Here, in the figure, it is shown that all of the pulley 1127, the pulley 1128, the pulley 1123, the pulley 1124, the pulley 1125 and the pulley 1126 are formed to be rotatable about the Y-axis direction as the center, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0319] The wire 1306 which is the second jo-wire is sequentially wound so as to be in contact with at least a part of the pulley 1125, the pulley 1123, the pulley 1127 and the pulley 1121. Then, the wire 1302 connected to the wire 1306 by the fastening member 1326 is sequentially wound so as to be in contact with at least a part of the pulley 1121, the pulley 1122, the pulley 1128, the pulley 1124 and the pulley 1126.

[0320] In other words, the wire 1306 which is the second jo-wire and the wire 1302 are sequentially wound so as to be in contact with at least a part of the pulley 1125, the pulley 1123, the pulley 1127, the pulley 1121, the pulley 1122, the pulley 1128, the pulley 1124 and the pulley 1126, and the wire 1306 and the wire 1302 are formed to be movable along the pulley while rotating the pulley.

[0321] Therefore, when the wire 1306 is pulled in the direction of the arrow 1306 in FIG. 64, the fastening member 1326 to which the wire 1306 is coupled and the pulley 1121 coupled thereto will rotate in the direction of the arrow R in FIG. 64. Conversely, when the wire 1302 is pulled in the direction of the arrow 302 in FIG. 64, the fastening member 1326 to which the wire 1302 is coupled and the pulley 1121 coupled thereto will rotate in the direction of the arrow L in FIG. 64.

[0322] Here, the present invention is characterized in that the control of the pitch operation is facilitated by winding two jo-wires wound around one jo-pulley around the pitch main pulley in opposite directions to each other.

[0323] Specifically, when the +Z-axis direction is defined as the upper side and the -Z-axis direction is defined as the lower side with reference to the plane passing between the pulley 1111 which is the first jo-pulley and the pulley 1121 which is the second jo-pulley (that is, the XY plane), any one of the two first jo-wires (for example, the wire 1301) enters the pulley 1113 which is the first jo pitch main pulley from below the XY plane, and the other one (for example, the wire 1305) can come out from the pulley 1114 which is the first jo pitch main pulley above the XY plane. That is, it can be expressed as a structure in which the jo-wire enters from below the first jo pitch main pulley and comes out above. (The second jo-wire has a structure of entering from above the second jo pitch main pulley and coming out below)

[0324] In other words, the wire 1301 which is one of the first jo-wires sequentially contacts the upper side of the pulley 1115, the lower side of the pulley 1113, and the lower side of the pulley 1117, and then contacts the pulley 1111. Subsequently, the other wire 1305 of the first jo-wire is wound around the pulley 1111 and the pulley 1112, and then sequentially contacts the lower side of the pulley 1118, the upper side of the pulley 1114, and the lower side of the pulley 1116, and then exits from the connecting portion 400. As a result, the first jo-wire exits from the connecting portion 400, enters the lower side of the pulley 1113, passes through each pulley, and then enters the connecting portion 400 again through the upper side of the pulley 1114.

[0325] Similarly, one wire 1306 of the second jog wire sequentially contacts the lower side of pulley 1125, the upper side of pulley 1123, and the upper side of pulley 1127, and then contacts pulley 121. Subsequently, the other wire 1302 of the second jog wire is wound around pulleys 1121 and 1122, sequentially contacts the upper side of pulley 1128, the lower side of pulley 1124, and the upper side of pulley 1126, and then exits to the connecting portion 400. As a result, the second jog wire exits from the connecting portion 400, enters the upper side of pulley 1123, passes through each pulley, and then enters the connecting portion 400 again through the lower side of pulley 1124.

[0326] In other words, it can also be expressed that, of the two first jog wires, one wire is wound around the first jog pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the other wire is wound around the first jog pitch main pulley in the other direction of either the clockwise or counterclockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side. That is, when viewed from FIGS. 66, 67, and 68, wire 1301 is wound clockwise while entering from the connecting portion 1400 toward the end tool 1100 side, and wire 1305 is wound counterclockwise while entering from the connecting portion 400 toward the end tool 1100 side.

[0327] Similarly, of the two second jo wires, one of the wires enters from the connecting portion 1400 toward the end tool 1100 side and is wound around the second jo pitch main pulley in either the clockwise or counterclockwise direction, and the other wire enters from the connecting portion 1400 toward the end tool 1100 side and is wound around the second jo pitch main pulley in the other direction of the clockwise and counterclockwise directions. That is, when viewed from FIGS. 66, 67, and 68, the wire 1302 is wound in the clockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the wire 1306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 1100 side.

[0328] Thus, in the end tool 1100 of the surgical instrument according to an embodiment of the present invention, since the two jo wires wound around one jo pulley are wound around the pitch main pulley in opposite directions to each other, the effect of facilitating the control of the pitch operation can be obtained. That is, during the pitch operation, by rotating the drive unit first jo pulley (see 211 in FIG. 11) and the drive unit second jo pulley (see 221 in FIG. 11) to wind or unwind the jo wire, compensation for a kind of pitch operation can be performed, and the effect that the pitch operation of the end tool 1100 can be executed can be obtained.

[0329] <First Variant of the Second Embodiment>

[0330] Hereinafter, the end tool 1100 of the surgical instrument according to the first modified form of the second embodiment of the present invention will be described. Here, the end tool 100 of the surgical instrument according to the first modified form of the second embodiment of the present invention is characteristically different in that a part of the pulley is omitted as compared with the end tool of the surgical instrument according to the first embodiment of the present invention described above. Hereinafter, the configuration different from the first embodiment will be described in detail.

