Instrument for surgery

Abstract

To provide: an end tool having a plurality of degrees of freedom; a manipulation part configured to intuitively control the operation of the end tool; and a power transmission part configured to transmit driving force of the manipulation part to the end tool for operating the end tool according to manipulations of the manipulation part.SOLUTION: The present invention relates to an instrument 100 for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.The surgical instrument includes a first jaw and a second jaw formed to be freely rotatable. The operation part 110 controls rotation of an end tool 120 in two or more directions, the end tool 120 being formed so as to be freely rotatable in the two or more directions. The operation part includes: a yaw operation part 112 that controls a yaw motion of the end tool; and an actuation operation part 113 that is formed on one side of the yaw operation part and controls an actuation motion of the end tool.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates to surgical instruments, and more particularly to manually actuable surgical instruments for use in laparoscopic or 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 involve making specific holes in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgeries using robots, have recently gained attention as alternatives.

[0003] Surgical instruments are tools used to operate on a surgical site by manipulating an end tool attached to one end of a shaft that passes through a hole in the skin using a predetermined drive unit, either manually by a surgeon or by a robotic arm. The end tool attached to the surgical instrument performs rotation, gripping, cutting, etc., through a predetermined structure.

[0004] However, existing surgical instruments have problems in that the end tool portion cannot be bent, making it difficult to approach the surgical site and perform various surgical operations. To address this problem, surgical instruments with a bendable end tool portion have been developed, but these have had problems in that the operation of the operating part for bending the end tool or performing a surgical operation does not intuitively match the actual operation of bending the end tool or performing a surgical operation, making it difficult for the surgeon to intuitively operate the instrument and requiring many years of training to learn how to use it.

[0005] The above-mentioned background art is technical information that the inventor possessed in order to derive 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 invention. Summary of the Invention [Problem to be solved by the invention]

[0006] The object of the present invention is to solve the above-mentioned problems and to provide a surgical instrument that allows the bending of an actual end-tool or the performance of a surgical operation to be intuitively matched with the corresponding operation of an operating unit. More specifically, to this end, the present invention provides an end-tool with various degrees of freedom, an operating unit having a structure that allows intuitive operation of the operation of the end-tool, and a power transmission unit that transmits the driving force of the operating unit to the end-tool so that the end-tool 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 rotatably formed, and which is rotatable in two or more directions; and an operating unit for controlling the rotation of the end tool in the two or more directions; wherein the operating unit includes a first handle, a yaw operating unit formed to be connected to the first handle and for controlling a yaw movement of the end tool, an actuation operating unit formed on one side of the yaw operating unit and for controlling an actuation movement of the end tool, and a pitch operating unit formed on one side of the yaw operating unit and for controlling a pitch movement of the end tool, wherein at least some of the yaw operating unit, the actuation operating unit, and the pitch operating unit are directly connected to the first handle. a power transmission unit formed as shown in FIG. 1 and including a first jaw wire connected to the operating unit and transmitting rotation of the operating unit to the first jaw, and a second jaw wire connected to the operating unit and transmitting rotation of the operating unit to the second jaw; and a connecting unit extending in a first direction (X-axis), having one end connected to the end tool and the operating unit connected to the other end, connecting the operating unit and the end tool, and including a bending unit formed to bend one or more times while connecting the end tool and the operating unit, wherein at least a portion of the operating unit extends toward the end tool.

[0008] Other aspects, features, and advantages of the invention, in addition to those described above, will become apparent from the following drawings, claims, and detailed description of the invention. [Effects of the Invention]

[0009] According to the present invention, the operating direction of the operating unit by the surgeon and the operating direction of the end tool are intuitively the same, which improves the convenience for the surgeon and the accuracy, reliability, and speed of the surgery. [Brief explanation of the drawings]

[0010] [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 movement 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. FIG. [Figure 1F] 1 is a conceptual diagram of the yaw operation of a surgical instrument according to the present invention. FIG. [Figure 2] 1 is a perspective view showing a surgical instrument according to a first embodiment of the present invention. FIG. [Figure 3] FIG. 3 is a side view of the surgical instrument of FIG. 2. [Figure 4] FIG. 3 is a perspective view showing an end tool of the surgical instrument of FIG. 2. [Figure 5] FIG. 3 is a perspective view showing an end tool of the surgical instrument of FIG. 2. [Figure 6A] FIG. 3 is a plan view showing an end tool of the surgical instrument of FIG. 2. [Figure 6B] FIG. 1 is a plan view showing an end tool of a conventional surgical instrument. [Figure 6C] 6B is a diagram showing a modification of the end tool of FIG. 6A. [Figure 6D] 6B is a diagram showing a modification of the end tool of FIG. 6A. [Figure 7A] FIG. 3 is a perspective view showing an operation portion of the surgical instrument of FIG. 2. [Figure 7B] FIG. 3 is a perspective view showing an operation portion of the surgical instrument of FIG. 2. [Figure 8] 1 is a diagram simply illustrating only the configuration of pulleys and wires that constitute the joints of a surgical instrument according to an embodiment of the present invention; [Figure 9]7A and 7B show the configuration of pulleys and wires related to the actuation and yaw movements of the surgical instrument according to an embodiment of the present invention, separately for the first jaw and the second jaw. [Figure 10] 7C is a perspective view showing the yaw movement of the surgical instrument of FIG. 7A and FIG. 7B. [Figure 11] 7A and 7B are views illustrating the configuration of pulleys and wires related to the pitch operation of the surgical instrument according to an embodiment of the present invention, for the first jaw and the second jaw, respectively. [Figure 12] FIG. 7C is a perspective view showing a pitch movement of the surgical instrument of FIGS. 7A and 7B. [Figure 13] 1 is a diagram showing an example of a direct type yaw joint. [Figure 14] 1 is a diagram showing an example of an indirect joint of a yaw joint. [Figure 15] 1 is a diagram showing an example of an articulated joint of a pitch joint. [Figure 16] 1 is a diagram showing an example of a direct joint of a pitch joint. [Figure 17] 10 is a diagram illustrating the configuration of pulleys and wires related to the operation of the first jaw of the surgical instrument according to the embodiment of the present invention shown in FIG. 9, and a modified example thereof. [Figure 18] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 19] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 20] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 21] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 22] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 23] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 24]18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 25] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 26] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 27] 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17. [Figure 28] 9 is a diagram showing another modified example of the embodiment disclosed in FIG. 8. [Figure 29] 17 is a diagram showing another modified example of the embodiment disclosed in FIG. 16. [Figure 30] 10 is a diagram showing a modified example relating to insulation. [Figure 31] 10 is a diagram showing a modified example relating to insulation. [Figure 32] FIG. 10 is a perspective view showing a surgical instrument according to a second embodiment of the present invention. [Figure 33] FIG. 33 is an internal perspective view of the surgical instrument of FIG. 32. [Figure 34] FIG. 34 is a side view of the surgical instrument of FIG. 33. [Figure 35] FIG. 34 is a perspective view showing an operation portion of the surgical instrument of FIG. 33. [Figure 36] FIG. 34 is a perspective view showing an operation portion of the surgical instrument of FIG. 33. [Figure 37] FIG. 34 is a perspective view showing the yaw movement of the surgical instrument of FIG. 33. [Figure 38] FIG. 34 is a perspective view showing the yaw movement of the surgical instrument of FIG. 33. [Figure 39] FIG. 34 is a perspective view showing an actuation operation of the surgical instrument of FIG. 33. [Figure 40] FIG. 34 is a perspective view showing an actuation operation of the surgical instrument of FIG. 33. [Figure 41] FIG. 10 is a perspective view showing a surgical instrument according to a third embodiment of the present invention. [Figure 42]FIG. 42 is a side view of the surgical instrument of FIG. 41. [Figure 43] FIG. 43 is a perspective view showing an operation portion of the surgical instrument of FIG. 42. [Figure 44] FIG. 42 is a perspective view showing the yaw movement of the surgical instrument of FIG. 41. [Figure 45] FIG. 42 is a perspective view showing the yaw movement of the surgical instrument of FIG. 41. [Figure 46] 42 is a perspective view showing an actuation operation of the surgical instrument of FIG. 41. FIG. [Figure 47] 42 is a perspective view showing an actuation operation of the surgical instrument of FIG. 41. FIG. [Figure 48] FIG. 10 is a perspective view showing the yaw movement of a surgical instrument according to a fourth embodiment of the present invention. [Figure 49] 10 is a view showing an actuation operation of a surgical instrument according to a fourth embodiment of the present invention. [Figure 50] FIG. 10 is a perspective view showing a surgical instrument according to a fifth embodiment of the present invention. [Figure 51] FIG. 51 is a side view of the surgical instrument of FIG. 50. [Figure 52] FIG. 52 is a perspective view showing an operation portion of the surgical instrument of FIG. 51. [Figure 53] FIG. 52 is a perspective view showing an operation portion of the surgical instrument of FIG. 51. [Figure 54] FIG. 51 is a perspective view showing the yaw movement of the surgical instrument of FIG. 50. [Figure 55] FIG. 51 is a perspective view showing the yaw movement of the surgical instrument of FIG. 50. [Figure 56] FIG. 10 is a perspective view showing a surgical instrument according to a sixth embodiment of the present invention. [Figure 57] FIG. 57 is a perspective view showing an operation portion of the surgical instrument of FIG. 56. [Figure 58] FIG. 57 is an internal perspective view showing the wiring structure of the surgical instrument of FIG. 56. [Figure 59]FIG. 57 is a perspective view showing the yaw movement of the surgical instrument of FIG. 56. [Figure 60] FIG. 57 is a perspective view showing the pitch movement of the surgical instrument of FIG. 56. [Figure 61] FIG. 13 is a perspective view showing a surgical instrument according to a seventh embodiment of the present invention. [Figure 62] FIG. 62 is a side view of the surgical instrument of FIG. 61. [Figure 63] FIG. 62 is a perspective view showing an operation portion of the surgical instrument of FIG. 61. [Figure 64] FIG. 62 is a perspective view showing an operation portion of the surgical instrument of FIG. 61. [Figure 65] FIG. 62 is an internal perspective view of the surgical instrument of FIG. 61, showing a wiring structure. [Figure 66] FIG. 66 is an enlarged view of part A in FIG. 65. [Figure 67] FIG. 67 is a cross-sectional view taken along line CC' in FIG. 66. [Figure 68] FIG. 62 is a perspective view showing the yaw movement of the surgical instrument of FIG. 61. [Figure 69] FIG. 62 is a perspective view showing a pitch movement of the surgical instrument of FIG. 61. [Figure 70] FIG. 13 is a perspective view showing a surgical instrument according to an eighth embodiment of the present invention. [Figure 71] FIG. 71 is a perspective view showing an operation portion of the surgical instrument of FIG. 70. [Figure 72] FIG. 71 is an internal perspective view of the surgical instrument of FIG. 70, showing a wiring structure. [Figure 73] FIG. 71 is a perspective view showing the yaw movement of the surgical instrument of FIG. 70. [Figure 74] FIG. 71 is a perspective view showing a pitching operation of the surgical instrument of FIG. 70. [Figure 75] FIG. 71 is a perspective view showing a pitching operation of the surgical instrument of FIG. 70. [Figure 76] FIG. 71 is a perspective view showing a pitching operation of the surgical instrument of FIG. 70. [Figure 77] FIG. 13 is an internal perspective view of a surgical instrument according to a ninth embodiment of the present invention. [Figure 78] FIG. 78 is a perspective view showing the yaw movement of the surgical instrument of FIG. 77. [Figure 79] FIG. 78 is a perspective view showing a pitching operation of the surgical instrument of FIG. 77. [Figure 80] FIG. 23 is an internal perspective view of a surgical instrument according to a tenth embodiment of the present invention. [Figure 81] FIG. 81 is an internal perspective view of FIG. 80 with the actuation gear removed. [Figure 82] FIG. 82 is a perspective view showing the yaw movement of the surgical instrument of FIG. 81. [Figure 83] FIG. 82 is a perspective view showing the pitch movement of the surgical instrument of FIG. 81. [Figure 84] FIG. 23 is an internal perspective view of a surgical instrument according to an eleventh embodiment of the present invention. [Figure 85] FIG. 85 is an internal perspective view of FIG. 84 with the actuation gear removed. [Figure 86] FIG. 85 is a perspective view showing the yaw movement of the surgical instrument of FIG. 84. [Figure 87] FIG. 85 is a perspective view showing the pitch movement of the surgical instrument of FIG. 84. [Figure 88] FIG. 26 is a perspective view showing a surgical instrument according to a twelfth embodiment of the present invention. [Figure 89] FIG. 89 is an internal perspective view showing the structure of the wires and the like of the surgical instrument of FIG. 88. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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.

