Surgical instrument

Abstract

To provide a surgical instrument that is configured to intuitively match an actual operation of bending an end tool or performing a surgical operation with a corresponding operation of an operator.SOLUTION: A surgical instrument includes: an end tool 120 including a first jaw 121 and a second jaw 122; an operation part 110 including a pitch operation part 111 for controlling a pitch operation of the end tool, a yaw operation part for controlling a yaw operation of the end tool, and an actuation operation part for controlling an actuation operation of the end tool; a power transmission part for transmitting rotation of the yaw operation part or the actuation operation part to the first or second jaw through the first or second jaw wire; and a coupling part for coupling the operation part and the end tool. The pitch operation part is formed rotatably around a Y axis, and at least in any first operation state of the operation part, at least a part of the operation part is formed closer to the end tool than to a rotary axis of itself.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates to surgical instruments, and in particular to manually actuable surgical instruments for use in laparoscopic or various other surgical procedures. [Background technology]

[0002] In medicine, surgery refers to the use of medical instruments to cut or tear the skin, mucous membranes, or other tissues to treat illness. In particular, open surgery, in which the skin at the surgical site is incised and the organs inside are treated, reshaped, or removed, can cause problems such as bleeding, side effects, patient pain, and scarring. Therefore, surgeries that simply involve making holes in the skin and inserting medical instruments such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgeries using robots, have recently gained attention as alternatives.

[0003] A surgical instrument is a tool for performing surgery on a surgical site by manipulating an end tool attached to one end of a shaft that passes through a hole drilled in the skin using a predetermined drive unit, either by a surgeon's hand or a robotic arm. The end tool attached to the surgical instrument performs operations such as rotating, gripping, and cutting via a predetermined structure.

[0004] However, existing surgical instruments have a problem in that the end tool portion does not bend, making it difficult to approach the surgical site and perform various surgical operations. To address this problem, surgical instruments with a bending end tool portion have been developed, but the operation of the operating part for bending the end tool or performing a surgical operation does not intuitively match the operation of the actual end tool, making it difficult for the surgeon to intuitively operate the instrument and requiring a long period of time to become skilled in using it.

[0005] The above-mentioned background art is technical information that the inventor possessed for the purpose of deriving the present invention or that he acquired in the process of deriving the present invention, and is not necessarily publicly known art that was made public to the general public prior to the filing of the present application. Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention aims to solve the above-mentioned problems by providing a surgical instrument that intuitively matches the bending of an actual endotool and the operation of a surgical operation with the corresponding operation of an operating unit. More specifically, to this end, the present invention provides an endotool with various degrees of freedom, an operating unit having a structure that allows intuitive operation of the operation of the endotool, and a power transmission unit that transmits the driving force of the operating unit to the endotool so that the endotool can operate in accordance with the operation of the operating unit. [Means for solving the problem]

[0007] One embodiment of the present invention relates to an end tool including a first jaw and a second jaw, each of which is formed to be freely rotatable; a pitch operator for controlling the pitch movement of the end tool; a yaw operator for controlling the yaw movement of the end tool; and an actuation operator for controlling the actuation movement of the end tool. a power transmission unit including one or more differential members that transmit rotation of the yaw operation unit or the actuation operation unit to the first jaw or the second jaw via the first jaw wire or the second jaw wire; and a coupling unit that extends in a first direction (X-axis), has one end coupled to the end tool and the other end coupled to the operation unit, and couples the operation unit and the end tool; wherein the pitch operation unit is formed to be rotatable about a second direction (Y-axis) that is perpendicular to the first direction, and at least a portion of the operation unit is formed closer to the end tool than its own rotation axis in at least one operating state of the operation unit.

[0008] Another embodiment of the present invention is a rotary tool including a first jaw and a second jaw that are rotatable independently of each other; a J11 pulley coupled to the first jaw and formed to be rotatable about a first axis formed on an end tool hub; a J16 pulley formed on one side of the J11 pulley and formed to be rotatable about a second axis formed on one side of the first axis; J12 pulley and a J14 pulley formed on one side of the J16 pulley and formed to form a predetermined angle with the first axis and formed to be rotatable about a third axis formed on one side of the end tool hub; and a rotary tool coupled to the second jaw and formed to be rotatable about an axis that is substantially the same as or parallel to the first axis. a J21 pulley formed on one side of the J21 pulley and rotatable around an axis substantially identical to or parallel to the second axis; a J26 pulley formed on one side of the J21 pulley and rotatable around an axis substantially identical to or parallel to the third axis; and J22 pulley and J24 pulley formed on one side of the J26 pulley and rotatable around an axis substantially identical to or parallel to the third axis; wherein a first jawwire is formed to be in at least partial contact with the J12 pulley, J11 pulley, J16 pulley, and J14 pulley, and a second jawwire is formed to be in at least partial contact with the J22 pulley, J21 pulley, J26 pulley, and J24 pulley.

[0009] Other aspects, features, and advantages of the present invention will become apparent from the following drawings, claims, and detailed description of the invention. [Effects of the Invention]

[0010] According to the present invention, the direction in which the surgeon operates the operating unit and the direction in which the end tool operates are intuitively the same, thereby improving the convenience for the surgeon and improving the accuracy, reliability, and speed of the surgery. [Brief explanation of the drawings]

[0011] [Figure 1A] FIG. 1 is a conceptual diagram of pitch motion of a conventional surgical instrument. [Figure 1B] FIG. 1 is a conceptual diagram of the yaw motion of a conventional surgical instrument. [Figure 1C] FIG. 10 is a conceptual diagram of the pitch movement of another conventional surgical instrument. [Figure 1D] FIG. 10 is a conceptual diagram of the yaw motion of another conventional surgical instrument. [Figure 1E] 1 is a conceptual diagram of the pitch operation of a surgical instrument according to the present invention. [Figure 1F] 1 is a conceptual diagram of the yaw operation of a surgical instrument according to the present invention. [Figure 2] 1 is a perspective view showing a surgical instrument according to a first embodiment of the present invention. [Figure 3] FIG. 3 is an internal perspective view of the surgical instrument of FIG. 2. [Figure 4] FIG. 4 is a side view of the surgical instrument of FIG. 3. [Figure 5] FIG. 4 is a perspective view showing an upper portion of an operating portion of the surgical instrument of FIG. 3. [Figure 6] 4 is a perspective view showing a lower part of an operating portion of the surgical instrument of FIG. 3. [Figure 7] FIG. 4 is a perspective view showing an end tool of the surgical instrument of FIG. 3. [Figure 8] FIG. 4 is a perspective view showing an end tool of the surgical instrument of FIG. 3. [Figure 9A] FIG. 4 is a plan view showing an end tool of the surgical instrument of FIG. 3. [Figure 9B] FIG. 1 is a plan view showing an end tool of a conventional surgical instrument. [Figure 10] FIG. 4 is a conceptual diagram showing the pitch movement of the surgical instrument of FIG. 3. [Figure 11] FIG. 4 is a perspective view showing a pitching operation of the surgical instrument of FIG. 3. [Figure 12] 4 is a diagram showing the yaw movement of the surgical instrument of FIG. 3. [Figure 13] 4 is a diagram showing the yaw movement of the surgical instrument of FIG. 3. [Figure 14] 4 is a diagram showing the actuation operation of the surgical instrument of FIG. 3. [Figure 15] 4 is a diagram showing the actuation operation of the surgical instrument of FIG. 3. [Figure 16] FIG. 10 is a perspective view showing a surgical instrument according to a second embodiment of the present invention. [Figure 17] FIG. 17 is a plan view of the surgical instrument of FIG. 16. [Figure 18] FIG. 17 is a perspective view showing an operation portion of the surgical instrument of FIG. 16. [Figure 19] 17 is a diagram showing the yaw movement of the surgical instrument of FIG. 16. [Figure 20] 17A and 17B are diagrams showing the actuation operation of the surgical instrument of FIG. 16. [Figure 21] 17A and 17B are diagrams showing the actuation operation of the surgical instrument of FIG. 16. DETAILED DESCRIPTION OF THE INVENTION

[0012] Although the present invention can be modified in various ways and can have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail. However, it should be understood that the present invention is not limited to the specific embodiments, but includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if a detailed description of related publicly known technology is considered to obscure the gist of the present invention, the detailed description will be omitted.

[0013] Terms such as "first" and "second" are used to describe various components, but the components are not limited by the terms. The terms are used only to distinguish one component from another.

[0014] The terms used in this application are used only to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood not to preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0015] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, identical or corresponding components will be given the same drawing numbers and duplicate descriptions thereof will be omitted.

[0016] Furthermore, in describing various embodiments of the present invention, it should be understood that each embodiment should not be interpreted or implemented independently, but that the technical ideas described in each embodiment should be interpreted or implemented in combination with other embodiments that are individually described.