[0331] Figs. 77 and 78 are perspective views showing the end tool of the surgical instrument according to the first modified form of the second embodiment of the present invention. Figs. 79 and 80 are plan views of the end tool of Fig. 77. Figs. 81, 82 and 83 are side views of the end tool of Fig. 77. Figs. 84 and 85 are plan views of the end tool of Fig. 77. Figs. 86 and 87 are perspective views showing a state where the end tool of the surgical instrument of Fig. 77 is pitch-rotated by -90°. Figs. 88 and 89 are side views showing a state where the end tool of the surgical instrument of Fig. 77 is pitch-rotated by -90°. Figs. 90 and 91 are perspective views showing a state where the end tool of the surgical instrument of Fig. 77 is pitch-rotated by +90°. Figs. 92 and 93 are side views showing a state where the end tool of the surgical instrument of Fig. 77 is pitch-rotated by +90°.

[0332] Referring to Figs. 77 to 93, the end tool 1100 according to the first modified form of the second embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or a component including the first jaw 1101 and the second jaw 1102 can be referred to as a jaw 1103.

[0333] Also, the end tool 1100 according to the first modified form of the second embodiment of the present invention can include an end tool hub 1106 and a pitch hub 1107.

[0334] Also, the end tool 1100 of the first modified form of the second embodiment of the present invention can include a rotation axis 1141, a rotation axis 1142, a rotation axis 1145, a rotation axis 1143 and a rotation axis 1144. As described above, the rotation axis 1141, the rotation axis 1142 and the rotation axis 1145 can be inserted through the end tool hub 1106, and the rotation axis 1143 and the rotation axis 1144 can be inserted through the pitch hub 1107.

[0335] In this modified form, since the end tool hub 1106, the pitch hub 1107, and each of the rotation axes 1141, 1142, 1143, 1144, 1145 are substantially the same as the end tool hub 1106, the pitch hub 1107, and each of the rotation axes described in FIG. 2 of the first embodiment, the detailed description thereof is omitted here.

[0336] On the other hand, the end tool 1100 can include pulleys 1111, 1112, 1113, 1114, 1115, 1117, and 1118 related to the rotational movement of the first jaw 1101. Further, the end tool 1100 can include pulleys 1121, 1122, 1123, 1124, 1125, 1127, and 1128 related to the rotational movement of the second jaw 1102.

[0337] Here, the end tool 1100 of the surgical instrument according to the first modified form of the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0338] Specifically, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention shown in FIG. 60 and the like includes a pair of pulleys, i.e., pulley 1115 and pulley 1116, as the first jaw pitch sub-pulley, and a pair of pulleys, i.e., pulley 1125 and pulley 1126, as the second jaw pitch sub-pulley.

[0339] In contrast, the end tool 1100 of the surgical instrument according to the first modified form of the second embodiment of the present invention is differentiated from the second embodiment of the present invention shown in FIG. 60 and the like in that it includes a single pulley, i.e., pulley 1115, as the first jaw pitch sub-pulley and a single pulley, i.e., pulley 1125, as the second jaw pitch sub-pulley.

[0340] As a result, pulleys 1111, 1112, 1117 / 1118, 1113 / 1114, and 1115, which are pulleys related to the rotation of the first jaw 1101 while moving from the distal portion 1104 to the proximal portion 1105 of the end tool 1100, can be sequentially arranged.

[0341] Also, pulleys 1121, 1122, 1127 / 1128, 1123 / 1124, and 1125, which are pulleys related to the rotation of the second jaw 1102 while moving from the distal portion 1104 to the proximal portion 1105 of the end tool 1100, can be sequentially arranged.

[0342] Here, the pulleys 1116 and 1126 of the end tool 1100 according to the second embodiment of the present invention shown in FIG. 60 and the like are not pulleys around which the wire is wound but pulleys that skim in a straight line. Therefore, the pulleys can be omitted as in this modified form.

[0343] In other words, in the second embodiment of the present invention, the first jaw pitch sub-pulleys and the second jaw pitch sub-pulleys are each composed of two rows, whereas in the first modified form of the second embodiment of the present invention, the first jaw pitch sub-pulleys and the second jaw pitch sub-pulleys are each characterized by being composed of one row.

[0344] Here, a pulley 1117 / pulley 1118 is disposed on one side of pulley 1111 and pulley 1112. Here, the pulley 1117 / pulley 1118 is formed to be rotatable about a rotation axis 1145 which is a pitch extra rotation axis. Also, on one side of the pulley 1117 / pulley 1118, a pulley 1113 and a pulley 1114 are disposed so as to face each other. Here, the pulley 1113 and the pulley 1114 are formed to be rotatable independently of each other about a rotation axis 1143 which is a pitch main rotation axis. Also, a pulley 1115 is disposed on each one side of the pulley 1113 and the pulley 1114. Here, the pulley 1115 is formed to be rotatable about a rotation axis 1144 which is a pitch sub rotation axis. Here, in the figure, it is shown that all of the pulley 1117, the pulley 1118, the pulley 1113, the pulley 1114, and the pulley 1115 are formed to be rotatable about the Y-axis direction as the center, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for the configuration thereof.

[0345] A wire 1301 which is a first jow wire is sequentially wound so as to be in contact with at least a part of the pulley 1115, the pulley 1113, the pulley 1117, and the pulley 1111. And a wire 1305 connected to the wire 1301 by a fastening member 1323 is sequentially wound so as to be in contact with at least a part of the pulley 1111, the pulley 1112, the pulley 1118, and the pulley 1114.