[0012] 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.

[0013] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. The singular expressions include the plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" specify the presence of a feature, number, step, operation, component, part, or combination 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.

[0014] Hereinafter, embodiments 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.

[0015] Furthermore, in describing various embodiments of the present invention, it should be understood that each embodiment does not have to be interpreted or implemented independently, but that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments that are individually described.

[0016] <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 in response to at least one or more 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.

[0017] FIG. 1A is a conceptual diagram of pitch motion of a conventional surgical instrument, and FIG. 1B is a conceptual diagram of yaw motion.

[0018] Referring to FIG. 1A, in performing the pitch movement of a conventional surgical instrument, the end tool 120a is formed in front of the rotation center 121a of the end tool, and the operating unit 110a is formed behind the rotation center 111a of the operating unit. In this state, 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 errors and makes operation difficult.

[0019] FIG. 1C is a conceptual diagram of pitch motion of another conventional surgical instrument, and FIG. 1D is a conceptual diagram of yaw motion.

[0020] 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. In this state, 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 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 such as confusion about the operation direction for the user, unintuitive joint movements, and the resulting errors. 1D , in performing a 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 rotational direction of the operating unit and the end tool, the rotational 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. As a result, there are problems such as confusion about the operation direction for the user, unintuitive joint operation, and the tendency to make mistakes. Thus, in a user's pitch or yaw operation of a conventional surgical instrument, the user's operation direction and the movement direction of the end tool do not match in either the rotational direction or the left-right direction. This is because the joint configuration of the endo-tool and the operating part differ from each other in the joint configuration of conventional surgical instruments: the endo-tool is formed forward of its center of rotation, while the operating part is formed rearward of its center of rotation.To solve these problems, a surgical instrument according to an embodiment of the present invention shown in Figures 1E and 1F has an endotool 120c formed forward of its rotation center 121c, and an operating unit 110c formed forward of its rotation center 111c, so that the movements of the operating unit 110c and the endotool 120c are intuitively consistent. In other words, unlike existing examples in which the operating unit is closer to the user with respect to its own joint (i.e., farther from the endotool), as shown in Figures 1A, 1B, 1C, and 1D, the surgical instrument according to an embodiment of the present invention shown in Figures 1E and 1F is formed so that at least a portion of the operating unit can be closer to the endotool (than its own joint) with respect to its own joint at a certain moment or more during the operation process.

[0021] 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 and moves forward, is operated by the operating unit, which moves rearward while its front is fixed. 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 the user and make it difficult to operate the operating unit quickly and intuitively, potentially leading to errors. In contrast, the endotool and operating unit of the surgical instrument according to one embodiment of the present invention both move around a center of rotation located rearward, so their operations are intuitively consistent. In other words, just as the moving parts of the end tool move based on a rotation center formed at the rear, the moving parts of the operating unit also move based on the same rotation center formed at the rear, so that the movements are intuitively consistent structurally. This allows the user to intuitively and quickly operate the end tool, which has the advantage of significantly reducing the possibility of errors. The specific mechanism that enables this function will be described below.

[0022] FIG. 2 is a perspective view showing a surgical instrument according to a first embodiment of the present invention, and FIG. 3 is a side view of the surgical instrument of FIG.

[0023] 2 and 3, the surgical instrument 100 according to the 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. The connecting unit 140 is formed in a hollow shaft shape, has one or more wires (described below) housed therein, and has one end connected to the operating unit 110 and the other end connected to the end tool 120, thereby connecting the operating unit 110 and the end tool 120. The connecting unit 140 of the surgical instrument 100 according to the first embodiment of the present invention is characterized in that a bent portion 141 is formed on the operating unit 110 side. As the end of the connecting unit 140 on the operating unit 110 side is bent in this manner, the pitch operating unit 111, the yaw operating unit 112, and the actuation operating unit 113 are formed on or adjacent to an extension line of the end tool 120. From a different perspective, it can be said that at least a portion of the pitch operation unit 111 and the yaw operation unit 112 is housed in the recess formed by the bent portion 141. Such a shape of the bent portion 141 allows the shapes and operations of the operation unit 110 and the end tool 120 to match more intuitively.

[0024] Meanwhile, the plane on which the bent portion 141 is formed is also substantially the same plane as the pitch plane, i.e., the XZ plane in Fig. 2. In this way, by forming the bent portion 141 on substantially the same plane as the XZ plane, interference between the operation units is reduced. Here, it goes without saying that for intuitive operation of the end tool and the operation units, configurations other than the XZ plane may be possible.

[0025] The operating unit 110 is formed at one end of the connecting unit 140 and has an interface, such as a knob, stick, or lever, 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, thereby performing surgery. Here, in Figure 2, the operating unit 110 is illustrated as being formed in the shape of a handle that can be rotated with a finger inserted, 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 are possible.