[0017] <First embodiment of surgical instrument> A feature of the surgical instrument according to the present invention is that when the operating unit is rotated in one direction for at least one of pitch movement, yaw movement, and actuation movement, the end tool intuitively rotates in the same direction as the operating direction of the operating unit.

[0018] FIG. 1A is a conceptual diagram of pitch motion of a conventional surgical instrument, and FIG. 1B is a conceptual diagram of yaw motion.

[0019] Referring to FIG. 1A, in performing the pitch movement of a conventional surgical instrument, the end tool 120a is formed in front of the center of rotation 121a of the end tool, and the operating unit 110a is formed behind the center of rotation 111a of the operating unit. When the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating unit 120a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. 1B , in performing a yaw movement of a conventional surgical instrument, the end tool 120a is formed forward of the rotation center 121a of the end tool, and the operating unit 110a is formed rearward of the rotation center 111a of the operating unit. When the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating unit 120a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. In this case, from the perspective of the user's left-right direction, when the user moves the operating unit 110a to the left, the end tool 120a moves right, and when the user moves the operating unit 110a to the right, the end tool 120a moves left. As a result, the user's operation direction and the movement direction of the end tool are opposite to each other, which can lead to user error and makes operation difficult.

[0020] FIG. 1C is a conceptual diagram of pitch motion of another conventional surgical instrument, and FIG. 1D is a conceptual diagram of yaw motion.

[0021] 1C, some conventional surgical instruments are formed in a mirror-symmetrical shape. In performing a pitch movement, the end tool 120b is formed forward of the rotation center 121b of the end tool, and the operating unit 110b is formed rearward of the rotation center 111b of the operating unit. When the operating unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, in terms of the rotational direction of the operating unit and the end tool, the direction in which the user rotates the operating unit 110b and the resulting rotational direction of the end tool 120b are opposite to each other. This can cause confusion for the user, making the joint operation unintuitive and potentially leading to errors. 1D , in performing the yaw operation, the end tool 120b is formed forward of the rotation center 121b of the end tool, and the operating unit 110b is formed rearward of the rotation center 111b of the operating unit. When the operating unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating unit and the end tool, the rotation direction in which the user rotates the operating unit 110b and the resulting rotation direction of the end tool 120b are opposite to each other. As a result, there are problems in that the user is confused about the operation direction, the joint operation is not intuitive, and errors may occur.

[0022] To solve these problems, one feature of the surgical instrument according to one embodiment of the present invention shown in Figures 1E and 1F is that the end tool 120c is formed forward of the center of rotation 121c of the end tool, and the operating part 110c is also formed forward of the center of rotation 111c of the operating part, so that the operations of the operating part 110c and the end tool 120c are intuitively consistent.

[0023] To express this characteristic in a different way, unlike existing examples in which the operating part is closer to the user (i.e., farther from the end tool) relative to its own joint, as shown in Figures 1A, 1B, 1C, and 1D, the surgical instrument according to one embodiment of the present invention shown in Figures 1E and 1F is configured so that at least a portion of the operating part is closer to the end tool (than its own joint) relative to its own joint at any one or more moments during the operation process.

[0024] In other words, in the case of conventional surgical instruments such as those shown in FIGS. 1A, 1B, 1C, and 1D, the endotool is located forward of its center of rotation, while the operating unit is located rearward of its center of rotation. Therefore, the endotool, which is fixed at its rear, is moved by operating the operating unit, which moves rearward. This results in a non-intuitive structure. This creates a mismatch between the operation of the operating unit and the operation of the endotool in terms of left-right or rotational direction, which can confuse users and make it difficult to operate the operating unit intuitively and quickly, potentially leading to errors. In contrast, in the surgical instrument according to one embodiment of the present invention, the endotool and the operating unit both move around a center of rotation located rearward, which results in a structure that intuitively matches their operations. This allows users to intuitively and quickly control the direction of the endotool, significantly reducing the likelihood of errors. A specific mechanism enabling this functionality will now be described.

[0025] FIG. 2 is a perspective view showing a surgical instrument according to a first embodiment of the present invention, FIG. 3 is an internal perspective view of the surgical instrument of FIG. 2, and FIG. 4 is a side view of the surgical instrument of FIG.

[0026] 2, 3, and 4, a surgical instrument 100 according to a first embodiment of the present invention includes an operating unit 110, an end tool 120, a power transmission unit 130, and a connecting unit 140. Here, the connecting unit 140 is formed in a hollow shaft shape, and one or more wires (described later) are housed therein. The operating unit 110 is connected to one end of the connecting unit 140, and the end tool 120 is connected to the other end of the connecting unit 140, thereby connecting the operating unit 110 and the end tool 120.

[0027] In detail, the operating unit 110 is formed at one end of the connecting unit 140 and has an interface, for example, a knob-shape, stick-shape, lever-shape, etc., that can be directly operated by a surgeon, and when the surgeon operates it, the endotool 120, which is connected to the interface and inserted into the body of a surgical patient, performs a predetermined operation to perform surgery. Here, in Fig. 2, the operating unit 110 is illustrated as being formed in the shape of a handle that can be rotated by holding it with fingers, but the concept of the present invention is not limited thereto, and various types of operating units that can be connected to the endotool 120 and operate the endotool 120 may be used.

[0028] The endotool 120 is formed at the other end of the connecting portion 140 and is inserted into a surgical site to perform operations required for surgery. As an example of such an endotool 120, a pair of jaws 121, 122 for performing a gripping operation may be used, as shown in FIG. 2 . However, the concept of the present invention is not limited thereto, and various surgical devices may be used as the endotool 120. For example, a device with one arm similar to a cautery may also be used as the endotool. The endotool 120 is connected to the operating unit 110 by the power transmission unit 130, and performs operations required for surgery, such as gripping, cutting, and suturing, by transmitting the driving force of the operating unit 110 via the power transmission unit 130.

[0029] Here, the end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention is configured to be rotatable in at least two or more directions, for example, the end tool 120 is configured to perform a pitch movement around the Y axis in Fig. 2, and simultaneously perform a yaw movement and an actuation movement around the Z axis in Fig. 2, which will be described in detail later.

[0030] The power transmission unit 130 connects the operating unit 110 and the end tool 120 and serves to transmit the driving force of the operating unit 110 to the end tool 120, and may include a number of wires, pulleys, links, joints, gears, etc.

[0031] The operating section 110, the end tool 120, and the power transmission section 130 of the surgical instrument 100 in FIG. 2 will be described in more detail below.

[0032] (Operation unit) 5 is a perspective view showing an upper part of the operating portion of the surgical instrument of FIG. 3, and FIG. 6 is a perspective view showing a lower part of the operating portion of the surgical instrument of FIG.

[0033] 2 to 6, the operating unit 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a pitch operator 111 that controls the pitch movement of the end tool 120, a yaw operator 112 that controls the yaw movement of the end tool 120, and an actuation operator 113 that controls the actuation movement of the end tool 120.

[0034] First, to illustrate an example of how the surgical instrument 100 in Figure 2 is used, a user holds the pitch drive handle 1112 of the pitch operation unit 111 with the palm of their hand and rotates the pitch drive handle 1112 to perform a pitch movement, inserts their index finger into the yaw operation unit 112 and rotates the yaw operation unit 112 to perform a yaw movement, and inserts their thumb into the actuation operation unit 113 and rotates the actuation operation unit 113 to perform an actuation movement.

[0035] Here, the pitch movement, yaw movement, and actuation movement used in the present invention are defined as follows.

[0036] First, the pitch movement refers to the movement of the end tool 120 rotating in the up-down direction relative to the connecting portion 140, i.e., the movement of rotating around the Y-axis in FIG. 2. In other words, the movement of the end tool 120 extending from the connecting portion 140 rotating up-down around the Y-axis relative to the connecting portion 140 in the extension direction of the connecting portion 140 (the X-axis direction in FIG. 2). Next, the yaw movement refers to the movement of the end tool 120 rotating left-right relative to the connecting portion 140, i.e., the movement of rotating around the Z-axis in FIG. 2. In other words, the movement of the end tool 120 extending from the connecting portion 140 rotating left-right around the Z-axis relative to the connecting portion 140 in the extension direction of the connecting portion 140 (the X-axis direction in FIG. 2). On the other hand, the actuation movement refers to the movement of the two jaws 121, 122 rotating in opposite directions around the same rotation axis as the yaw movement, thereby contracting and opening the jaws. That is, it means that the two jaws 121 and 122 formed on the end tool 120 rotate in opposite directions around the Z axis.