[0346] In other words, the wire 1301 and the wire 1305 which are the first jow wires are sequentially wound so as to be in contact with at least a part of the pulley 1115, the pulley 1113, the pulley 1117, the pulley 1111, the pulley 1112, the pulley 1118, and the pulley 1114, and the wire 1301 and the wire 1305 are formed so as to be movable along the pulley while rotating the pulley.

[0347] On one side of the pulley 1121 and the pulley 1122, a pulley 1127 / pulley 1128 is arranged. Here, the pulley 1127 / pulley 1128 is formed to be rotatable about a rotation axis 1145 which is a pitch extra rotation axis. Also, on one side of the pulley 1127 / pulley 1128, pulleys 1123 and 1124 are arranged so as to face each other. Here, the pulleys 1123 and 1124 are formed to be rotatable independently of each other about a rotation axis 1143 which is a pitch main rotation axis. Also, on one side of each of the pulleys 1123 and 1124, a pulley 1125 is arranged. Here, the pulley 1125 is formed to be rotatable about a rotation axis 1144 which is a pitch sub-rotation axis. Here, in the figure, all of the pulleys 1127, 1128, 1123, 1124, 1125 and 1126 are shown to be formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0348] The wire 1306 which is the second jow wire is sequentially wound so as to be in contact with at least a part of the pulley 1125, the pulley 1123, the pulley 1127 and the pulley 1121. And the wire 1302 connected to the wire 1306 by the fastening member 1326 is sequentially wound so as to be in contact with at least a part of the pulley 1121, the pulley 1122, the pulley 1128 and the pulley 1124.

[0349] In other words, the wire 1306 and the wire 1302 which are the second jow wires are sequentially wound so as to be in contact with at least a part of the pulley 1125, the pulley 1123, the pulley 1127, the pulley 1121, the pulley 1122, the pulley 1128 and the pulley 1124, and the wire 1306 and the wire 1302 are formed so as to be able to move along the pulley while rotating the pulley.

[0350] As a result, in the second embodiment of the present invention, the first jog pitch sub-pulley and the second jog pitch sub-pulley are each composed of two rows, while in the first modified form of the second embodiment of the present invention, the first jog pitch sub-pulley and the second jog pitch sub-pulley are each composed of one row, so that the number of parts can be reduced and the manufacturing process can be simplified.

[0351] <Third Embodiment of the End Tool of the Surgical Instrument>

[0352] Hereinafter, the end tool 2100 of the surgical instrument according to the third embodiment of the present invention will be described. Here, the end tool 2100 of the surgical instrument according to the third embodiment of the present invention is characterized in that the arrangement of the jog pulley and the jog wire is different from that of the end tool of the surgical instrument according to the first embodiment of the present invention (refer to 100 in FIG. 2 etc.). Such a configuration different from the first embodiment will be described in detail later.

[0353] FIGS. 94, 95, 96 and 97 are perspective views showing the end tool of the surgical instrument according to the third embodiment of the present invention. FIGS. 98 and 99 are plan views of the end tool of FIG. 94. FIGS. 100, 101 and 102 are side views of the end tool of FIG. 94. FIGS. 103 and 104 are plan views of the end tool of FIG. 94. FIGS. 105 and 106 are perspective views showing a state where the end tool of the surgical instrument of FIG. 94 is pitch-rotated by -90°. FIGS. 107 and 108 are side views showing a state where the end tool of the surgical instrument of FIG. 94 is pitch-rotated by -90°. FIGS. 109 and 110 are perspective views showing a state where the end tool of the surgical instrument of FIG. 94 is pitch-rotated by +90°. FIGS. 111 and 112 are side views showing a state where the end tool of the surgical instrument of FIG. 94 is pitch-rotated by +90°. FIG. 113 is a perspective view of the end tool hub of the end tool of FIG. 94, FIG. 114 is a front view of the end tool hub of the end tool of FIG. 94, and FIG. 115 is a side view of the end tool hub of the end tool of FIG. 94.

[0354] Referring to FIGS. 94 to 115, the power transmission unit 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention can include a wire 2301, a wire 2302, a wire 2303, a wire 2304, a wire 2305, and a wire 2306. In this embodiment, since the wires are substantially the same as the wires 301, 302, 303, 304, 305, and 306 described in FIG. 5 of the first embodiment, the detailed description thereof is omitted here.

[0355] Further, the power transmission unit 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention can include fastening members 2321, 2322, 2323, and 2326, etc., which are coupled to each end of each wire in order to couple the wire and the pulley. Here, each fastening member can be in various forms as needed, such as ball-shaped, tube-shaped, etc. In this embodiment, since the fastening members are substantially the same as the fastening members 321, 322, 323, and 326 described in FIG. 5 of the first embodiment, the detailed description thereof is omitted here.

[0356] (End Tool)

[0357] Hereinafter, the end tool 2100 of the surgical instrument in FIG. 94 will be described in more detail.

[0358] Continuing to refer to FIGS. 94 to 115, the end tool 2100 of the third embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 2101 and a second jaw 2102. Here, each of the first jaw 2101 and the second jaw 2102, or a component including the first jaw 2101 and the second jaw 2102 can be referred to as a jaw 2103.

[0359] In addition, the end tool 2100 can include pulleys 2111, 2112, 2113, 2114, 2115, and 2116 related to the rotational movement of the first jaw 2101. Further, the end tool 2100 can include pulleys 2121, 2122, 2123, 2124, 2125, and 2126 related to the rotational movement of the second jaw 2102. These pulleys will be described in more detail later.