[0026] The endotool 120 is formed at the other end of the connecting portion 140 and is inserted into the surgical site to perform the operations required for the surgery. As an example of such an endotool 120, a pair of jaws 121, 122 for performing a gripping action is 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 end 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 the driving force of the operating unit 110 is transmitted via the power transmission unit 130 to perform the operations required for the surgery, such as gripping, cutting, and suturing.

[0027] Here, the end tool 120 of the surgical instrument 100 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 120 is formed to perform pitch movement around the Y axis of FIG. 2, as well as yaw movement and actuation movement around the Z axis of FIG. 2.

[0028] Here, the pitch movement, yaw movement, and actuation movement used in the present invention are defined as follows.

[0029] First, the pitch movement refers to the movement of the end tool 120 rotating up and down relative to the extension direction of the connecting portion 140 (the X-axis direction in FIG. 2), i.e., the movement of rotating around the Y-axis in FIG. 2. In other words, the end tool 120 extending from the connecting portion 140 in the extension direction of the connecting portion 140 (the X-axis direction in FIG. 2) rotates up and down relative to the connecting portion 140 around the Y-axis. Next, the yaw movement refers to the movement of the end tool 120 rotating left and right relative to the extension direction of the connecting portion 140 (the X-axis direction in FIG. 2), i.e., the movement of rotating around the Z-axis in FIG. 2. In other words, the yaw movement refers to the movement of the end tool 120 extending from the connecting portion 140 in the extension direction of the connecting portion 140 (the X-axis direction in FIG. 2) rotating left and right relative to the connecting portion 140 around the Z-axis. In other words, the yaw movement refers to the movement of two jaws 121 and 122 formed on the end tool 120 rotating in the same direction relative to each other around the Z-axis. Meanwhile, the actuation movement refers to the movement in which the end tool 120 rotates around the same rotation axis as the yaw movement, but the two jaws 121 and 122 rotate in opposite directions, causing the jaws to contract and open. That is, it refers to the movement in which the two jaws 121 and 122 formed on the end tool 120 rotate in opposite directions around the Z axis.

[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. In the surgical instrument 100 according to one embodiment of the present invention, the power transmission unit 130 may include a pitch wire 130P, a first jaw wire 130J1, and a second jaw wire 130J2.

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

[0032] 4 and 5 are perspective views showing the end tool of the surgical instrument of FIG. 2, and FIG. 6A is a plan view showing the end tool of the surgical instrument of FIG.

[0033] 4, 5, and 6A, the end tool 120 according to the first embodiment of the present invention includes a pair of jaws 121 and 122, i.e., a first jaw 121 and a second jaw 122, for performing a gripping operation. The end tool 120 also includes a J11 pulley 123J11, a J12 pulley 123J12, a J13 pulley 123J13, a J14 pulley 123J14, and a J15 pulley 123J15 associated with 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 associated with 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 rotation axis 123PA.

[0034] Meanwhile, a connection portion hub 142 is formed at one end of the connection portion 140 that is coupled to the end tool 120. 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 connected to the connection portion hub 142.

[0035] Here, although the drawings show opposing pulleys formed parallel to each other, 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.

[0036] 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. Here, the first jaw 121 is fixedly connected to the J11 pulley 123J11 and rotates together with the J11 pulley 123J11, and the second jaw 122 is fixedly connected to the J21 pulley 123J21 and rotates together with the J21 pulley 123J21. Yaw and actuation operations 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.

[0037] 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 formed to be rotatable around an auxiliary pulley shaft 123S. Here, in the drawing, the J16 pulley 123J16 and the J26 pulley 123J26 are formed to be rotatable around one auxiliary pulley shaft 123S, but it goes without saying that each auxiliary pulley is formed to be rotatable around a separate shaft. In other words, the auxiliary pulley J16 pulley 123J16 is also disposed between the J11 pulley 123J11 and the J12 pulley 123J12 / J14 pulley 123J14. In addition, an auxiliary pulley, J26 pulley 123J26, 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.

[0038] The following describes the components involved in the rotation of the J11 pulley 123J11.

[0039] 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 rotatable independently of each other around the end tool pitch rotation axis 123PA. 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 rotatable independently of each other around 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.

[0040] The first jaw wire 130J1 is wound in sequence so as to be in at least partial contact with 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 is formed so that the first jaw wire 130J1 can move with the pulleys while rotating them.

[0041] Therefore, when the first jaw wire 130J1 is pulled in the direction of arrow J1R in FIG. 6A, the first jaw 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 this time, the J11 pulley 123J11 rotates in the direction of arrow R in FIG. 6A, causing the first jaw 121 to rotate together.

[0042] Conversely, when the first jaw wire 130J1 is pulled in the direction of arrow J1L in FIG. 6A, the first jaw 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 this time, the J11 pulley 123J11 rotates in the direction of arrow L in FIG. 6A, causing the first jaw 121 to rotate together.

[0043] The auxiliary pulleys 123J16 and 123J26 will be described in further detail below.

[0044] The auxiliary pulleys 123J16 and 123J26 contact 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 the auxiliary pulleys are not provided as shown in FIG. 6B, 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, the auxiliary pulleys 123J16 and 123J26 are additionally provided, which increases the maximum rotation angle by θ as shown in FIG. 6A. This is because the two jaws of the end tool 120 can open when they are both rotated 90° in the L direction for actuation. That is, the second jaw 122 can rotate by an additional angle θ as shown in FIG. 6A. Similarly, actuation is possible even when the two jaws are yaw rotated in the R direction. In other words, the range of yaw rotation in which actuation is possible can be expanded through the configuration of the auxiliary pulleys 123J16 and 123J26. This will be explained in more detail as follows.

[0045] 6B, the first jaw wire 130J1 is fixedly coupled to the J11 pulley (not shown), and the second jaw wire 130J2 is fixedly coupled to the J21 pulley 123J21. Therefore, without an auxiliary pulley, the J11 pulley (not shown) and the J21 pulley 123J21 can only rotate in the direction of arrow L up to the line M in FIG. 6B. In other words, the first jaw wire 130J1 can only rotate up to a direction approximately perpendicular to the fixed coupling portion between the first jaw wire 130J1 and the J11 pulley 123J11, where the first jaw wire 130J1 does not separate. In this case, if an actuation operation is performed with the first jaw 121 and the second jaw 122 positioned on the line M in FIG. 6B, the first jaw 121 can open in the direction R, but the second jaw 122 cannot rotate in the direction L beyond the line M. 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.

[0046] 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 fixed connection portion between the second jaw wire 130J2 and the J21 pulley 123J21 is rotated to the N line in FIG. 6A. That is, the coupling portion between the second jaw wire 130J2 and the J21 pulley 123J21 is rotatable until it is positioned on the common inscribed line between the J21 pulley 123J21 and the J26 pulley 123J26. Similarly, the coupling portion between the first jaw wire 130J1 and the J11 pulley 123J11 is rotatable until it is positioned on the common inscribed line between the J11 pulley 123J11 and the J16 pulley 123J16, and the rotation range in the R direction is expanded.

[0047] According to the present invention, the rotation radius of the first jaw 121 and the second jaw 122 is increased, thereby widening the yaw operation range in which normal opening and closing actuation is performed.

[0048] Next, the components involved in the rotation of the J21 pulley 123J21 will be described.

[0049] The J22 pulley 123J22 and the J24 pulley 123J24 are arranged on one side of the J21 pulley 123J21 so as to face each other. Here, the J22 pulley 123J22 and the J24 pulley 123J24 are formed to be rotatable independently of each other around the end tool pitch rotation axis 123PA side. In addition, the J23 pulley 123J23 and the J25 pulley 123J25 are arranged on one side of the J22 pulley 123J22 and the J24 pulley 123J24 so as to face each other. Here, the J23 pulley 123J23 and the J15 pulley 123J25 are formed to be rotatable independently of each other around 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.

[0050] The second jaw wire 130J2 is wound in sequence 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 is formed so that the second jaw wire 130J2 can move with the pulleys while rotating them.

[0051] Therefore, when the second jaw wire 130J2 is pulled in the direction of arrow J2R in FIG. 6A, the second jaw 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 this time, the J21 pulley 123J21 rotates in the direction of arrow R in FIG. 6A, causing the second jaw 122 to rotate together.

[0052] Conversely, when the second jaw wire 130J2 is pulled in the direction of arrow J2L in FIG. 6A, the second jaw wire 130J2 rotates the J25 pulley 123J25, the J24 pulley 123J24, the J26 pulley 123J26, the J21 pulley 123J21, the J22 pulley 123J22, and the J23 pulley 123J23, and at this time, the J21 pulley 123J21 rotates in the direction of arrow L in FIG. 6A, causing the second jaw 122 to rotate together.