[0037] One feature of the surgical instrument 100 according to the first embodiment of the present invention is that when the operating unit 110 is rotated in either direction relative to the connecting unit 140, the end tool 120 intuitively rotates in the same direction as the operating direction of the operating unit 110 relative to the connecting unit 140. In other words, when the pitch operating unit 111 of the operating unit 110 is rotated in either direction, the end tool 120 also intuitively rotates in the same direction as the operating direction to perform a pitch movement, and when the yaw operating unit 112 of the operating unit 110 is rotated in either direction, the end tool 120 also intuitively rotates in the same direction as the operating direction to perform a yaw movement. Here, the phrase "intuitively in the same direction" can be expanded to mean that the direction of movement of the index finger of the user holding the operating unit 110 and the direction of movement of the distal end of the end tool 120 are substantially the same. Here, it goes without saying that the same direction can be understood as a level of identity that maintains intuitiveness, such that, even if the direction does not perfectly match on three-dimensional coordinates, for example, if the user's index finger moves to the left, the end of the end tool 120 also moves to the left, and if the user's index finger moves to the right, the end of the end tool 120 also moves to the right.

[0038] For this reason, one feature of the surgical instrument 100 according to the first embodiment of the present invention is that the operating unit 110 and the end tool 120 are formed in the same direction with respect to a plane perpendicular to the extension axis (X-axis) of the connecting unit 140. That is, when viewed with respect to the YZ plane in FIG. 2 as a reference, the operating unit 110 extends in the +X-axis direction, and at the same time, the end tool 120 also extends in the +X-axis direction. In other words, the direction in which the end tool 120 is formed at one end of the connecting unit 140 and the direction in which the operating unit 110 is formed at the other end of the connecting unit 140 are the same with respect to the YZ plane. In other words, the operating unit 110 is formed in a direction away from the body of the user holding it, i.e., in the direction in which the end tool 120 is formed.

[0039] In particular, in the case of conventional surgical instruments, the direction in which the user operates the operating unit and the actual operating direction of the end tool are different and do not intuitively match, which makes it difficult for the surgeon to operate intuitively, and it takes many years of skill to get the end tool to move in the desired direction.In some cases, malfunctions can occur, causing harm to the patient.

[0040] To solve this problem, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that the operating direction of the operating unit 110 and the operating direction of the end tool 120 are intuitively the same direction, and for this reason, the operating unit 110 and the end tool 120 extend in the same direction when viewed based on the YZ plane including the pitch operating axis 1111. This will be explained in more detail as follows.

[0041] The pitch operation unit 111 includes a pitch drive shaft 1111 and a pitch drive handle 1112. The pitch drive shaft 1111 is formed in a direction parallel to the Y axis, and the pitch drive handle 1112 is connected to the pitch drive shaft 1111 and is formed to rotate around the pitch drive shaft 1111. For example, when a user rotates the pitch drive handle 1112 while holding the pitch drive handle 1112 in his / her hand, the pitch drive handle 1112 rotates around the pitch drive shaft 1111, and such rotational force is transmitted to the end tool 120 via the power transmission unit 130, the operation unit control member 115, and the end tool control member 123, causing the end tool 120 to rotate in the same direction as the rotational direction of the pitch operation unit 111. In other words, when the pitch operation unit 111 rotates clockwise around the pitch drive shaft 1111, the end tool 120 also rotates clockwise around an axis parallel to the pitch drive shaft 1111, and conversely, when the pitch operation unit 111 rotates counterclockwise around the pitch drive shaft 1111, the end tool 120 also rotates counterclockwise around an axis parallel to the pitch drive shaft 1111.

[0042] Meanwhile, the yaw operation unit 112 and the actuation operation unit 113 are formed on one end of the pitch drive handle 1112 of the pitch operation unit 111. Therefore, when the pitch operation unit 111 rotates around the pitch drive shaft 1111, the yaw operation unit 112 and the actuation operation unit 113 also rotate together with the pitch operation unit 111. That is, while Figure 2 and other figures show a state in which the pitch drive handle 1112 of the pitch operation unit 111 is positioned perpendicular to the connecting part 140, Figure 11 and other figures described below show a state in which the pitch drive handle 1112 of the pitch operation unit 111 rotates around the pitch drive shaft 1111 and is positioned so that the pitch drive handle 1112 forms a predetermined angle with respect to the connecting part 140.

[0043] As a result, the coordinate system between the yaw operation unit 112 and the actuation operation unit 113 is not fixed but continuously changes relative to one another as the pitch operation unit 111 rotates. That is, in FIG. 2, the yaw drive shaft 1121 of the yaw operation unit 112 is illustrated as being parallel to the Z axis, and the actuation drive shaft 1131 of the actuation operation unit 113 is illustrated as being parallel to the Y axis. However, when the pitch operation unit 111 rotates, the yaw drive shaft 1121 of the yaw operation unit 112 is no longer parallel to the Z axis. That is, the coordinate system between the yaw operation unit 112 and the actuation operation unit 113 changes as the pitch operation unit 111 rotates. However, for convenience of explanation, in this specification, unless otherwise specified, the coordinate system between the yaw operation unit 112 and the actuation operation unit 113 will be described based on a state in which the pitch drive knob 1112 is positioned perpendicular to the connection unit 140, as shown in FIG. 2.

[0044] The yaw operating unit 112 includes a yaw operating axis 1121 and a yaw operating member 1122. The operating axis 1121 is formed to form a predetermined angle with the XY plane on which the connecting unit 140 is formed. For example, as shown in FIG. 3, the yaw operating axis 1121 is formed in a direction parallel to the Z axis. In this state, when the pitch operating unit 111 rotates, the coordinate system of the yaw operating unit 112 changes relatively, as described above. However, the concept of the present invention is not limited thereto. It goes without saying that the yaw operating axis 1121 can be formed in various directions to suit the hand structure of a user holding the yaw operating unit 112 according to ergonomic design.

[0045] Meanwhile, the yaw driving unit 1122 is formed to be rotatable about the yaw driving shaft 1121. For example, if a user rotates the yaw driving unit 1122 while inserting his / her index finger into the yaw driving unit 1122, the yaw driving unit 1122 rotates about the yaw driving shaft 1121, and such rotational force is transmitted to the end tool 120 via the power transmission unit 130, causing the two jaws 121 and 122 of the end tool 120 to rotate left and right in the same direction as the rotational direction of the yaw driving unit 1122. To this end, a pulley 1121a is formed on the yaw driving shaft 1121. A yaw wire 130Y is connected to the pulley 1121a, and the rotational force is transmitted to the end tool 120 via the power transmission unit 130 including the yaw wire 130Y, causing the two jaws 121 and 122 of the end tool 120 to perform a yaw operation.

[0046] The actuation operation unit 113 includes an actuation rotating axis 1131 and an actuation rotating member 1132. Here, the actuation driving axis 1131 is formed to form a predetermined angle with the XZ plane on which the connecting unit 140 is formed. For example, as shown in FIG. 2 , the actuation driving axis 1131 is formed in a direction parallel to the Y axis. When the pitch operation unit 111 rotates in this state, the coordinate system of the actuation operation unit 113 changes relatively, as described above. However, the concept of the present invention is not limited thereto. It goes without saying that the actuation driving axis 1131 can be formed in various directions to suit the hand structure of a user holding the actuation operation unit 113 according to ergonomic design.

[0047] Meanwhile, the actuation driver 1132 is formed to be rotatable around the actuation driver shaft 1131. For example, if a user rotates the actuation driver 1132 while inserting his or her thumb into the actuation driver 1132, the actuation driver 1132 rotates around the actuation driver shaft 1131, and such rotational force is transmitted to the end tool 120 via the power transmission unit 130, causing the two jaws 121 and 122 of the end tool 120 to perform an actuation operation. Here, the actuation operation refers to the operation of opening and closing the jaws 121 and 122 as the two jaws 121 and 122 rotate in opposite directions, as described above. In other words, when the actuation operating unit 113 is rotated in one direction, the first jaw 121 rotates counterclockwise and the second jaw 122 rotates clockwise, thereby closing the end tool 120; conversely, when the actuation operating unit 113 is rotated in the opposite direction, the first jaw 121 rotates clockwise and the second jaw 122 rotates counterclockwise, thereby opening the end tool 120.

[0048] Meanwhile, a pulley 1131a is formed at one end of the actuation operating axis 1131. An actuation wire 130A is connected to the pulley 1131a.

[0049] 3, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch drive shaft 1111 of the pitch operation unit 111 and the end tool 120 are formed on the same axis (X axis) or parallel axes. That is, the pitch drive shaft 1111 of the pitch operation unit 111 is formed at one end of the connecting portion 140, and the end tool 120 is formed at the other end of the connecting portion 140. Here, although the connecting portion 140 is illustrated as being formed straight in the drawing, the concept of the present invention is not limited thereto. The connecting portion 140 may be curved to have a predetermined curvature or bent one or more times as necessary. Even in such a case, the pitch operation unit 111 and the end tool 120 can be said to be formed on substantially the same axis or parallel axes. Furthermore, although FIG. 3 illustrates the pitch operation unit 111 and the end tool 120 as being formed on the same axis (X-axis), the concept of the present invention is not limited thereto, and the pitch operation unit 111 and the end tool 120 may be formed on different axes.