[0360] Moreover, the end tool 2100 of the third embodiment of the present invention can include an end tool hub 2180 and a pitch hub 2107. The end tool hub 2180 will be described in more detail later.

[0361] Here, the end tool hub 2180 can internally accommodate at least a part of the pulleys 2111 and 2121 axially coupled to the rotation shaft 2141. Further, the end tool hub 2180 can internally accommodate at least a part of the pulleys 2112 and 2122 axially coupled to the rotation shaft 2142.

[0362] The pitch hub 2107 has the rotation shafts 2143 and 2144 penetrating and inserted therein, and can be axially coupled to the end tool hub 2180 and the pulley 21131 by the rotation shaft 2143. Therefore, the end tool hub 2180 and the pulley 2131 (formed integrally therewith) can be formed to be rotatable with respect to the pitch hub 2107 about the rotation shaft 2143.

[0363] In addition, the pitch hub 2107 can internally accommodate at least a part of the pulleys 2113, 2114, 2123, and 2124 axially coupled to the rotation shaft 2143. Further, the pitch hub 2107 can internally accommodate at least a part of the pulleys 2115, 2116, 2125, and 2126 axially coupled to the rotation shaft 2144.

[0364] In addition, the end tool 2100 of the third embodiment of the present invention can include a rotation shaft 2141, a rotation shaft 2142, a rotation shaft 2143, and a rotation shaft 2144.

[0365] The rotation shaft 2141, the rotation shaft 2142, the rotation shaft 2143, and the rotation shaft 2144 can be sequentially arranged in the direction from the distal end 2104 to the proximal end 2105 of the end tool 2100. Therefore, in order from the distal end 2104, the rotation shaft 2141 can also be referred to as the first pin, the rotation shaft 2142 as the second pin, the rotation shaft 2143 as the third pin, and the rotation shaft 2144 as the fourth pin.

[0366] Here, the rotation shaft 21141 functions as a joe pulley rotation shaft, the rotation shaft 21142 is a joe auxiliary pulley rotation shaft and at the same time functions as a pitch extra rotation shaft, the rotation shaft 2143 functions as a pitch main rotation shaft, and the rotation shaft 2144 can function as a pitch sub-rotation shaft of the end tool 2100.

[0367] Hereinafter, the end tool hub 2180 of the third embodiment of the present invention will be described in more detail, and the rotation shaft 2142 of the end tool hub 2180 that serves as a special joe auxiliary pulley rotation shaft will be mainly described.

[0368] [[ID=IS]] Referring to FIGS. 113 to 115 and the like, the end tool hub 2180 includes a first joe pulley coupling portion 2181, a second joe pulley coupling portion 2182, a rotation shaft 2142, a pitch pulley coupling portion 2185, and a guide portion 2186. And the rotation shaft 2142 can include a first sub-shaft 2142a and a second sub-shaft 2142b.

[0369] Specifically, the first pulley coupling portion 2181 and the second pulley coupling portion 2182 are formed to face each other, and the pulleys 2111, 2112, 2121, and 2122 are accommodated therein. Further, through holes are formed in each of the pulley coupling portions 2181 and 2182, and the rotating shaft 2141 penetrates the pulley coupling portions 2181 and 2182 and the pulleys 2111 and 2121 to axially couple them.

[0370] The first pulley coupling portion 2181 and the second pulley coupling portion 2182 are connected by a guide portion 2186. That is, the first pulley coupling portion 2181 and the second pulley coupling portion 2182 that are parallel to each other are coupled by a guide portion 2186 formed in a direction substantially perpendicular thereto, and the first pulley coupling portion 2181, the second pulley coupling portion 2182, and the guide portion 2186 form a substantially "C" shape, and the pulleys 2111, 2112, 2121, and 2122 are accommodated therein.

[0371] In other words, it can also be considered that the first pulley coupling portion 2181 and the second pulley coupling portion 2182 extend in the X-axis direction from both ends of the guide portion 2186 that is long in the Z-axis direction.

[0372] A first sub-shaft 2142a can be formed on the inner surface of the first pulley coupling portion 2181, and a second sub-shaft 2142b can be formed on the second pulley coupling portion 2182. In other words, the second rotating shaft 2142, which is the rotating shaft of the auxiliary pulley, can be expressed as being formed by being divided into a first sub-shaft 2142a and a second sub-shaft 2142b.

[0373] Specifically, the first sub-shaft 2142a and the second sub-shaft 2142b can be formed to be inclined to some extent. In other words, the first sub-shaft 2142a and the second sub-shaft 2142b are not parallel to any of the X-axis, Y-axis, and Z-axis and can be formed obliquely.

[0374] And a pulley 2112 can be coupled to the first sub-axis 2142a, and a pulley 2122 can be coupled to the second sub-axis 2142b. Here, the pulley 2112 can function as the first joe auxiliary pulley and at the same time can function as the first pitch extra pulley. And the pulley 2122 can function as the second joe auxiliary pulley and at the same time can function as the second pitch extra pulley. This will be described later.

[0375] On the other hand, a pulley 2131 that serves as an end tool pitch pulley can be formed at a pitch pulley coupling portion 2185 at one end of the end tool hub 2180. Here, the pulley 2131 can be formed integrally with the end tool hub 2180. That is, one end of the end tool hub 2180 is formed in a disc shape or a semi-circular shape, and a groove around which a wire is wound is formed on its outer peripheral surface, and a kind of guide channel can be formed. Or, the pulley 2131 can be formed as a member separate from the end tool hub 2180 and can also be coupled to the end tool hub 2180. The above-described wires 2303 and 2304 are coupled to the pulley 2131 that serves as an end tool pitch pulley, and this pulley 2131 performs a pitch operation while rotating around the rotation axis 2143.