[0053] On the other hand, if one end of the first jaw wire 130J1 is pulled toward the arrow J1R in FIG. 6A and the other end of the first jaw wire 130J1 is simultaneously pulled toward the arrow J1L in FIG. 6A (i.e., if both ends of the first jaw wire 130J1 are pulled), as shown in FIG. 5, the first jaw wire 130J1 is wound below the J12 pulley 123J12 and the J14 pulley 123J14, which can rotate around the end tool pitch rotation axis 123PA. As a result, the J11 pulley 123J11 to which the first jaw wire 130J1 is fixedly connected, the first jaw 121, the jaw rotation axis 123JA, the end tool hub 123a, and the second jaw 122 connected thereto all rotate together in the counterclockwise direction around the end tool pitch rotation axis 123PA. As a result, the end tool 120 rotates downward while performing a pitch motion. At this time, the second jaw 122 and the second jaw wire 130J2 fixedly connected thereto are wound around the J22 pulley 123J22 and the J24 pulley 123J24, which can rotate around the end tool pitch rotation axis 123PA, so that both ends of the second jaw wire 130J2 move in opposite directions, J2L and J2R, respectively.

[0054] Conversely, if one end of the second jaw wire 130J2 is pulled toward the arrow J2R in FIG. 6A and the other end of the second jaw wire 130J2 is simultaneously pulled toward the arrow J2L in FIG. 6A, as shown in FIG. 5, the second jaw wire 130J2 is wound around the J22 pulley 123J22 and the J24 pulley 123J24, which can rotate around the end tool pitch rotation axis 123PA. As a result, the J21 pulley 123J21 to which the second jaw wire 130J2 is fixedly coupled, the second jaw 122, the jaw rotation axis 123JA, the end tool hub 123a, and the first jaw 121 connected thereto all rotate together in the clockwise direction around the end tool pitch rotation axis 123PA. As a result, the end tool 120 rotates upward while performing a pitch motion. At this time, the first jaw 121 and the first jaw wire 130J1 fixedly connected thereto are wound around the J12 pulley 123J12 and the J14 pulley 123J14, which can rotate around the end tool pitch rotation axis 123PA, so that both ends of the first jaw wire 130J1 move in opposite directions to J1L and J1R, respectively.

[0055] Meanwhile, the end tool 120 of the surgical instrument 100b of the present invention may further include a pitch pulley 123P, the operating unit 110 may further include a pitch wire end pulley 115P, and the power transmission unit 130 may further include a pitch wire 130P. In particular, the pitch pulley 123P of the end tool 120 is rotatable about an end tool pitch rotation axis 123PA and is also fixedly connected to the end tool hub 123a. Meanwhile, the pitch pulley of the operating unit is rotatable about a pitch rotation axis and is also fixedly connected to a pitch operating unit (not shown). In addition, the pitch wire 130P may serve to connect the pitch pulley 123P of the end tool 120 to the pitch pulley of the operating unit.

[0056] Therefore, when a user holds the first handle 114 of the operating unit 110 and rotates the first handle 114 around the pitch rotation axis 1111, the pitch pulley connected to the first handle 114 rotates around the pitch rotation axis 1111, and the rotation of the pitch pulley is transmitted to the pitch pulley 123P of the end tool 120 via the pitch wire 130P, causing the pitch pulley 123P to rotate as well. As a result, the end tool 120 performs a pitch motion while rotating.

[0057] 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 wire end 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.

[0058] FIG. 6C is a diagram showing a modified example of the coupling structure between the end tool and the wire.

[0059] 6C, when the second jaw wire 130J2 is coupled to the J21 pulley 123J21, the second jaw wire 130J2 is divided into two wires, a second jaw wire R130J2R and a second jaw wire L130J2L, based on the J21 pulley 123J21, and one end of each wire 130J2R, 130J2L is then coupled to the J21 pulley 123J21. That is, one end of the second jaw wire R130J2R is coupled to the first coupling portion 123J21R of the J21 pulley 123J21, and one end of the second jaw wire L130J2L is coupled to the second coupling portion 123J21L of the J21 pulley 123J21.

[0060] At this time, the positions of the coupling portions 123J21R, 123J21L of the J21 pulley 123J21 are such that the wires 130J2R, 130J2L overlap each other, thereby expanding the rotation radius of the second jaw 122, which is limited to 90° in Fig. 6B, and as a result, the rotation radius of the second jaw 122 can be expanded as in Fig. 6A.

[0061] The first jaw wire 130J1 is also fixedly coupled to the J11 pulley 123J11 in the same manner as above, thereby expanding the rotation radius of the first jaw 121. This can have the effect of widening the yaw operation range in which normal opening and closing actuation operations are performed.

[0062] FIG. 6D is a diagram showing another modified example of the coupling structure between the end tool and the wire.

[0063] 6D, when the first jaw wire 130J1 is coupled to the J11 pulley 123J11, the first jaw wire 130J1 is divided into two wires, a first jaw wire R130J1R and a first jaw wire L130J1L, based on the J11 pulley 123J11, and one end of each wire 130J1R, 130J1L is coupled to a coupling member 123J11C of the J11 pulley 123J11. In this case, the coupling member 123J21C is formed on the J11 pulley 123J11 on the opposite side of the first jaw 121, and one end of the first jaw wire R130J1R is coupled to one side of the coupling member 123J21C, and one end of the first jaw wire L130J1L is coupled to the other side of the coupling member 123J21C.

[0064] At this time, the position of the coupling member 123J21C of the J11 pulley 123J11 is such that each of the wires 130J1R and 130J1L is wound an additional half turn, thereby expanding the rotation radius of the second jaw 122, which is limited to 90° in Fig. 6B, and as a result, the rotation radius of the second jaw 122 can be expanded as in Fig. 6A.

[0065] The second jaw wire 130J2 is also fixedly coupled to the J21 pulley 123J21 in the same manner as above, thereby expanding the rotation radius of the second jaw 122. This can have the effect of widening the yaw operation range in which normal opening and closing actuation operations are performed.

[0066] (Operation unit) 7A is a perspective view showing an operation portion of the surgical instrument of FIG. 2, and FIG. 7B is a perspective view of FIG. 7A as seen from behind.

[0067] 2 to 7A and 7B, the operating unit 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a first handle 114 that can be held by a user, an actuation operating unit 113 that controls the actuation movement of the end tool 120, a yaw operating unit 112 that controls the yaw movement of the end tool 120, and a pitch operating unit 111 that controls the pitch movement of the end tool 120.

[0068] 2, a user can hold the first handle 114 in the palm of their hand and rotate the first handle 114 about the Y-axis (i.e., pitch rotation axis 1111) to perform a pitch movement, and rotate the first handle 114 about the Z-axis (i.e., yaw rotation axis 1121) to perform a yaw movement. Also, with their thumb and index finger inserted into the actuation operation unit 113, the user can rotate the actuation operation unit 113 to perform an actuation movement.

[0069] 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 one 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. In other words, when the first handle 114 of the operating unit 110 is rotated in one direction, the end tool 120 also intuitively rotates in the same direction as the one direction, performing a pitch or yaw movement. Here, "intuitively in the same direction" can be expanded to mean that the direction of movement of the user's finger holding the operating unit 110 and the direction of movement of the distal end of the end tool 120 are substantially the same. Here, "intuitively in the same direction" does not have to be a perfect match in three-dimensional coordinates. For example, it can be understood as a similarity to the extent that when the user's finger moves left, the distal end of the end tool 120 also moves left, and when the user's finger moves down, the distal end of the end tool 120 also moves down.

[0070] 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 forming direction of the end tool 120 at one end of the connecting unit 140 and the forming direction of the operating unit 110 at the other end of the connecting unit 140 can be said to be the same direction with respect to the YZ plane. In other words, the operating unit 110 can be said to be 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. That is, the first handle 114 and actuation rotation units 1132a, 1132b that the user grasps and moves for the actuation, yaw, and pitch movements have moving parts that extend in the +X-axis direction from the rotation center of each joint for that movement. Through this, the operating unit 110 can be configured in the same way as the moving parts of the end tool 120 that extend in the +X-axis direction from the rotation center of each joint for that movement. As explained with reference to FIG. 1, the user's operation direction and the end tool's movement direction coincide in both the rotational direction and the left-right direction, resulting in intuitively identical operations.

[0071] In particular, in the case of conventional surgical instruments, the direction in which the user operates the operating part and the actual operating direction of the end tool are different and do not intuitively match, making it difficult for the surgeon to operate intuitively, and it takes many years of time to become skilled in moving the end tool in the desired direction.In some cases, malfunctions can occur, causing harm to the patient.

[0072] To solve these problems, the surgical instrument 100 according to the first embodiment of the present invention intuitively aligns the operation direction of the manipulation unit 110 with the operating direction of the end tool 120. To achieve this, the manipulation unit 110 is characterized in that, like the end tool 120, the parts that actually move for the actuation, yaw, and pitch movements extend in the +X-axis direction from the rotation center of the joint corresponding to each movement. This will be explained in more detail as follows.