[0050] As described above, in the surgical instrument 100 according to the first embodiment of the present invention, the end tool 120 and the operating unit 110 are arranged to extend in the same direction so that the joint movements (pitch movement, yaw movement) of the end tool 120 and the operating unit 110 intuitively match each other.

[0051] In other words, as shown in Figures 1E and 1F, just as the end tool 120c is formed forward of the rotation center 121c of the end tool, the operating part 110c is also formed forward of the rotation center 111c of the operating part.

[0052] The yaw operation unit 112 is formed at one end of the pitch operation unit 111, and when the pitch operation unit 111 rotates around the pitch drive shaft 1111, the yaw operation unit 112 also moves around the pitch drive shaft 1111, and at the same time, the end tool 120 also performs pitch rotation, so that the direction of the yaw operation unit 112 and the direction of the end tool 120 do not impair the intuitive sense of unity.

[0053] In other words, even if the extension direction of the yaw operation unit 112 differs from the +X-axis direction as shown in Figure 2 due to the pitch movement of the pitch operation unit 111, the end tool 120 also performs pitch rotation, so the direction of the yaw operation unit 112 and the direction of the end tool 120 do not lose their intuitive consistency.

[0054] Therefore, in Figure 2, the idea of ​​the present invention, that "the operating unit is extended toward the end tool" is explained when the joint is not rotated, but from the above-mentioned perspective, it will be understood that the idea of ​​"the operating unit is extended toward the end tool" remains the same even when the joint is rotated.

[0055] In other words, the "shape in which the operating part is extended toward the end tool" of one operating part changes depending on the operation of the other operating part, but this must be understood from the perspective described above, and such "shape in which the operating part is extended toward the end tool" will be satisfied in at least one or more of the various operating situations of the operating part.

[0056] In other words, the characteristic that the operating unit 110 is extended toward the end tool 120 can be expressed in a different way as a part of the operating unit 110 being closer to the end tool 120 (than its own joint) at any one moment or more during the operation, based on its own joint.

[0057] Meanwhile, the operating unit 110 of the surgical instrument 100 according to the first embodiment of the present invention further includes an operating unit control member 115 that interlocks with the pitch drive shaft 1111 of the pitch operating unit 111. The configuration of the operating unit control member 115 is substantially the same as the configuration of an end tool control member 123, which will be described later, and therefore the relationship between the operating unit control member 115, the end tool control member 123, and other components of the operating unit 110 will be described later.

[0058] (Power transmission section) 2 to 6, the power transmission unit 130 of the surgical instrument 100 according to the first embodiment of the present invention includes a yaw wire 130Y, an actuation wire 130A, a pitch wire 130P, a first jaw wire 130J1, a second jaw wire 130J2, and a power transmission assembly 135. Here, the power transmission assembly 135 is housed in the pitch drive handle 1112.

[0059] First, the power transmission assembly 135 of the power transmission section 130 will be described.

[0060] As described above, the yaw operation unit 112 and the actuation operation unit 113 are formed on one end of the pitch drive handle 1112 of the pitch operation unit 111. Therefore, when the pitch operation unit 111 rotates around the pitch drive shaft 1111, the yaw operation unit 112 and the actuation operation unit 113 also rotate together with the pitch operation unit 111. The yaw operation unit 112 is also connected to the first jaw 121 and the second jaw 122 and drives the first jaw 121 and the second jaw 122, and the actuation operation unit 113 is also connected to the first jaw 121 and the second jaw 122 and drives the first jaw 121 and the second jaw 122. However, when the yaw operation unit 112 is rotated, the first jaw 121 and the second jaw 122 must rotate in the same direction, whereas when the actuation operation unit 113 is rotated, the first jaw 121 and the second jaw 122 must rotate in opposite directions. Therefore, a separate structure is required to realize such operations.

[0061] Therefore, two rotational inputs, the yaw operation unit 112 and the actuation operation unit 113, must both act on one jaw, and for this purpose, a structure is required that can receive two or more inputs, output the rotation of one jaw, and operate differently depending on each input. At this time, the two input rotations must not move each other.

[0062] To this end, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that it includes a power transmission assembly 135 that receives driving force from the yaw operating unit 112 and the actuation operating unit 113 and transmits it to the first jaw 121 and the second jaw 122, respectively.

[0063] In detail, the power transmission assembly 135 is connected to the yaw operation unit 112 via the yaw wire 130Y and includes a yaw pulley 135YP, a yaw drive bar 135B, a first gear 135G1, and a fourth gear 135G4 that rotate together with the yaw operation unit 112. The yaw pulley 135YP, yaw drive bar 135B, first gear 135G1, and fourth gear 135G4 rotate together. The power transmission assembly 135 also includes a first jaw drive unit 135J1 that transmits a driving force to rotate the first jaw 121 by the rotation of the yaw operation unit 112 and the actuation operation unit 113, and a second jaw drive unit 135J2 that transmits a driving force to rotate the second jaw 122 by the rotation of the yaw operation unit 112 and the actuation operation unit 113. The actuation operation unit 113 further includes an actuation gear 135AG that rotates together with the actuation operation unit 113; a second gear 135G2 interposed between the first gear 135G1 and the actuation gear 135AG; and a third gear 135G3 interposed between the actuation gear 135AG and the fourth gear 135G4. The first gear 135G1, the second gear 135G2, the third gear 135G3, and the fourth gear 135G4 are stacked in order in the Z-axis direction and are configured to rotate around the pitch operation unit central axis 1113. The actuation gear 135AG rotates around an actuation gear central axis 135AG1 fixed in a direction perpendicular to the Z-axis. The actuation gear 135AG is connected to the actuation wire 130A and is configured to rotate together with the pulley 1131a of the actuation operation unit 113. This will be explained in more detail as follows.

[0064] The first jaw driving unit 135J1 includes a first jaw driving gear 135J11, a first jaw connecting member 135J12, a first jaw driving pulley 135J13, and a first jaw driving gear central shaft 135J14. The first jaw driving gear 135J11 is a bevel gear and is interposed between the third gear 135G3 and the fourth gear 135G4. The first jaw driving gear 135J11 is configured to rotate about the first jaw driving gear central shaft 135J14 or revolve about the pitch operation unit central shaft 1113 depending on the relative movement of the third gear 135G3 or the fourth gear 135G4. The first jaw connecting member 135J12 is formed to connect the first jaw drive gear central axis 135J14 and the first jaw drive pulley 135J13, and rotates the first jaw drive gear 135J11, the first jaw drive gear central axis 135J14, the first jaw connecting member 135J12, and the first jaw drive pulley 135J13 all around the pitch operation unit central axis 1113. The first jaw drive pulley 135J13 is connected to the first jaw wire 130J1, and transmits the rotation of the yaw operation unit 112 and the actuation operation unit 113 to the first jaw 121.

[0065] Meanwhile, the second jaw driving unit 135J2 includes a second jaw driving gear 135J21, a second jaw connecting member 135J22, a second jaw driving pulley 135J23, and a second jaw driving gear central axis 135J24. The second jaw driving gear 135J21 is a bevel gear and is interposed between the first gear 135G1 and the second gear 135G2. The second jaw driving gear 135J21 rotates about the second jaw driving gear central axis 135J24 or revolves about the pitch operation unit central axis 1113 depending on the relative movement of the first gear 135G1 or the second gear 135G2. The second jaw connecting member 135J22 is formed to connect the second jaw drive gear central axis 135J24 and the second jaw drive pulley 135J23, and causes the second jaw drive gear 135J21, the second jaw drive gear central axis 135J24, the second jaw connecting member 135J22, and the second jaw drive pulley 135J23 to rotate together about the pitch operation unit central axis 1113. The second jaw drive pulley 135J23 is connected to the second jaw wire 130J2, and transmits the rotation of the yaw operation unit 112 and the actuation operation unit 113 to the second jaw 122.

[0066] Such a power transmission assembly 135 can be described in further detail as follows: The first jaw 121 and the second jaw 122 must rotate in response to two rotational inputs from the yaw operation unit 112 and the actuation operation unit 113, but the first jaw 121 and the second jaw 122 must operate differently from each other in response to the operation of the yaw operation unit 112 and the actuation operation unit 113, respectively. In other words, when the yaw operation unit 112 is rotated, the first jaw 121 and the second jaw 122 must rotate in the same direction, whereas when the actuation operation unit 113 is rotated, the first jaw 121 and the second jaw 122 must rotate in opposite directions.

[0067] To realize such operation, a structure is required that determines the operation of the first jaw 121 in response to two rotational inputs from the yaw operating unit 112 and the actuation operating unit 113, and this structure is composed of a first jaw drive gear 135J11, a fourth gear 135G4, and a third gear 135G3 (hereinafter referred to as the first differential member).