[0376] On the other hand, one or more pulleys can be fitted to each of the rotation axes 2141, 2142, 2143, 2144, and this will be described in detail below.

[0377] The pulley 2111 functions as the first joe pulley, and the pulley 2121 functions as the second joe pulley, and these two components can also be collectively referred to as the joe pulley.

[0378] The pulleys 2111 and 2121, which are jaw pulleys, are formed to face each other and are rotatably formed independently of each other about the rotation axis 2141, which is the jaw pulley rotation axis. Here, in the figure, the pulleys 2111 and 2121 are formed to rotate about one rotation axis 2141, but it goes without saying that each jaw pulley can be formed to rotate about a different axis. Here, a first jaw 2101 is fixedly coupled to the pulley 2111 and rotates together with the pulley 2111, and a second jaw 2102 can be fixedly coupled to the pulley 2121 and rotate together with the pulley 2121. According to the rotation of the pulleys 2111 and 2121, the yaw operation and the actuation operation of the end tool 2100 are performed. That is, when the pulleys 2111 and 2121 rotate in the same direction about the rotation axis 2141, the yaw operation is executed, and when the pulleys 2111 and 2121 rotate in opposite directions about the rotation axis 2141, the actuation operation is executed.

[0379] Here, the first jaw 2101 and the pulley 2111 can be formed of separate members and coupled to each other, or the first jaw 2101 and the pulley 2111 can be integrally formed. Similarly, the second jaw 2102 and the pulley 2121 can be formed of separate members and coupled to each other, or the second jaw 2102 and the pulley 2121 can be integrally formed.

[0380] The pulley 2112 functions as a first jaw auxiliary pulley, and the pulley 2122 functions as a second jaw auxiliary pulley, and these two components can also be collectively referred to as jaw auxiliary pulleys. At the same time, the pulley 2112 can function as a first pitch extra pulley, and the pulley 2122 can function as a second pitch extra pulley.

[0381] Specifically, pulleys 2112 and 2122, which are Joe auxiliary pulleys, can be additionally provided on one side of pulleys 2111 and 2121. In other words, pulley 2112, which is a Joe auxiliary pulley, can be arranged between pulley 2111 and pulley 2113 / pulley 2114. Also, pulley 2122, which is a Joe auxiliary pulley, can be arranged between pulley 2121 and pulley 2123 / pulley 2124. Pulley 2112 can be formed to rotate around the first sub-axis 2142a of the rotating shaft 2142, and pulley 2122 can be formed to be rotatable around the second sub-axis 2142b of the rotating shaft 2142.

[0382] Pulleys 2113 and 2114 function as the first Joe pitch main pulleys, and pulleys 2123 and 2124 function as the second Joe pitch main pulleys. These two components can also be collectively referred to as the pitch main pulleys.

[0383] Pulleys 2115 and 2116 function as the first Joe pitch sub-pulleys, and pulleys 2125 and 2126 function as the second Joe pitch sub-pulleys. These two components can also be collectively referred to as the pitch sub-pulleys.

[0384] As a result, the rotating shafts 2141, 2142, 2143, and 2144 can be sequentially arranged while moving from the distal portion 2104 to the proximal portion 2105 of the end tool 2100.

[0385] Also, pulleys 2111, 2112, 2113 / pulley 2114, and pulley 2115 / pulley 2116, which are pulleys related to the rotation of the first Joe 2101 while moving from the distal portion 2104 to the proximal portion 2105 of the end tool 2100, can be sequentially arranged.

[0386] Further, pulleys 2121, 2122, 2123 / 2124, and 2125 / 2126, which are pulleys related to the rotation of the second jaw 2102 while moving from the distal portion 2104 to the proximal portion 2105 of the end tool 2100, can be sequentially arranged.

[0387] Hereinafter, pulley 2112 and pulley 2122 will be described in more detail.

[0388] First, pulley 2112 can function as a first jaw auxiliary pulley, and pulley 2122 can function as a second jaw auxiliary pulley. By contacting wire 2305, which is the first jaw wire, and wire 2302, which is the second jaw wire, and changing the arrangement paths of wire 2305 and wire 2302 to a certain extent, pulley 2112 and pulley 2122 can play a role in expanding the rotation angles of the first jaw 2101 and the second jaw 2102, respectively. It can be said that such a role as a jaw auxiliary pulley is similar to that described in the first embodiment of the present invention.

[0389] At the same time, pulley 2112 can function as a first pitch excess pulley, and pulley 2122 can function as a second pitch excess pulley. Such a pitch excess pulley can play a role in changing the drawing-in / drawing-out path of the jaw wire that enters from the proximal portion to the distal portion or exits from the distal portion to the proximal portion of the end tool.

[0390] Here, a plane passing between pulley 2111, which is the first jaw pulley, and pulley 2121, which is the second jaw pulley (i.e., the XY plane) is defined as the first plane. Based on the first plane, the +Z axis direction is defined as the upper side and the -Z axis direction is defined as the lower side.

[0391] The wire 2305, which is the first joe wire, is located above the first plane when passing through the pulley 2114, which is the first joe pitch main pulley. Its path is changed while passing through the pulley 2112, which is the first pitch extra pulley, and it will be located below the first plane when passing through the pulley 2111, which is the first joe pulley.