[0073] The first handle 114 is formed so that the user can hold it with their hand, and in particular so that the user can hold the first handle 114 with the palm of their hand. An actuation operation unit 113 and a yaw operation unit 112 are formed on the first handle 114, and a pitch operation unit 111 is formed on one side of the yaw operation unit 112. The other end of the pitch operation unit 111 is connected to the bent portion 141 of the connection unit 140.

[0074] The actuation operation unit 113 includes a first actuation operation unit 113a and a second actuation operation unit 113b. The first actuation operation unit 113a includes a first actuation rotation shaft 1131a, a first actuation rotation unit 1132a, a first actuation pulley 113P1, and a first actuation gear 1134a. The second actuation operation unit 113b includes a second actuation rotation shaft 1131b, a second actuation rotation unit 1132b, a second actuation pulley 113P2, and a second actuation gear 1134b. Here, the first actuation rotation unit 1132a and the second actuation rotation unit 1132b can operate as a second handle.

[0075] Here, the actuation rotation axes 1131a and 1131b may be formed to form a predetermined angle with the XY plane on which the connecting portion 140 is formed. For example, if the actuation rotation axes 1131a and 1131b are formed in a direction parallel to the Z axis, and in this state, when the pitch operation unit 111 or the yaw operation unit 112 rotates, the coordinate system of the actuation operation unit 113 may change relatively. However, the concept of the present invention is not limited thereto, and it goes without saying that the actuation rotation axes 1131a and 1131b may be formed in various directions to suit the hand structure of a user holding the actuation operation unit 113 according to ergonomic design.

[0076] Meanwhile, the first actuation rotating portion 1132a, the first actuation pulley 113P1, and the first actuation gear 1134a are fixedly coupled to one another and are formed to be rotatable together around the first actuation rotation shaft 1131a. Here, the first actuation pulley 113P1 can be formed of a single pulley, or can be formed of two pulleys fixedly coupled to one another.

[0077] Similarly, the second actuation rotating portion 1132b, the second actuation pulley 113P2, and the second actuation gear 1134b are fixedly coupled to one another and are formed to be rotatable together around the second actuation rotation shaft 1131b. Here, the second actuation pulley 113P2 can be formed of a single pulley, or can be formed of two pulleys fixedly coupled to one another.

[0078] Here, the first actuation gear 1134a and the second actuation gear 1134b are formed to mesh with each other, and when one side rotates, the other side rotates in the opposite direction.

[0079] The yaw operation unit 112 may include a yaw rotation shaft 1121, a first jaw yaw pulley 112P1, a second jaw yaw pulley 112P2, and a yaw frame 1123. The yaw operation unit 112 may further include a first jaw yaw auxiliary pulley 112S1 formed on one side of the first jaw yaw pulley 112P1 and a second jaw yaw auxiliary pulley 112S2 formed on one side of the second jaw yaw pulley 112P2. Here, the first jaw yaw auxiliary pulley 112S1 and the second jaw yaw auxiliary pulley 112S2 are also coupled to a pitch frame 1113, which will be described later.

[0080] In the drawings, the yaw control unit 112 includes a first jaw yaw pulley 112P1 and a second jaw yaw pulley 112P2, and the first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 are shown as two pulleys that are formed to face each other and are independently rotatable, but the concept of the present invention is not limited to this. That is, one or more pulleys having the same or different diameters may be included depending on the configuration of the yaw control unit 112.

[0081] In detail, a yaw rotation axis 1121 is formed on one side of the actuation operation part 113 on the first handle 114. At this time, the first handle 114 is formed to be rotatable around the yaw rotation axis 1121.

[0082] Here, the yaw rotation axis 1121 may be formed to form a predetermined angle with the XY plane on which the connecting unit 140 is formed. For example, if the yaw rotation axis 1121 is formed in a direction parallel to the Z axis and the pitch operation unit 111 rotates in this state, the coordinate system of the yaw rotation axis 1121 changes relatively as described above. However, the concept of the present invention is not limited thereto, and it goes without saying that the yaw rotation axis 1121 may be formed in various directions to suit the hand structure of a user holding the operation unit 110 according to ergonomic design.

[0083] Meanwhile, the first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 are coupled to the yaw rotation shaft 1121 so as to be rotatable about the yaw rotation shaft 1121. The first jaw wire 130J1 is wound around the first jaw yaw pulley 112P1, and the second jaw wire 130J2 is wound around the second jaw yaw pulley 112P2. The first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 are formed to face each other and are also composed of two pulleys that can rotate independently. Therefore, the wire that is wound in and the wire that is wound out are wound around separate pulleys, respectively, and can operate without interfering with each other.

[0084] The yaw frame 1123 connects the first handle 114, the yaw rotation axis 1121, the first actuation rotation axis 1131a, and the second actuation rotation axis 1131b, and the first handle 114, the yaw operation unit 112, and the actuation operation unit 113 rotate together around the yaw rotation axis 1121.

[0085] The pitch operation unit 111 may include a pitch rotation shaft 1111, a first jaw pitch pulley a 111P1a, a first jaw pitch pulley b 111P1b, a second jaw pitch pulley a 111P2a, a second jaw pitch pulley b 111P2b, and a pitch frame 1113. The pitch operation unit 111 may further include a first jaw pitch assist pulley a 111S1a formed on one side of the first jaw pitch pulley a 111P1a, a first jaw pitch assist pulley b 111S1b formed on one side of the first jaw pitch pulley b 111P1b, a second jaw pitch assist pulley a 111S2a formed on one side of the second jaw pitch pulley a 111P2a, and a second jaw pitch assist pulley b 111S2b formed on one side of the second jaw pitch pulley b 111P2b. The pitch operation unit 111 is connected to the bent portion 141 of the connection unit 140 via the pitch rotation shaft 1111.

[0086] In detail, the pitch frame 1113 serves as a base frame of the pitch operation unit 111, and one end of the pitch frame 1113 is rotatably coupled to the yaw rotation shaft 1121. In other words, the yaw frame 1123 is formed to be rotatable about the yaw rotation shaft 1121 relative to the pitch frame 1113.

[0087] As described above, the yaw frame 1123 connects the first handle 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b, and since the yaw frame 1123 is connected to the pitch frame 1113, when the pitch frame 1113 rotates around the pitch rotation shaft 1111, the yaw frame 1123, the first handle 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b connected to the pitch frame 1113 rotate together. In other words, when the pitch operation unit 111 rotates around the pitch rotation shaft 1111, the actuation operation unit 113 and the yaw operation unit 112 rotate together with the pitch operation unit 111. In other words, when the user pitches the first handle 114 around the pitch rotation axis 1111, the actuation operation unit 113, the yaw operation unit 112, and the pitch operation unit 111 move together.

[0088] A pitch rotation shaft 1111, a first jaw pitch pulley a 111P1a, a first jaw pitch pulley b 111P1b, a second jaw pitch pulley a 111P2a, and a second jaw pitch pulley b 111P2b are coupled to the pitch frame 1113. At this time, the first jaw pitch pulley a 111P1a, the first jaw pitch pulley b 111P1b, the second jaw pitch pulley a 111P2a, and the second jaw pitch pulley b 111P2b are coupled to the pitch rotation shaft 1111 so as to be rotatable around the pitch rotation shaft 1111.

[0089] Here, the first jaw pitch pulley a 111P1a and the first jaw pitch pulley b 111P1b are formed to face each other and to be able to rotate independently. Therefore, the incoming wire and the outgoing wire are wound around separate pulleys, respectively, and can operate without interfering with each other. Similarly, the second jaw pitch pulley a 111P2a and the second jaw pitch pulley b 111P2b are also formed to face each other and to be able to rotate independently. Therefore, the incoming wire and the outgoing wire are wound around separate pulleys, respectively, and can operate without interfering with each other.

[0090] 7B, pitch wire end pulley 115P is fixedly coupled to pitch frame 1113 and rotates therewith. Pitch wire 130P passes through pitch wire auxiliary pulley 115S and pitch wire end pulley 115P and is fixedly coupled to pitch frame 1113. As a result, pitch rotation allows pitch frame 1113 and pitch wire end pulley 115P to rotate together around pitch rotation axis 1111.

[0091] The operation of the pitch wire 130P is as follows.

[0092] The end tool 120 is formed with a pitch pulley 123P fixedly coupled to the end tool hub 123a, and the operating unit 110 is formed with a pitch wire end pulley 115P, which are connected to each other by a pitch wire 130P, so that the pitch operation of the operating unit 110 can more easily perform the pitch movement of the end tool. Here, both end portions of the pitch wire 130P are fixedly coupled to the pitch frame 1113 via the pitch wire auxiliary pulley 115S and the pitch wire end pulley 115P, respectively, and each pitch wire end pulley 115P is also fixedly coupled to the pitch frame 1113. That is, the pitch rotation of the operating unit causes the pitch frame 1113 and the pitch wire end pulley 115P to rotate together around the pitch rotation axis 1111, and as a result, both ends of the pitch wire 130P also move in opposite directions, making it possible to transmit additional pitch rotation power in addition to the pitch movement of the end tool by the first jaw wire 130J1 and the second jaw wire 130J2.