[0068] On the other hand, the structure that determines the operation of the second jaw 122 in response to two rotational inputs from the yaw operating unit 112 and the actuation operating unit 113 is composed of a second jaw drive gear 135J21, a first gear 135G1, and a second gear 135G2 (hereinafter referred to as the second differential member).

[0069] Each of these structures (first differential member and second differential member) is composed of two input gears and one output gear.

[0070] More specifically, the first differential member has the rotation between the fourth gear 135G4 and the third gear 135G3 as its input and the rotation of the first jaw drive gear 135J11 as its output, and the second differential member has the rotation between the first gear 135G1 and the second gear 135G2 as its input and the rotation of the second jaw drive gear 135J21 as its output.

[0071] Each drive system rotates the output gear through rotational input from the two input gears, and as a result, the entire assembly drive unit (first jaw drive unit 135J1 or second jaw drive unit 135J2) including the output gear rotates around the pitch operation unit central axis 1113 in the same direction as the unidirectional rotation of the input gear. Therefore, each drive system can receive two inputs and rotate the output gear without affecting the other input.

[0072] That is, the first differential member can rotate the first jaw 121 by the rotation input of the yaw operation unit 112 or the actuation operation unit 113, and the second differential member can rotate the second jaw 122 by the rotation of the yaw operation unit 112 or the actuation operation unit 113. can be rotated.

[0073] At this time, when the yaw operating unit 112 rotates, the first jaw 121 and the second jaw 122 rotate in the same direction, whereas when the actuation operating unit 113 rotates, the first jaw 121 and the second jaw 122 must rotate in different directions.

[0074] Therefore, the rotational movement of the yaw operating unit 112 is configured to rotate one input gear of the first differential member and one input gear of the second differential member in the same direction, and the rotational movement of the actuation operating unit 113 is configured to rotate the other input gear of the first differential member and one input gear of the second differential member in opposite directions.

[0075] To this end, the rotational movement of the yaw operation unit 112 connects the yaw drive bar 135B to the first gear 135G1 and the fourth gear 135G4, and the rotational movement of the yaw operation unit 112 rotates the first gear 135G1 and the fourth gear 135G4 in the same direction, thereby causing the first jaw drive gear 135J11 and the second jaw drive gear 135J21 to rotate in the same direction, and as a result, the first jaw 121 and the second jaw 122 rotate in the same direction, thereby performing yaw movement.

[0076] Meanwhile, the rotational movement of the actuation operating unit 113 is configured such that the actuation gear 135AG rotates the second gear 135G2 and the third gear 135G3, which are the input gears of the two drive systems, in opposite directions to each other, thereby causing the first jaw drive gear 135J11 and the second jaw drive gear 135J21 to rotate in opposite directions to each other, and as a result, the first jaw 121 and the second jaw 122 rotate in opposite directions to each other, thereby performing the actuation operation. Meanwhile, in this embodiment, gears are exemplified as a drive system that extracts one output from two inputs, but the concept of the present invention is not limited thereto, and various drive systems that can extract one output from two inputs may be applied.

[0077] Here, the drawings show the first gear 135G1, the second gear 135G2, the third gear 135G3, and the fourth gear 135G4 stacked in order along the central axis 1113 of the pitch operation unit, but the concept of the present invention is not limited thereto, and it goes without saying that the gears are formed along the central axis of a differential member separate from the central axis 1113 of the pitch operation unit.

[0078] (end tool) 7 and 8 are perspective views showing the end tool of the surgical instrument of FIG. 3, and FIG. 9A is a plan view showing the end tool of the surgical instrument of FIG.

[0079] 7, 8 and 9A, the end tool 120 according to the first embodiment of the present invention includes an end tool control member 123, which includes a J11 pulley 123J11, a J12 pulley 123J12, a J13 pulley 123J13, a J14 pulley 123J14 and a J15 pulley 123J15 involved in the rotational movement of the first jaw 121, and a J21 pulley 123J21, a J22 pulley 123J22, a J23 pulley 123J23, a J24 pulley 123J24 and a J25 pulley 123J25 involved in the rotational movement of the second jaw 122. Here, the first jaw 121, the J11 pulley 123J11, the J12 pulley 123J12, the J14 pulley 123J14, the second jaw 122, the J21 pulley 123J21, the J22 pulley 123J22, and the J24 pulley 123J24 are all formed to rotate around the end tool pitch drive shaft 123PA.

[0080] On the other hand, a connecting part 140 that is connected to the end tool 120 has a connecting part hub 141 at one end thereof. The J12 pulley 123J12, J13 pulley 123J13, J14 pulley 123J14, J15 pulley 123J15, J22 pulley 123J22, J23 pulley 123J23, J24 pulley 123J24, and J25 pulley 123J25 are coupled to the coupling hub 141.

[0081] Here, in the drawings, the facing pulleys are shown to be formed parallel to each other, but the concept of the present invention is not limited thereto, and each pulley may be formed in a variety of positions and sizes suitable for the configuration of the end tool.

[0082] The J11 pulley 123J11 and the J21 pulley 123J21 are formed to face each other and are formed to be rotatable independently of each other around the jaw rotation axis 123JA. The first jaw 121 is coupled to the J11 pulley 123J11 and rotates together with the J11 pulley 123J11, and the second jaw 122 is coupled to the J21 pulley 123J21 and rotates together with the J21 pulley 123J21. The yaw movement and actuation movement of the end tool 120 are performed by the rotation of the J11 pulley 123J11 and the J21 pulley 123J21. That is, when the J11 pulley 123J11 and the J21 pulley 123J21 rotate in the same direction, a yaw operation is performed, and when the J11 pulley 123J11 and the J21 pulley 123J21 rotate in opposite directions, an actuation operation is performed.

[0083] Meanwhile, auxiliary pulleys, J16 pulley 123J16 and J26 pulley 123J26, are additionally provided on one side of the J11 pulley 123J11 and J21 pulley 123J21, and these auxiliary pulleys are rotatable about an auxiliary pulley shaft 123S. Here, in the drawings, the J16 pulley 123J16 and the J26 pulley 123J26 are formed to rotate about a single auxiliary pulley shaft 123S, but it goes without saying that each auxiliary pulley is formed to rotate about a separate shaft. In other words, the auxiliary pulley J16 pulley 123J16 is disposed between the J11 pulley 123J11 and the J12 pulley 123J12 / J14 pulley 123J14. Furthermore, the J26 pulley 123J26, which is an auxiliary pulley, is disposed between the J21 pulley 123J21 and the J22 pulley 123J22 / J24 pulley 123J24. Such auxiliary pulleys will be described in more detail later.

[0084] The following describes the components involved in the rotation of the J11 pulley 123J11.

[0085] The J12 pulley 123J12 and the J14 pulley 123J14 are disposed on one side of the J11 pulley 123J11 so as to face each other. The J12 pulley 123J12 and the J14 pulley 123J14 are formed to be rotatable independently of each other about the Y-axis direction. The J13 pulley 123J13 and the J15 pulley 123J15 are disposed on one side of the J12 pulley 123J12 and the J14 pulley 123J14 so as to face each other. The J13 pulley 123J13 and the J15 pulley 123J15 are formed to be rotatable independently of each other about the Y-axis direction. Here, in the drawings, the J12 pulley 123J12, the J13 pulley 123J13, the J14 pulley 123J14, and the J15 pulley 123J15 are all shown as being rotatable around the Y-axis direction, but the concept of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0086] The first jaw drive wire 130J1 is wound around the J13 pulley 123J13, the J12 pulley 123J12, the J11 pulley 123J11, the J16 pulley 123J16, the J14 pulley 123J14, and the J15 pulley 123J15 so as to be in contact with at least a portion of the pulleys, and the first jaw drive wire 130J1 rotates the pulleys and moves with the pulleys. is formed.

[0087] Therefore, when the first jaw drive wire 130J1 is pulled in the direction of arrow J1R in Figure 9A, the first jaw drive wire 130J1 rotates the J15 pulley 123J15, the J14 pulley 123J14, the J16 pulley 123J16, the J11 pulley 123J11, the J12 pulley 123J12, and the J13 pulley 123J13, and at that time, the J11 pulley 123J11 rotates in the direction of arrow R in Figure 9A, causing the first jaw 121 to rotate together.

[0088] Conversely, when the first jaw drive wire 130J1 is pulled in the direction of arrow J1L in FIG. 9A, the first jaw drive wire 130J1 rotates the J13 pulley 123J13, the J12 pulley 123J12, the J11 pulley 123J11, the J16 pulley 123J16, the J14 pulley 123J14, and the J15 pulley 123J15, and at that time, the J11 pulley 123J11 rotates in the direction of arrow L in FIG. 9A, causing the first jaw 121 to rotate together.

[0089] The auxiliary pulleys 123J16 and 123J26 will be described in more detail below.