[0392] Here, the first sub-axis 2142a and the pulley 2112 coupled thereto are formed inclined with respect to the first plane, and serve to guide the path of the wire 2305 such that the wire 2305, which was located above the first plane when contacting the pulley 2114, is located below the first plane when contacting the pulley 2111.

[0393] That is, as shown in FIG. 114, the first sub-axis 2142a and the pulley 2112 coupled thereto can be formed inclined to some extent on the YZ plane. At the same time, as shown in FIG. 115, the first sub-axis 2142a and the pulley 2112 coupled thereto can be formed inclined to some extent on the XZ plane.

[0394] Similarly, the wire 2302, which is the second joe wire, is located below the first plane when passing through the pulley 2124, which is the second joe pitch main pulley. Its path is changed while passing through the pulley 2122, which is the second pitch extra pulley, and it will be located above the first plane when passing through the pulley 2121, which is the second joe pulley.

[0395] Here, the second sub-axis 2142b and the pulley 2122 coupled thereto are formed inclined with respect to the first plane, and serve to guide the path of the wire 2302 such that the wire 2302, which was located below the first plane when contacting the pulley 2124, is located above the first plane when contacting the pulley 2121.

[0396] That is, as shown in FIG. 114, the second sub-axis 2142b and the pulley 2122 coupled thereto can be formed to be inclined to some extent on the YZ plane. At the same time, as shown in FIG. 115, the second sub-axis 2142b and the pulley 2122 coupled thereto can be formed to be inclined to some extent on the XZ plane.

[0397] Hereinafter, components related to the rotation of the pulley 2111 will be described.

[0398] The pulley 2113 and the pulley 2114 form a pair and function as a first joint pitch main pulley. That is, the pulley 2113 and the pulley 2114 function as the main rotation pulleys for the pitch operation of the first joint 2101. Here, the wire 2301, which is the first joint wire, is wound around the pulley 2113, and the wire 2305, which is the first joint wire, is wound around the pulley 2114.

[0399] The pulley 2115 and the pulley 2116 form a pair and function as a first joint pitch sub-pulley. That is, the pulley 2115 and the pulley 2116 function as the sub-rotation pulleys for the pitch operation of the first joint 2101. Here, the wire 2301, which is the first joint wire, is wound around the pulley 2115, and the wire 2305, which is the first joint wire, is wound around the pulley 2116.

[0400] Here, on one side of pulley 2111 and pulley 2112, pulley 2113 and pulley 2114 are arranged to face each other. Here, pulley 2113 and pulley 2114 are formed to be rotatable independently of each other about a rotation axis 2143 which is a pitch main rotation axis. Also, on one side of each of pulley 2113 and pulley 2114, pulley 2115 and pulley 2116 are arranged to face each other. Here, pulley 2115 and pulley 2116 are formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub-rotation axis. Here, the figure shows that pulley 2113, pulley 2114, pulley 2115 and pulley 2116 are all formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to suit their configurations.

[0401] Wire 2301 which is the first jo-wire is sequentially wound so as to be in contact with at least a part of pulley 2115, pulley 2113 and pulley 2111. And wire 2305 connected to wire 2301 by fastening member 2323 is sequentially wound so as to be in contact with at least a part of pulley 2111, pulley 2112, pulley 2114 and pulley 2116.

[0402] In other words, wire 2301 which is the first jo-wire and wire 2305 are sequentially wound so as to be in contact with at least a part of pulley 2115, pulley 2113, pulley 2111, pulley 2112, pulley 2114 and pulley 2116, and wire 2301 and wire 2305 are formed to be movable along the pulleys while rotating the pulleys.

[0403] Therefore, when the wire 2301 is pulled in the direction of the arrow 2301 in FIG. 103, the fastening member 2323 to which the wire 2301 is coupled and the pulley 2111 coupled thereto will rotate in the direction of the arrow L in FIG. 103. Conversely, when the wire 2305 is pulled in the direction of the arrow 2305 in FIG. 103, the fastening member 2323 to which the wire 2305 is coupled and the pulley 2111 coupled thereto will rotate in the direction of the arrow R in FIG. 103.

[0404] Next, the components related to the rotation of the pulley 2121 will be described.

[0405] The pulley 2123 and the pulley 2124 form a pair and function as a second joystick pitch main pulley. That is, the pulley 2123 and the pulley 2124 function as the main rotation pulleys for the pitch operation of the second joystick 2102. Here, the wire 2306, which is a second joystick wire, is wound around the pulley 2123, and the wire 2302, which is a second joystick wire, is wound around the pulley 2124.

[0406] The pulley 2125 and the pulley 2126 form a pair and function as a second joystick pitch sub-pulley. That is, the pulley 2125 and the pulley 2126 function as the sub-rotation pulleys for the pitch operation of the second joystick 2102. Here, the wire 2306, which is a second joystick wire, is wound around the pulley 2125, and the wire 2302, which is a second joystick wire, is wound around the pulley 2126.

[0407] Here, on one side of the pulleys 2121 and 2122, the pulleys 2123 and 2124 are arranged to face each other. Here, the pulleys 2123 and 2124 are formed to be rotatable independently of each other about the rotation axis 2143 which is the pitch main rotation axis. Also, on one side of each of the pulleys 2123 and 2124, the pulleys 2125 and 2126 are arranged to face each other. Here, the pulleys 2125 and 2126 are formed to be rotatable independently of each other about the rotation axis 2144 which is the pitch sub-rotation axis. Here, the figure shows that the pulleys 2123, 2124, 2125, and 2126 are all formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to suit their configurations.