[0093] The connection relationships between the first handle 114 and the pitch operation unit 111, yaw operation unit 112, and actuation operation unit 113 can be summarized as follows: Actuation rotation axes 1131a and 1131b, a yaw rotation axis 1121, and a pitch rotation axis 1111 are formed on the first handle 114. At this time, the actuation rotation axes 1131a and 1131b are formed directly on the first handle 114, so the first handle 114 and the actuation operation unit 113 are directly connected. On the other hand, the yaw rotation axis 1121 is formed directly on the first handle 114, so the first handle 114 and the yaw operation unit 112 are directly connected. Meanwhile, since the pitch operation unit 111 is formed on one side of the yaw operation unit 112 so as to be connected to the yaw operation unit 112, the pitch operation unit 111 is not directly connected to the first handle 114, but the pitch operation unit 111 and the first handle 114 are also formed so as to be indirectly connected via the yaw operation unit 112.

[0094] Continuing to refer to the drawings, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch operation unit 111 and the end tool 120 are formed on the same or parallel axis (X axis). That is, the pitch rotation axis 1111 of the pitch operation unit 111 is formed at one end of the bent portion 141 of the connecting portion 140, and the end tool 120 is formed at the other end of the connecting portion 140.

[0095] One or more intermediate pulleys MP that change or guide the path of the wire are disposed in the middle of the connecting portion 140, particularly at the bent portion 141. At least a portion of the wire is wound around such intermediate pulleys MP, and by guiding the path of the wire, the wire is disposed along the bent shape of the bent portion 141.

[0096] Here, in the drawings, the connecting portion 140 is shown as having a bent portion 141 and being curved to have a predetermined curvature, but the concept of the present invention is not limited thereto, and the connecting portion 140 may be formed straight or bent one or more times as necessary, and even in such cases, the pitch control portion 111 and the end tool 120 can be said to be formed on substantially the same or parallel axes. Also, in Fig. 3, the pitch control portion 111 and the end tool 120 are shown as being formed on axes parallel to the X-axis, but the concept of the present invention is not limited thereto, and the pitch control portion 111 and the end tool 120 can also be formed on different axes.

[0097] The actuation operation, yaw operation, and pitch operation in this embodiment will be described as follows.

[0098] First, the actuation operation is as follows.

[0099] When a user inserts their index finger into the first actuation rotating portion 1132a and their thumb into the second actuation rotating portion 1132b and uses one or both fingers to rotate the actuation rotating portions 1132a 1132b, the first actuation pulley 113P1 and first actuation gear 1134a, which are fixedly connected to the first actuation rotating portion 1132a, rotate around the first actuation rotation axis 1131a, and the second actuation pulley 1133b and second actuation gear 1134b, which are fixedly connected to the second actuation rotating portion 1132b, rotate around the second actuation rotation axis 1131b. At this time, the first actuation pulley 113P1 and the second actuation pulley 113P2 rotate in opposite directions, and therefore the first jaw wire 130J1, one end of which is fixedly connected to and wound around the first actuation pulley 113P1, and the second jaw wire 130J2, one end of which is fixedly connected to and wound around the second actuation pulley 113P2, also move in opposite directions. This rotational force is then transmitted to the end tool 120 via the power transmission unit 130, and the two jaws 121 and 122 of the end tool 120 perform an actuation operation. Here, the actuation operation refers to the opening and closing of 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 rotating portions 1132a and 1132b of the actuation operating unit 113 are rotated in a direction that brings them closer to each other, the first jaw 121 rotates counterclockwise and the second jaw 122 rotates clockwise, thereby closing the end tool 120, and when the actuation rotating portions 1132a and 1132b of the actuation operating unit 113 are rotated in a direction that brings them farther away from each other, the first jaw 121 rotates clockwise and the second jaw 122 rotates counterclockwise, thereby opening the end tool 120.In this embodiment, for the above-described actuation operation, the second handle is configured with the first actuation rotating portion 1132a and the second actuation rotating portion 1132b, and is gripped and operated with two fingers. However, the configuration of the actuation operating portion 113 for the actuation operation that opens and closes the two jaws of the end tool 120 relative to each other is different from that described above, and other modified examples are also possible, such as a configuration in which two actuation pulleys (first actuation pulley 113P1 and second actuation pulley 113P2) operate in opposite directions in one actuation rotating portion.

[0100] Next, the yaw motion is as follows:

[0101] When a user holds the first handle 114 and rotates the first handle 114 about the yaw rotation axis 1121, the actuation operation unit 113 and the yaw operation unit 112 perform yaw rotation about the yaw rotation axis 1121. That is, when the first actuation pulley 113P1 of the first actuation operation unit 113a to which the first jaw wire 130J1 is fixedly coupled rotates about the yaw rotation axis 1121, the first jaw wire 130J1 wound around the first jaw / yaw pulley 112P1 moves. Similarly, when the second actuation pulley 113P2 of the second actuation operation unit 113b to which the second jaw wire 130J2 is fixedly coupled rotates about the yaw rotation axis 1121, the second jaw wire 130J2 wound around the second jaw / yaw pulley 112P2 moves. At this time, the first jaw wire 130J1 connected to the first jaw 121 and the second jaw wire 130J2 connected to the second jaw 122 are wound around the first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 so that the first jaw 121 and the second jaw 122 rotate in the same direction during yaw rotation. Then, this rotational force is transmitted to the end tool 120 via the power transmission unit 130, and the two jaws 121 and 122 of the end tool 120 perform a yaw operation in which they rotate in the same direction.

[0102] At this time, the yaw frame 1123 connects the first handle 114, the yaw rotation axis 1121, the first actuation rotation axis 1131a, and the second actuation rotation axis 1131b, so that the first handle 114, the yaw operation unit 112, and the actuation operation unit 113 rotate together around the yaw rotation axis 1121.

[0103] Next, the pitch operation is as follows:

[0104] When a user holds the first handle 114 in their hand and rotates the first handle 114 about the pitch rotation axis 1111, the actuation operation unit 113, the yaw operation unit 112, and the pitch operation unit 111 perform pitch rotation about the pitch rotation axis 1111. In other words, when the first actuation pulley 113P1 of the first actuation operation unit 113a, to which the first jaw wire 130J1 is fixedly coupled, rotates about the pitch rotation axis 1111, the first jaw pitch pulley a 111P1a and the first jaw wire 130J1 wound around the first jaw pitch pulley b 111P1b move. Similarly, when the second actuation pulley 113P2 of the second actuation operation unit 113b, to which the second jaw wire 130J2 is fixedly coupled, rotates about the pitch rotation axis 1111, the second jaw wire 130J2 wound around the second jaw pitch pulley a 111P2a and the second jaw pitch pulley b 111P2b move. At this time, as described with reference to FIG. 5, both strands of the first jaw wire 130J1 move in the same direction, and both strands of the second jaw wire 130J2 move in the same direction, so that the first jaw 121 and the second jaw 122 can pitch rotate. This rotational force is transmitted to the end tool 120 via the power transmission unit 130, and two jaws 121 and 122 of the end tool 120 perform a pitch motion.

[0105] At this time, the pitch frame 1113 is connected to the yaw frame 1123, and the yaw frame 1123 connects the first knob 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b, so when the pitch frame 1113 rotates around the pitch rotation shaft 1111, the yaw frame 1123, the first knob 114, the yaw rotation shaft 1121, the first actuation rotation shaft 1131a, and the second actuation rotation shaft 1131b connected to the pitch frame 1113 rotate together. In other words, when the pitch operation unit 111 rotates around the pitch rotation shaft 11111, the actuation operation unit 113 and the yaw operation unit 112 rotate together with the pitch operation unit 111.

[0106] In summary, the surgical instrument 100 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and rotational operation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing the desired movement of the end tool 120. Furthermore, an auxiliary pulley is formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound multiple times around one pulley.

[0107] Figure 8 is a diagram simply illustrating only the configuration of pulleys and wires that constitute the joints of the surgical instrument 100 according to an embodiment of the present invention shown in Figures 7A and 7B. In Figure 8, an intermediate pulley for changing the path of the wires regardless of the joint operation is omitted.

[0108] Referring to FIG. 8, the operating unit 110 may include a first actuation pulley 113P1 associated with the rotational movement of the first jaw 121, a first jaw yaw pulley 112P1, a first jaw yaw auxiliary pulley 112S1, a first jaw pitch pulley a 111P1a, a first jaw pitch pulley b 111P1b, a first jaw pitch auxiliary pulley a 111S1a, and a first jaw pitch auxiliary pulley b 111S1b.