[0090] The auxiliary pulleys 123J16 and 123J26 come into contact with the first jaw wire 130J1 and the second jaw wire 130J2 and change the arrangement paths of the first jaw wire 130J1 and the second jaw wire 130J2 to a certain extent, thereby increasing the rotation radius of each of the first jaw 121 and the second jaw 122. That is, if no auxiliary pulleys are provided as shown in FIG. 9B, each of the first jaw 121′ and the second jaw 122′ can only rotate up to a right angle. However, in one embodiment of the present invention, by adding the auxiliary pulleys 123J16 and 123J26, as shown in FIG. 9A, it is possible to obtain an effect of increasing the maximum rotation angle by about θ. This will be described in more detail as follows.

[0091] 9B, because the first jaw wire 130J1' is fixedly coupled to the J11 pulley 123J11' and the second jaw wire 130J2' is fixedly coupled to the J21 pulley (not shown), if no auxiliary pulley is provided, the J11 pulley 123J11' and the J21 pulley (not shown) can only rotate up to the M line in FIG. 9B. In other words, the coupled portion between the first jaw wire 130J1' and the J11 pulley 123J11' can only rotate in the tangential direction of the first jaw wire 130J1'. In this case, if an actuation operation is performed while the first jaw 121' and the second jaw 122' are positioned on the M line in FIG. 9B, one jaw opens, but the other jaw does not open because it cannot rotate beyond the M line. Therefore, when the first jaw 121' and the second jaw 122' are performing a yaw movement beyond a certain angle, there is a problem in that the actuation movement is not performed smoothly.

[0092] To solve this problem, a surgical instrument 100 according to one embodiment of the present invention is characterized in that auxiliary pulleys, a J16 pulley 123J16 and a J26 pulley 123J26, are additionally disposed on one side of the J11 pulley 123J11 and the J21 pulley 123J21. By disposing the J16 pulley 123J16 and the J26 pulley 123J26 in this manner and changing the arrangement paths of the first jaw wire 130J1 and the second jaw wire 130J2 to a certain extent, the tangential directions of the first jaw wire 130J1 and the second jaw wire 130J2 are changed, and therefore the coupling portion between the first jaw wire 130J1 and the J11 pulley 123J11 and the coupling portion between the second jaw wire 130J2 and the J21 pulley 123J21 rotates to the N line in FIG. 9A. That is, the joint between the first jaw wire 130J1 and the J11 pulley 123J11 can rotate until it is positioned on the common inscribed line between the J11 pulley 123J11 and the J16 pulley 123J16. Similarly, the joint between the second jaw wire 130J2 and the J21 pulley 123J21 can rotate until it is positioned on the common inscribed line between the J21 pulley 123J21 and the J 26 and 123J26.

[0093] According to the present invention, the rotation radius of the first jaw 121 and the second jaw 122 is increased, thereby providing an effect of widening the working range in which normal opening and closing actuation operations are performed.

[0094] Next, components involved in the rotation of the J21 pulley 123J21 will be described.

[0095] The J22 pulley 123J22 and the J24 pulley 123J24 are disposed on one side of the J21 pulley 123J21 so as to face each other. The J22 pulley 123J22 and the J24 pulley 123J24 are formed to be rotatable independently of each other about the Y-axis direction. The J23 pulley 123J23 and the J25 pulley 123J25 are disposed on one side of the J22 pulley 123J22 and the J24 pulley 123J24 so as to face each other. The J23 pulley 123J23 and the J15 pulley 123J25 are formed to be rotatable independently of each other about the Y-axis direction. Here, in the drawings, the J22 pulley 123J22, the J23 pulley 123J23, the J24 pulley 123J24 and the J25 pulley 123J25 are all shown as being rotatable around the Y-axis direction, but the concept of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0096] The second jaw drive wire 130J2 is wound so as to be in at least partial contact with the J23 pulley 123J23, the J22 pulley 123J22, the J21 pulley 123J21, the J26 pulley 123J26, the J24 pulley 123J24, and the J25 pulley 123J25, and the second jaw drive wire 130J2 is configured to move with the pulleys while rotating them.

[0097] Therefore, when the second jaw drive wire 130J2 is pulled in the direction of arrow J2R in Figure 9A, the second jaw drive wire 130J2 rotates the J25 pulley 123J25, the J24 pulley 123J24, the J21 pulley 123J21, the J26 pulley 123J26, the J22 pulley 123J22, and the J23 pulley 123J23, and at that time, the J21 pulley 123J21 rotates in the direction of arrow R in Figure 9A, causing the second jaw 122 to rotate together.

[0098] Conversely, when the second jaw drive wire 130J2 is pulled in the direction of arrow J2L in FIG. 9A, the second jaw drive wire 130J2 rotates the J23 pulley 123J23, the J22 pulley 123J22, the J21 pulley 123J21, the J26 pulley 123J26, the J24 pulley 123J24, and the J25 pulley 123J25, and at that time, the J21 pulley 123J21 rotates in the direction of arrow L in FIG. 9A, causing the second jaw 122 to rotate together.

[0099] On the other hand, if one end of the first jaw drive wire 130J1 is pulled toward the arrow J1R in FIG. 9A and, at the same time, the other end of the first jaw drive wire 130J1 is pulled toward the arrow J1L in FIG. 9A (i.e., if both ends of the first jaw drive wire 130J1 are pulled), the end tool hub 123a and the first jaw 121 and second jaw 122 connected thereto rotate counterclockwise around the end tool pitch drive axis 123PA, and as a result, the end tool 120 rotates downward and performs a pitch motion.

[0100] Conversely, if one end of the second jaw drive wire 130J2 is pulled toward the arrow J2R in FIG. 9A and, at the same time, the other end of the second jaw drive wire 130J2 is pulled toward the arrow J2L in FIG. 9A, the end tool hub 123a and the first jaw 121 and second jaw 122 coupled thereto rotate clockwise around the end tool pitch drive axis 123PA, resulting in the end tool 120 rotating upward and performing a pitch motion.

[0101] Meanwhile, the end tool 120 of the surgical instrument 100b of the present invention further includes a pitch pulley 123P, the operating unit 110 (FIG. 11) further includes a pitch pulley 115P (FIG. 11), and the power transmission unit 130 further includes a pitch wire 130P. Specifically, the pitch pulley 123P of the end tool 120 is fixedly coupled to the end tool hub 123a and is rotatable together with the end tool hub 123a around the end tool pitch drive shaft 123PA. Meanwhile, the pitch pulley 115P of the operating unit 110 is fixedly coupled to the operating unit hub 115a and is rotatable together with the operating unit hub 115a around the pitch drive shaft 1111. In addition, the pitch wire 130P can serve to connect the pitch pulley 123P of the end tool 120 and the pitch pulley 115P of the operating unit 110.

[0102] Therefore, when a user holds the pitch drive handle 1112 of the pitch operation unit 111 of the operation unit 110 in his / her hand and rotates the pitch drive handle 1112 around the pitch drive shaft 1111, the operation unit hub 115a connected to the pitch drive handle 1112 and the pitch pulley 115P connected thereto rotate around the pitch drive shaft 1111, and the rotation of the pitch pulley 115P is transmitted to the pitch pulley 123P of the end tool 120 via the pitch wire 130P, causing the pitch pulley 123P to rotate together, resulting in the end tool 120 performing a pitch motion while rotating.

[0103] That is, the surgical instrument 100 according to the first embodiment of the present invention includes a pitch pulley 123P of the end tool 120, a pitch pulley 115P of the operation unit 110, and a pitch wire 130P of the power transmission unit 130, and the driving force of the pitch operation unit 111 is more perfectly transmitted to the end tool 120, thereby improving operational reliability.

[0104] (Pitch movement control and wire mirroring) 10 is a conceptual diagram showing the pitch movement of the surgical instrument of FIG. 3, and FIG. 11 is a perspective view showing the pitch movement of the surgical instrument of FIG.

[0105] As described above, the operating unit 110 of the surgical instrument 100 according to the first embodiment of the present invention further includes an operating unit control member 115 connected to the pitch drive shaft 1111 of the pitch operating unit 111. The operating unit control member 115 has substantially the same configuration as the end tool control member 123 described above, and the end tool control member 123 and the operating unit control member 115 are disposed symmetrically with respect to each other about the YZ plane in Fig. 3. In other words, the end tool control member 123 and the operating unit control member 115 can also be expressed as being mirrored with respect to the YZ plane in Fig. 3.

[0106] In detail, the operation unit control member 115 includes a J11 pulley 135J13, a J12 pulley 115J12, a J13 pulley 115J13, a J14 pulley 115J14, and a J15 pulley 115J15 involved in the rotational movement of the first jaw 121, and a J21 pulley 135J23, a J22 pulley 115J22, a J23 pulley 115J23, a J24 pulley 115J24, and a J25 pulley 115J25 involved in the rotational movement of the second jaw 122.