[0408] The wire 2306 which is the second jow wire is sequentially wound so as to be in contact with at least a part of the pulleys 2125, 2123, and 2121. Then, the wire 2302 connected to the wire 2306 by the fastening member 2326 is sequentially wound so as to be in contact with at least a part of the pulleys 2121, 2122, 2124, and 1126.

[0409] In other words, the wire 2306 and the wire 2302 which are the second jow wires are sequentially wound so as to be in contact with at least a part of the pulleys 2125, 2123, 2121, 2122, 2124, and 2116, and the wire 2306 and the wire 2302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0410] Therefore, when the wire 2306 is pulled in the direction of the arrow 2306 in FIG. 103, the fastening member 2326 to which the wire 2306 is coupled and the pulley 2121 coupled thereto will rotate in the direction of the arrow R in FIG. 103. Conversely, when the wire 2302 is pulled in the direction of the arrow 2302 in FIG. 103, the fastening member 2326 to which the wire 2302 is coupled and the pulley 2121 coupled thereto will rotate in the direction of the arrow L in FIG. 103.

[0411] Here, the present invention is characterized in that the control of the pitch operation is facilitated by winding two jo-wires wound around one jo-pulley around the pitch main pulley in opposite directions to each other.

[0412] Specifically, when the +Z-axis direction is defined as the upper side and the -Z-axis direction is defined as the lower side with reference to the plane passing between the pulley 2111 which is the first jo-pulley and the pulley 2121 which is the second jo-pulley (that is, the XY plane), any one of the two first jo-wires (for example, the wire 2301) enters the pulley 2113 which is the first jo pitch main pulley from below the XY plane, and the other one (for example, the wire 2305) can exit from the pulley 2114 which is the first jo pitch main pulley above the XY plane. That is, it can be expressed as a structure in which the first jo-wire enters from below the first jo pitch main pulley and exits above. (The second jo-wire has a structure of entering from above the second jo pitch main pulley and exiting below.)

[0413] In other words, the wire 2301 which is one of the first jo-wires sequentially contacts the upper side of the pulley 2115 and the lower side of the pulley 2113, and then contacts the pulley 2111. Subsequently, the other wire 2305 of the first jo-wire is wound around the pulley 2111 and the pulley 2112, and then sequentially contacts the upper side of the pulley 2114 and the lower side of the pulley 2116, and then exits to the connecting portion 400. As a result, the first jo-wire exits from the connecting portion 2400, enters the lower side of the pulley 2113, passes through each pulley, and then enters the connecting portion 400 again through the upper side of the pulley 2114.

[0414] Similarly, one wire 2306 of the second jog wire sequentially contacts the lower side of pulley 2125 and the upper side of pulley 2123, and then contacts pulley 2121. Subsequently, wire 2302, which is the other one of the second jog wires, is wound around pulleys 2121 and 2122, then sequentially contacts the lower side of pulley 2124 and the upper side of pulley 2126, and then exits to the connecting part 400. As a result, the second jog wire exits from the connecting part 400, enters the upper side of pulley 2123, passes through each pulley, and then enters the connecting part 2400 again through the lower side of pulley 2124.

[0415]

[0416] ​Similarly, of the two second jo wires, one of the wires can be expressed as being wound around the second jo pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the other wire can be expressed as being wound around the second jo pitch main pulley in the other one of the clockwise and counterclockwise directions while entering from the connecting portion 2400 toward the end tool 2100 side. That is, when viewed from FIGS. 100, 101, and 102, the wire 2302 is wound in the clockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the wire 2306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 2100 side.

[0417] Thus, in the end tool 2100 of the surgical instrument according to an embodiment of the present invention, since the two jo wires wound around one jo pulley are wound around the pitch main pulley in opposite directions to each other, an effect that the control of the pitch operation becomes easy can be obtained. That is, during the pitch operation, by winding or unwinding the jo wire while the drive unit first jo pulley (see 211 in FIG. 11) and the drive unit second jo pulley (see 221 in FIG. 11) rotate, compensation for a kind of pitch operation is performed, and an effect that the pitch operation of the end tool 2100 can be executed can be obtained.

[0418] Thus, the present invention has been described with reference to an embodiment shown in the drawings, but this is merely exemplary, and those having ordinary knowledge in the art will understand that various modifications and changes in the embodiments are possible from this. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the appended claims.

Industrial Applicability

[0419] The present invention relates to an end tool for a surgical instrument, and more specifically, can be used for an end tool that is attached to a robotic arm for use in laparoscopic surgery or various surgeries, or is provided in a manually operable surgical instrument.