[0109] The operating unit 110 may also include a second actuation pulley 113P2, a second jaw yaw pulley 112P2, a second jaw yaw auxiliary pulley 112S2, a second jaw pitch pulley a 111P2a, a second jaw pitch pulley b 111P2b, a second jaw pitch auxiliary pulley a 111S2a, and a second jaw pitch auxiliary pulley b 111S2b, which are involved in the rotational movement of the second jaw 122 (since the arrangement and configuration of each pulley in the operating unit 100 is fundamentally the same as the arrangement and configuration of each pulley in the end tool 120, specific notation of the reference numerals in the drawings will be omitted).

[0110] The first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 are formed to be independently rotatable about the same axis, the yaw rotation axis 1121. In this case, the first jaw yaw pulley 112P1 and the second jaw yaw pulley 112P2 are formed to face each other and are also formed as two pulleys that are independently rotatable.

[0111] The first jaw-yaw auxiliary pulley 112S1 and the second jaw-yaw auxiliary pulley 112S2 are formed to be rotatable independently of each other around the same axis. The first jaw-yaw auxiliary pulley 112S1 is formed of two pulleys that are formed to face each other and are rotatable independently of each other, with the two pulleys also being formed to have different diameters. Similarly, the second jaw-yaw auxiliary pulley 112S2 is formed of two pulleys that are formed to face each other and are rotatable independently of each other, with the two pulleys also being formed to have different diameters.

[0112] The first jaw pitch assist pulley a 111S1a, the first jaw pitch assist pulley b 111S1b, the second jaw pitch assist pulley a 111S2a, and the second jaw pitch assist pulley b 111S2b are formed to be rotatable independently of each other around the same axis. In this case, the first jaw pitch assist pulley a 111S1a and the first jaw pitch assist pulley b 111S1b are formed to have different diameters from each other. In addition, the second jaw pitch assist pulley a 111S2a and the second jaw pitch assist pulley b 111S2b are formed to have different diameters from each other.

[0113] The first jaw pitch pulley a 111P1a, the first jaw pitch pulley b 111P1b, the second jaw pitch pulley a 111P2a, and the second jaw pitch pulley b 111P2b are formed to be rotatable independently of each other around the pitch rotation axis 1111, which is the same axis.

[0114] The first jaw wire 130J1 passes through the first jaw pitch pulley a 111P1a, the first jaw pitch auxiliary pulley a 111S1a, the first jaw yaw auxiliary pulley 112S1, and the first jaw yaw pulley 112P1 of the operating unit 110 in this order, is wound around the first actuation pulley 113P1, and then passes through the first jaw yaw pulley 112P1, the first jaw yaw auxiliary pulley 112S1, the first jaw pitch auxiliary pulley b 111S1b, and the first jaw pitch pulley b 111P1b in this order, so that the first jaw drive wire 130J1 can move along with the pulleys as it rotates them. In this case, the first jaw wire 130J1 may be fixedly coupled to one point on the first actuation pulley 113P1.

[0115] The second jaw wire 130J2 passes through the second jaw pitch pulley a 111P2a, the second jaw pitch auxiliary pulley a 111S2a, the second jaw yaw auxiliary pulley 112S2, and the second jaw yaw pulley 112P2 of the operating unit 110 in this order, is wound around the second actuation pulley 113P2, and then passes through the second jaw yaw pulley 112P2, the second jaw yaw auxiliary pulley 112S2, the second jaw pitch auxiliary pulley b 111S2b, and the second jaw pitch pulley b 111P2b in this order, so that the second jaw wire 130J2 can move along with the pulleys as they rotate. In this case, the second jaw wire 130J2 may be fixedly coupled to one point on the second actuation pulley 113P2.

[0116] Figure 9 illustrates the configuration of pulleys and wires associated with the actuation and yaw movements of the surgical instrument 100 according to one embodiment of the present invention shown in Figures 7A and 7B, separately for the first and second jaws. Figure 9(a) illustrates only the pulleys and wires associated with the second jaw, and Figure 9(b) illustrates only the pulleys and wires associated with the first jaw. Figure 10 is a perspective view illustrating the yaw movement of the surgical instrument of Figures 7A and 7B.

[0117] First, the wire operation of the actuation operation will be described.

[0118] Referring to Figure 9(b), when the first actuation rotating part 1132a rotates in the direction of the arrow OPA1 around the first actuation rotating axis 1131a, the first actuation pulley 113P1 connected to the first actuation rotating part 1132a rotates, and both strands of the first jaw wire 130J1 wound around the first actuation pulley 113P1 move in the W1a and W1b directions, respectively, and as a result, the first jaw 121 of the operating part rotates in the direction of the arrow EPA1.

[0119] 9(a), when the second actuation rotating portion 1132b rotates in the direction of the arrow OPA2 around the second actuation rotation axis 1131b, the second actuation pulley 113P2 connected to the second actuation rotating portion 1132b rotates, and both strands of the second jaw wire 130J2 wound around the second actuation pulley 113P2 move in the directions W2a and W2b, respectively, resulting in the second jaw 122 of the operating portion rotating in the direction of the arrow EPA2. Therefore, when the user operates the first actuation rotating portion 1132a and the second actuation rotating portion 1132b in directions that bring them closer to each other, the first jaw 121 and the second jaw 122 of the end tool move closer to each other.

[0120] Next, the wire operation for yaw movement will be described.

[0121] First, the yaw rotation axis 1121, the first actuation rotation axis 1131a, and the second actuation rotation axis 1131b are connected by the yaw frame 1123 (Figures 7A and 7B), so the yaw rotation axis 1121, the first actuation rotation axis 1131a, and the second actuation rotation axis 1131b rotate together as a unit.

[0122] Referring to FIG. 9(b), when the first handle 114 is rotated in the direction of the arrow OPY1 around the yaw rotation axis 1121, the first actuation pulley 113P1, the first jaw yaw pulley 112P1, and the first jaw wire 130J1 wound around them all rotate around the yaw rotation axis 1121. As a result, both strands of the first jaw wire 130J1 wound around the first jaw yaw pulley 112P1 move in the W1a direction and the W1b direction, respectively, and as a result, the first jaw 121 of the end tool 120 rotates in the direction of the arrow EPY1.

[0123] Referring to FIG. 9(a), when the first handle 114 is rotated in the direction of the arrow OPY2 around the yaw rotation axis 1121, the second actuation pulley 113P2, the second jaw yaw pulley 112P2, and the second jaw wire 130J2 wound around them all rotate around the yaw rotation axis 1121. As a result, both strands of the second jaw wire 130J2 wound around the second jaw yaw pulley 112P2 move to the opposite side of W1a and the opposite side of W1b, respectively. As a result, the first jaw 121 of the end tool 120 rotates in the direction of the arrow EPY2.

[0124] FIG. 11 is a diagram illustrating the configuration of pulleys and wires associated with the pitch movement of the surgical instrument 100 according to one embodiment of the present invention shown in FIGS. 7A and 7B, separately for the first and second jaws. FIG. 11(a) is a diagram illustrating only the pulleys and wires associated with the second jaw, and FIG. 11(b) is a diagram illustrating only the pulleys and wires associated with the first jaw. As shown in FIG. 8, there are two pulleys associated with the pitch movement, and both strands of each wire are wound along the same path, which are represented by a single line in FIG. 11. FIG. 12 is a perspective view illustrating the pitch movement of the surgical instrument of FIGS. 7A and 7B.

[0125] 11(b), when the first handle 114 is rotated in the direction of arrow OPP1 around the pitch rotation axis 1111, the first actuation pulley 113P1, the first jaw pitch auxiliary pulleys 111S1a and 111S1b, the first jaw pitch pulleys 111P1a and 111P1b, and the first jaw wire 130J1 wound around them all rotate around the pitch rotation axis 1111. At this time, as shown in FIG. 8, both strands of the first jaw wire 130J1 are wound on the upper sides of the first jaw pitch pulleys 111P1a and 111P1b, and therefore move toward the arrow W1. As a result, as described with reference to FIG. 5, the first jaw 121 of the end tool 120 rotates in the direction of arrow EPP1.

[0126] 11(a), when the first handle 114 is rotated in the direction of arrow OPP2 around the pitch rotation axis 1111, the second actuation pulley 113P2, the second jaw pitch assist pulleys 111S2a and 111S2b, the second jaw pitch pulleys 111P2a and 111P2b, and the second jaw wire 130J2 wound around them all rotate around the pitch rotation axis 1111. At this time, as shown in FIG. 8, both ends of the second jaw wire 130J2 are wound under the second jaw pitch pulleys 111P2a and 111P2b, and therefore move toward the arrow W2 side. As a result, as described with reference to FIG. 5, the second jaw 122 of the end tool 120 rotates in the direction of arrow EPP2.