[0107] The first jaw drive wire 130J1 is wound so as to be in at least partial contact with the J13 pulley 115J13, J12 pulley 115J12, J11 pulley 135J13, J14 pulley 115J14, and J15 pulley 115J15 of the operation unit control member 115, and the first jaw drive wire 130J1 is formed so as to move with the pulleys while rotating them.

[0108] The second jaw drive wire 130J2 is wound so as to be in at least partial contact with the J23 pulley 115J23, J22 pulley 115J22, J21 pulley 135J23, J24 pulley 115J24, and J25 pulley 115J25 of the operation unit control member 115, and the second jaw drive wire 130J2 is configured to move with the pulleys while rotating them.

[0109] Here, the rotation axes of the J12 pulley 115J12, the J14 pulley 115J14, the J22 pulley 115J22, and the J24 pulley 115J24 are the pitch operating axis 1111 of the pitch operation unit 111. The portions extending from the rotation axes of the J11 pulley 135J13 and the J21 pulley 135J23 are the pitch drive handles 1112 of the pitch operation unit 111.

[0110] In the first embodiment of the present invention, the pitch operation is specifically performed as follows.

[0111] When a user holds the pitch drive handle 1112 (FIG. 2) of the pitch operation unit 111 of the operation unit 110 in the hand and rotates the pitch handle 1112 (FIG. 2) around the pitch drive shaft 1111 in the direction of arrow OP (operator pitch) in FIG. 10, the first jaw drive wire 130J1 is pulled entirely toward the operation unit 110 and moves in the direction of arrow PJ1 in FIG. 10. At the same time, the second jaw drive wire 130J2 is entirely unwound by the operation unit 110 and moves toward the end tool 120 and moves in the direction of arrow PJ2 in FIG. As a result, the more the first jaw drive wire 130J1 is pulled toward the operating unit 110, the more the J12 pulley 123J12 and the J14 pulley 123J14 rotate counterclockwise around the end tool pitch drive shaft 123PA, and at the same time, the more the second jaw drive wire 130J2 is released toward the end tool 120, the more the J22 pulley 123J22 and the J24 pulley 123J24 rotate counterclockwise around the end tool pitch drive shaft 123PA, and as a result, the end tool hub 123a and the first jaw 121 and the second jaw 122 connected thereto perform pitch motion while rotating downward.

[0112] 3. The end tool control member 123 and the operation unit control member 115 have a mirrored structure in which they are symmetrically arranged with respect to the YZ plane in FIG. 3, which allows for easy pitch movement. That is, the pitch movement can be performed independently of the yaw movement and actuation movement. Here, the yaw movement refers to the rotation of the J11 pulley 135J13 and the J21 pulley 135J23 of the operation unit control member 115 around the pitch operation unit central axis 1113, thereby rotating the J11 pulley 123J11 and the J21 pulley 123J21 of the end tool control member 123 around the jaw rotation axis 123JA, thereby rotating the two jaws 121 and 122.

[0113] (Overall operation of the first embodiment) Below, with reference to the above, the overall configuration of the pitch movement, yaw movement, and actuation movement of the surgical instrument 100 according to the first embodiment of the present invention will be summarized.

[0114] Due to the configuration of the end tool 120 of this embodiment, in order to perform the pitch movement, yaw movement, and actuation movement of the end tool 120, a power transmission unit 130 capable of separating the operation input at the operation unit 110 into the pitch movement, yaw movement, and actuation movement is required. As described above, the end tool control member 123 and the operation unit control member 115 are structured to be symmetrical with each other, so that the rotational operation of the pitch operation unit 111 enables the pitch movement of the end tool 120 regardless of the operation of the yaw operation unit 112 and the actuation operation unit 113. In addition, by providing a power transmission assembly 135 and converting the operation of the yaw operation unit 112 and the actuation operation unit 113 into the movement of the two jaws of the end tool 120, the operation of the yaw operation unit 112 and the actuation operation unit 113 is linked to the yaw movement and actuation movement of the end tool 120. That is, through the power transmission assembly 135, rotation of the yaw operation unit 112 rotates the two jaws in the same direction, and rotation of the actuation operation unit 113 rotates the two jaws in directions opposite to each other.

[0115] This will be explained in more detail as follows.

[0116] First, the pitch operation is as follows.

[0117] As described above, when a user rotates the pitch drive handle 1112 of the pitch operation unit 111 of the operation unit 110 in the direction of arrow OP in FIG. 10 around the pitch drive shaft 1111 while gripping the pitch drive handle 1112, the operation unit control member 115 also rotates around the pitch drive shaft 1111. As a result, the first jaw drive wire 130J1 wound around the operation unit control member 115 is pulled entirely toward the operation unit 110 and moves in the direction of arrow PJ1 in FIG. 10. At the same time, the second jaw drive wire 130J2 wound around the operation unit control member 115 is entirely unwound from the operation unit control member 115 and moves in the direction of arrow PJ2 in FIG. 10. As a result, the end tool control member 123 connected to the first jaw drive wire 130J1 and the second jaw drive wire 135J23 performs a pitch movement while rotating in the direction of arrow EP in FIG. 10 around the end tool pitch drive shaft 1231.

[0118] Next, the yaw movement will be described. Figures 12 and 13 are diagrams showing the yaw movement of the surgical instrument of Figure 3.

[0119] 5, 6, 12, and 13, when the yaw operation unit 112 rotates in the direction of arrow Y in Fig. 13, the pulley 1121a of the yaw operation unit 112 and the yaw pulley 135YP connected thereto via the yaw wire 130Y rotate about their own axes. Furthermore, when the yaw pulley 135YP rotates, the first gear 135G1 and the fourth gear 135G4 rotate about the pitch operation unit central axis 1113 via the yaw drive bar 135B.

[0120] Then, when the first gear 135G1 and the fourth gear 135G4 rotate around the pitch operation unit central axis 1113, first the first gear 135G1 rotates in the direction of arrow Y relative to the second gear 135G2, and then the second jaw drive gear 135J21 formed on the second jaw drive unit 135J2 rotates in the direction of arrow C based on the second jaw drive gear central axis 135J24, and at the same time the entire second jaw drive unit 135J2 rotates in the direction of arrow Y around the pitch operation unit central axis 1113.

[0121] Furthermore, since the fourth gear 135G4 is integrally connected to the first gear 135G1, it also rotates in the Y direction. At this time, the first jaw drive gear 135J11 formed on the first jaw drive unit 135J1 rotates in the B direction based on the first jaw drive gear central axis 135J14, and at the same time, the entire first jaw drive unit 135J1 rotates in the Y direction around the pitch operation unit central axis 1113.

[0122] Therefore, the first jaw drive unit 135J1 and the second jaw drive unit 135J2 rotate in the same direction, and the first jaw 121 connected to the first jaw drive unit 135J1 via the first jaw wire 130J1 and the second jaw 122 connected to the second jaw drive unit 135J2 via the second jaw wire 130J2 rotate in the same direction, thereby performing yaw motion.

[0123] Next, the actuation operation will be described. Figures 14 and 15 are diagrams showing the actuation operation of the surgical instrument of Figure 3.

[0124] Referring to Figures 5, 6, 14 and 15, when the actuation operation unit 113 rotates in the direction of arrow A in Figure 15, the actuation gear 135AG connected to the pulley 1131a of the actuation operation unit 113 and the actuation wire 130A rotates in the direction of arrow A around its own axis.

[0125] In this way, when the actuation gear 135AG rotates around the actuation gear central axis 135AG1, the second gear 135G2 meshed with the upper side of the actuation gear 135AG rotates in the J2 direction in Figure 15, and the second jaw drive gear 135J21 meshed between the first gear 135G1 and the second gear 135G2 rotates in the E direction based on the second jaw drive gear central axis 135J24, and at the same time, the entire second jaw drive unit 135J2 rotates in the direction of arrow J2 around the pitch operation unit central axis 1113.

[0126] Furthermore, when the actuation gear 135AG rotates around the actuation gear central axis 135AG1, the third gear 135G3 meshed with the underside of the actuation gear 135AG rotates in the J1 direction in Figure 15, and the first jaw drive gear 135J11 meshed between the third gear 135G3 and the fourth gear 135G4 rotates in the F direction based on the first jaw drive gear central axis 135J14, and at the same time, the entire first jaw drive unit 135J1 rotates in the direction of arrow J1 around the pitch operation unit central axis 1113.

[0127] Therefore, the first jaw 121 connected via the first jaw drive unit 135J1 and the first jaw wire 130J1 and the second jaw 122 connected via the second jaw drive unit 135J2 and the second jaw wire 130J2 rotate in opposite directions, and an actuation movement is performed in which the two jaws open toward each other.

[0128] According to the present invention, a surgical instrument that performs an output operation of an end tool according to independent inputs from a pitch driver, a yaw driver, and an actuation driver can be realized with a purely mechanical configuration without using motors, electronic controls, software, etc. In other words, by separating the pitch, yaw, and actuation operations, which affect each other, using only simple mechanical devices, the configuration of the surgical instrument can be significantly simplified.