Claims

1. a first jaw; a second jaw rotatably coupled to the first jaw; an end tool hub formed such that at least a portion of the first jaw and the second jaw can be accommodated therein; a pitch hub axially coupled to the end tool hub and formed to be rotatable relative to the end tool hub; a first pin penetrating and inserted into the end tool hub and extending along a first direction; a second pin penetrating and inserted into the end tool hub, formed parallel to the first pin, and formed on one side of the first pin; a 2.5th pin penetrating and inserted into the end tool hub, extending along a second direction forming a predetermined angle with the first direction, and formed on one side of the second pin; a third pin penetrating and inserted into the end tool hub and the pitch hub, formed parallel to the 2.5th pin, and formed on one side of the 2.5th pin; a fourth pin penetrating and inserted into the pitch hub, formed parallel to the third pin, and formed on one side of the third pin; a first jaw pulley coupled to the first jaw and formed to be rotatable about the first pin; a second jaw pulley coupled to the second jaw and formed to be rotatable about the first pin; a first jaw auxiliary pulley formed on one side of the first jaw pulley and formed to be rotatable about the second pin; a second jaw auxiliary pulley formed on one side of the second jaw pulley and formed to be rotatable about the second pin; one or more first jaw pitch extra pulleys formed on one side of the first jaw auxiliary pulley and formed to be rotatable about the 2.5th pin; one or more second jaw pitch extra pulleys formed on one side of the second jaw auxiliary pulley and formed to be rotatable about the 2.5th pin; a pair of first jaw pitch main pulleys formed on one side of the first jaw pitch extra pulley and formed to be rotatable about the third pin; a pair of second jaw pitch main pulleys formed on one side of the second jaw pitch extra pulley and formed to be rotatable about the third pin; one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and formed to be rotatable about the fourth pin; one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and formed to be rotatable about the fourth pin; A first jo-wire that is coupled to the first jo-pulley to rotate the first jo-pulley and is wound around at least a part of the pair of first jo-pitch main pulleys. An end tool of a surgical instrument, comprising: a second jo-wire that is coupled to the second jo-pulley to rotate the second jo-pulley and is wound around at least a part of the pair of second jo-pitch main pulleys. **Claim 2** While moving from the proximal portion to the distal portion side of the end tool, Among the two first jo-wires coupled to the first jo-pulley, One of the first jo-wires is wound around the first jo-pitch main pulley in either the clockwise or counterclockwise direction, The end tool of the surgical instrument according to claim 1, wherein the other one of the first jo-wires is wound around the first jo-pitch main pulley in the other one of the clockwise and counterclockwise directions. **Claim 3** With reference to a plane that is perpendicular to the first pin and passes between the first jo-pulley and the second jo-pulley, Among the two first jo-wires coupled to the first jo-pulley, One of the first jo-wires contacts the upper side of the first jo-pitch main pulley, The end tool of the surgical instrument according to claim 1, wherein the other one of the first jo-wires contacts the lower side of the first jo-pitch main pulley. **Claim 4** The first jo-wire While moving from the proximal portion to the distal portion side of the end tool, The end tool of the surgical instrument according to claim 1, wherein the first jo-wire sequentially contacts the first jo-pitch sub-pulley, the first jo-pitch main pulley, and the first jo-pitch extra pulley. **Claim 5** With reference to a plane that is perpendicular to the first pin and passes between the first jo-pulley and the second jo-pulley, One of the two first jo-wires coupled to the first jo-pulley sequentially contacts the upper side of the first jo-pitch sub-pulley, the lower side of the first jo-pitch main pulley, and the lower side of the first jo-pitch extra pulley. Of the two first jo wires coupled to the first jo pulley, the other first jo wire sequentially contacts the lower side of the first jo pitch sub-pulley, the upper side of the first jo pitch main pulley, and the lower side of the first jo pitch extra pulley. The end tool of the surgical instrument according to claim 4, characterized in that.

6. An end tool pitch pulley formed at the proximal end side of the end tool hub, and The end tool of the surgical instrument according to claim 1, further comprising a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

7. When the end tool pitch pulley is rotated by the pitch wire, The entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jo wire wound around the first jo pitch main pulley and the second jo pitch main pulley changes. The end tool of the surgical instrument according to claim 6, characterized in that.

8. When the end tool pitch pulley is rotated by the pitch wire, in order to compensate for the amount of change in the length of the first jo wire wound around the first jo pitch main pulley and the second jo pitch main pulley, the first jo wire is moved to a certain extent by an external force. The end tool of the surgical instrument according to claim 7, characterized in that.

9. The first pin, the second pin, the 2.5 pin, the third pin, and the fourth pin are sequentially arranged while facing from the distal end to the proximal end of the end tool. The end tool of the surgical instrument according to claim 1, characterized in that.

10. The first jo pulley, the first jo auxiliary pulley, the first jo pitch extra pulley, the first jo pitch main pulley, and the first jo pitch sub-pulley are sequentially arranged while facing from the distal end to the proximal end of the end tool. The end tool of the surgical instrument according to claim 1, characterized in that.

11. The first jo-wire is located on a common inscribed line of the first jo-pulley and the first jo-assist pulley, and the rotation angle of the first jo-pulley is enlarged by the first jo-assist pulley. The end tool of the surgical instrument according to claim 1 is characterized by this.

12. The first jo and the second jo rotate around the first pin to perform a yaw operation. The end tool hub rotates around the third pin to perform a pitch operation. The end tool of the surgical instrument according to claim 1 is characterized by this.

13. The groove around which the first jo-wire is wound by the first jo-pulley and the groove around which the second jo-wire is wound by the second jo-pulley are formed at a fixed interval from each other. The end tool of the surgical instrument according to claim 1 is characterized by this.

14. The groove around which the first jo-wire is wound by the first jo-pulley and the groove around which the second jo-wire is wound by the second jo-pulley are formed adjacent to each other. The end tool of the surgical instrument according to claim 1 is characterized by this.

15. The first jo pitch extra pulley or the second jo pitch extra pulley includes only one pulley. The end tool of the surgical instrument according to claim 1 is characterized by this.

16. The first jo pitch extra pulley or the second jo pitch extra pulley is integrally formed with the end tool hub. The end tool of the surgical instrument according to claim 1 is characterized by this.

17. The first jo pitch sub-pulley or the second jo pitch sub-pulley includes only one pulley. The end tool of the surgical instrument according to claim 1 is characterized by this.

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