[0129] In addition, the rotational force of the operating unit 110 can be transmitted to the end tool 120 with only a minimum number of gears, wires, and pulleys. In particular, in the present invention, the operating direction of the operating unit 110 and the actuation direction of the end tool 120 are intuitively the same, which improves the convenience for the surgeon and the accuracy of the surgery. Furthermore, the end tool control member 123 and the operating unit control member 115 have a mirrored structure in which they are arranged symmetrically with respect to the YZ plane in FIG. 10, which allows for easy realization of pitch movement. In other words, the pitch movement can be performed regardless of the yaw movement and actuation movement.

[0130] <Second embodiment of surgical instrument> The following describes a surgical instrument 200 according to a second embodiment of the present invention. The surgical instrument 200 according to the second embodiment of the present invention is characterized by a difference in the configuration of the power transmission assembly 235 of the surgical instrument 200 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2). This difference in configuration compared to the first embodiment will be described in detail later.

[0131] FIG. 16 is a perspective view showing a surgical instrument according to a second embodiment of the present invention, FIG. 17 is a plan view of the surgical instrument of FIG. 16, and FIG. 18 is a perspective view showing an operating portion of the surgical instrument of FIG. 16.

[0132] 16, 17 and 18, a surgical instrument 200 according to a second embodiment of the present invention includes an operating portion 210, an end tool 220, a power transmission portion 230 and a connecting portion 240.

[0133] The operation unit 210 includes a pitch operation unit 211 that controls the pitch movement of the end tool 220, a yaw operation unit 212 that controls the yaw movement of the end tool 220, and an actuation operation unit 213 that controls the actuation movement of the end tool 220.

[0134] The pitch operation unit 211 includes a pitch drive shaft 2111 and a pitch drive handle (not shown). The yaw operation unit 212 includes a yaw drive shaft 2121 and a yaw drive unit 2122. The actuation operation unit 213 includes an actuation drive shaft 2131 and an actuation drive unit 2132.

[0135] The power transmission unit 230 includes a yaw wire 230Y, an actuation wire 230A, a pitch wire (not shown), a first jaw wire 230J1, a second jaw wire 230J2, and a power transmission assembly 235. Here, the power transmission assembly 235 is housed in the pitch drive handle 2112.

[0136] First, a description will be given of the power transmission assembly 235 of the power transmission unit 230. The power transmission assembly 235 receives driving force from the yaw operation unit 212 and the actuation operation unit 213, and transmits the driving force to the first jaw 221 and the second jaw 222, respectively.

[0137] In detail, the power transmission assembly 235 includes a yaw pulley 235YP, a first gear 235G1, and a fourth gear 235G4 that are connected to the yaw operation unit 212 via the yaw wire 230Y and rotate together with the yaw operation unit 212. The yaw pulley 235YP, the first gear 235G1, and the fourth gear 235G4 are connected to each other by the yaw drive bar 235B and rotate together. The power transmission assembly 235 also includes a first jaw drive unit 235J1 that transmits a driving force to rotate the first jaw 221 by the rotation of the yaw operation unit 212 and the actuation operation unit 213, and a second jaw drive unit 235J2 that transmits a driving force to rotate the second jaw 222 by the rotation of the yaw operation unit 212 and the actuation operation unit 213. The pitch operation unit 213 further includes an actuation gear 235AG that rotates together with the actuation operation unit 213, a second gear 235G2 interposed between the first gear 235G1 and the actuation gear 235AG, and a third gear 235G3 interposed between the actuation gear 235AG and the fourth gear 235G4. The first gear 235G1, the second gear 235G2, the third gear 235G3, and the fourth gear 235G4 are stacked in order in the direction of the pitch operation unit central axis 2113 and are configured to rotate around the pitch operation unit central axis 2113. The actuation gear 235AG rotates around an actuation gear central axis 235AG1 fixed in a direction perpendicular to the Z axis. The actuation gear 235AG is connected to the actuation wire 230A and is configured to rotate together with the pulley 2131a of the actuation operation unit 213. This will be explained in more detail as follows.

[0138] The first jaw drive unit 235J1 includes a first jaw drive gear 235J11, a first jaw connecting member 235J12, a first jaw drive pulley 235J13, and a first jaw drive gear central shaft 235J14. The first jaw drive gear 235J11 is a bevel gear and is interposed between the first gear 235G1 and the second gear 235G2. The first jaw drive gear 235J11 is configured to rotate about the first jaw drive gear central shaft 235J14 or revolve about the pitch operation unit central shaft 2113 depending on the relative movement of the first gear 235G1 or the second gear 235G2. The first jaw connecting member 235J12 is formed to connect the first jaw drive gear central shaft 235J14 and the first jaw drive pulley 235J13, and the first jaw drive gear 235J11, the first jaw drive gear central shaft 235J14, the first jaw connecting member 235J12, and the first jaw drive pulley 235J13 all rotate around the pitch operation unit central shaft 2113. The first jaw drive pulley 235J13 is connected to the first jaw wire 230J1, and transmits the rotation of the yaw operation unit 212 and the actuation operation unit 213 to the first jaw 221.

[0139] Here, the first jaw connecting member 235J12 is formed to be inserted into the pitch operation unit central axis 2113 and has a bar shape extending in two different directions from the pitch operation unit central axis 2113, one bar being connected to the first jaw driving gear 235J11 and the other bar being connected to the first jaw driving pulley 235J13. At this time, the bar connected to the first jaw driving pulley 235J13 is formed farther from the pitch operation unit central axis 2113 than the second jaw connecting member 235J22. Therefore, the first jaw connecting member 235J12 and the second jaw connecting member 235J22 do not collide with each other. That is, since the bar connected to the first jaw drive pulley 235J13 is formed far from the pitch operation unit central axis 2113, the first jaw drive unit 235J1 and the second jaw drive unit 235J2 can rotate freely without interfering with each other.

[0140] Meanwhile, the second jaw driving unit 235J2 includes a second jaw driving gear 235J21, a second jaw connecting member 235J22, a second jaw driving pulley 235J23, and a second jaw driving gear central shaft 235J24. The second jaw driving gear 235J21 is a bevel gear and is interposed between the first gear 235G1 and the second gear 235G2. The second jaw driving gear 235J21 is configured to rotate about the second jaw driving gear central shaft 235J24 or revolve about the pitch operation unit central shaft 2113 depending on the relative movement of the third gear 235G3 or the fourth gear 235G4. The second jaw connecting member 235J22 is formed to connect the second jaw drive gear central shaft 235J24 and the second jaw drive pulley 235J23, and rotates the second jaw drive gear 235J21, the second jaw drive gear central shaft 235J24, the second jaw connecting member 235J22, and the second jaw drive pulley 235J23 all around the pitch operation unit central shaft 2113. The second jaw drive pulley 235J23 is connected to the second jaw wire 230J2, and transmits the rotation of the yaw operation unit 212 and the actuation operation unit 213 to the second jaw 222.

[0141] Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely illustrative, and those skilled in the art will understand that various modifications and variations of the embodiments are possible therefrom. Therefore, the true technical scope of protection of the present invention is determined by the technical spirit of the claims. [Industrial Applicability]

[0142] The present invention can be utilized in manually actuable surgical instruments for use in laparoscopic surgery or in many different surgical procedures.

Claims

[Claim 1] In the end tools of surgical instruments, When the direction from the end tool to the operation unit is defined as one side and the direction opposite to the one side is defined as the other side, a first jaw and a second jaw that are rotatable independently of each other; a J11 pulley coupled to the first jaw and rotatable about a first axis formed on the end tool hub; J12 pulley and J14 pulley are formed adjacent to each other, and are formed on one side of the J11 pulley, are formed to form a predetermined angle with the first axis, and are formed to be rotatable around a third axis formed on one side of the end tool hub; a J21 pulley coupled to the second jaw and configured to rotate about an axis substantially the same as or parallel to the first axis; a J22 pulley and a J24 pulley formed adjacent to each other and formed on one side of the J21 pulley to be rotatable about an axis substantially the same as or parallel to the third axis, a first jaw wire is formed so as to be in at least partial contact with the J12 pulley, the J11 pulley, and the J14 pulley; a second jaw wire is formed so as to be in at least partial contact with the J22 pulley, the J21 pulley, and the J24 pulley; With respect to a first plane that is perpendicular to the first axis and passes between the J11 pulley and the J21 pulley, Two first jaw wires coupled to the J11 pulley contact one of the upper and lower sides of the J12 pulley and the J14 pulley, Two second jaw wires coupled to the J21 pulley contact one of the upper and lower sides of the J22 pulley and the J24 pulley, which is different from the one side, The J11 pulley and the J21 pulley are spaced apart to a certain extent in the first axial direction, so that a predetermined space is formed between the J11 pulley and the J21 pulley.

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