[0127] Therefore, the operating principle of Figures 7A and 7B showing the first embodiment can be explained through Figures 8, 9, 10, 11, and 12, and actuation operation, yaw operation, and pitch operation can be performed independently of each other.

[0128] As described in FIG. 1, the actuation operation unit 113, the yaw operation unit 112, and the pitch operation unit 111 have their own rotation axes located at the rear of each operation unit, and are configured in the same manner as the joint configuration of the end tool, allowing the user to intuitively perform consistent operations.

[0129] In particular, the surgical instrument 100 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (first jaw wire or second jaw wire) is wound around the pulley, and rotation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired movement of the end tool 120. Furthermore, an auxiliary pulley is formed on one side of each pulley, and the auxiliary pulley prevents the wire from being wound multiple times around one pulley, prevents the wires wound around the pulleys from contacting each other, and safely forms a path for the wire wound into and out of the pulley, thereby improving the safety and efficiency of wire power transmission.

[0130] Meanwhile, as described above, the yaw operation unit 112 and the actuation operation unit 113 are formed directly on the first handle 114. Therefore, when the first handle 114 rotates around the pitch rotation axis 1111, the yaw operation unit 112 and the actuation operation unit 113 also rotate together with the first handle 114. As a result, the coordinate system of the yaw operation unit 112 and the actuation operation unit 113 is not fixed, but rather continuously changes relative to each other as the first handle 114 rotates. That is, in FIG. 2 and other figures, the yaw operation unit 112 and the actuation operation unit 113 are illustrated as being parallel to the Z axis. However, when the first handle 114 rotates, the yaw operation unit 112 and the actuation operation unit 113 are 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 due to the rotation of the first handle 114. However, for the sake of convenience, unless otherwise specified, the coordinate system between the yaw operation unit 112 and the actuation operation unit 113 has been described in this specification based on the state in which the first handle 114 is positioned perpendicular to the connecting part 140, as shown in FIG.

[0131] <Various joint deformations> The joint structure, which is made up of a main joint pulley and an additional auxiliary pulley for yaw rotation or pulley rotation, can be modified in two ways, and is divided into a direct joint and an indirect joint.

[0132] (Direct joint and indirect joint - yaw joint) Fig. 13 is a diagram showing an example of a direct-type yaw joint, and Fig. 14 is a diagram showing an example of an indirect-type yaw joint. Fig. 13(a) and Fig. 14(a) are diagrams showing only the pulley and wire associated with the second jaw, and Fig. 13(b) and Fig. 14(b) are diagrams showing only the pulley and wire associated with the first jaw.

[0133] Here, a direct type joint is a joint in which two adjacent pulleys are used for one joint movement, and the relationship between the pulley corresponding to the joint position and the auxiliary pulley is as follows: When a joint rotates about its rotation axis, the auxiliary pulley does not rotate about the rotation axis of the joint, but only the pulley corresponding to the joint position rotates about the rotation axis of the joint. On the other hand, an indirect joint means when a joint rotates about its rotation axis, not only the pulley corresponding to the joint position but also the auxiliary pulley rotates about the rotation axis of the joint.

[0134] 13, which illustrates a direct type joint, includes a first jaw yaw pulley 112P1 and a first jaw yaw auxiliary pulley 112S1 that are adjacent to each other for the yaw movement of the first jaw 121. The pulley located on the left side of the drawing is the first jaw yaw pulley 112P1, which is located on the yaw rotation axis 1121 and rotates around the yaw rotation axis 1121 during yaw rotation. In this case, the first jaw yaw auxiliary pulley 112S1 is located on the right side of the drawing and does not rotate around the yaw rotation axis 1121 during yaw rotation.

[0135] 14, which illustrates an articulated joint, includes a first jaw yaw pulley 112P1 and a first jaw yaw auxiliary pulley 112S1 that are adjacent to each other for the yaw movement of the first jaw 121. The pulley located on the right side of the drawing is the first jaw yaw pulley 112P1, which is located on the yaw rotation axis 1121 and rotates around the yaw rotation axis 1121 during yaw rotation. In this case, the first jaw yaw auxiliary pulley 112S1 is located on the left side of the drawing and rotates around the yaw rotation axis 1121 during yaw rotation.

[0136] In the case of a direct joint and an indirect joint, when the joint is rotated in the same direction, the wires move in different directions. That is, in Fig. 13 illustrating a direct joint, when the yaw rotation shaft 1121 is rotated in the OPY direction, one side of the first jaw wire 130J1 and the second jaw wire 130J2 moves in the direction of arrow D1, whereas in Fig. 14 illustrating an indirect joint, when the yaw rotation shaft 1121 is rotated in the OPY direction, one side of the first jaw wire 130J1 and the second jaw wire 130J2 moves in the direction of arrow D2, which is opposite to D1.

[0137] In this way, depending on whether the joint structure is configured as a direct joint or an indirect joint, it is possible to obtain the effect of configuring the wire movement directions to be opposite to each other for yaw rotation in the same direction.

[0138] (Direct joints and indirect joints - pitch joints) Fig. 15 is a diagram showing an example of an indirect joint of the pitch joint, and Fig. 16 is a diagram showing an example of a direct joint of the pitch joint. Fig. 15(a) and Fig. 16(a) are diagrams showing only the pulley and wire associated with the second jaw, and Fig. 15(b) and Fig. 16(b) are diagrams showing only the pulley and wire associated with the first jaw.

[0139] Figure 15(b) illustrates an articulated joint, which includes a first jaw pitch pulley a 111P1a and a first jaw pitch auxiliary pulley a 111S1a formed adjacent to each other for the pitch movement of the first jaw 121, and the pulley located on the right side of the drawing is the first jaw pitch pulley a 111P1a.

[0140] Figure 16(b) shows a direct type joint, which has a first jaw pitch pulley a 111P1a and a first jaw pitch auxiliary pulley a 111S1a formed adjacent to each other for the pitch movement of the first jaw 121, and in this case, the pulley located on the left side of the drawing is the first jaw pitch pulley a 111P1a.

[0141] In this way, depending on whether the joint structure is configured as a direct joint or an indirect joint, it is possible to obtain the effect of configuring the wire movement direction to be opposite to each other for the same direction of pitch rotation, and thereby it is also possible to change the direction in which the wire is wound around the pitch pulley.

[0142] (Various variations of pulley and wire configurations) The pulley and wire configurations involved in the actuation and yaw movements of the surgical instrument 100 according to the first embodiment of the present invention shown in Fig. 9 can have various modifications through modifications of the wire paths, the size and arrangement of the joint pulleys, the operating section, and the end tool configuration, etc. Various possible modifications of the pulley and wire configurations will be described below.

[0143] FIG. 17 is a diagram illustrating the configuration of pulleys and wires related to the operation of the first jaw 121 of the surgical instrument 100 according to an embodiment of the present invention shown in FIG. 9, as well as modifications thereof.

[0144] 17(a), in the surgical instrument 100 according to one embodiment of the present invention shown in Fig. 17(a), the wires do not basically cross within the connecting portion 140. That is, within the connecting portion 140 that connects the end tool 120 and the operation portion 110, the two strands of the first jaw wire 130J1 are formed so as not to cross each other, and the two strands of the second jaw wire 130J2 are also formed so as not to cross each other.

[0145] 17(a) shows a surgical instrument 100 according to an embodiment of the present invention, in which the wires are formed to spread apart within the connecting portion 140. That is, due to the size and spacing of the intermediate pulley, the distance between both strands of the first jaw wire 130J1 at the end tool 120 is formed to be narrower than the distance between both strands formed by connection at the intermediate pulley MP. Therefore, the distance between both strands of the first jaw wire 130J1 gradually increases toward the intermediate pulley at the end tool 120, and the first jaw wire 130J1 is formed to spread apart overall.

[0146] Meanwhile, in a surgical instrument 100 according to one embodiment of the present invention shown in Figure 17(a), the yaw joint of the operating unit 110 is directly formed. That is, the surgical instrument 100 includes a first jaw yaw pulley 112P1 and a first jaw yaw auxiliary pulley 112S1 formed adjacent to each other for the yaw movement of the first jaw 121. In this case, the pulley located on the left side of the drawing is the first jaw yaw pulley 112P1, and the rotation axis of the first jaw yaw pulley 112P1 is the yaw rotation axis. In this case, the first jaw yaw auxiliary pulley 112S1 is formed of two pulleys formed opposite each other and formed to be independently rotatable, and the two pulleys are formed to have different diameters. At this time, the first jaw yaw pulley 112P1 and the first jaw yaw auxiliary pulley 112S1 each have two pulleys so that the wires wound across them do not overlap each other on their paths, and both strands of the first jaw wire 130J1 have a height difference. To achieve this, the pitch auxiliary pulley also has two pulleys (first jaw pitch auxiliary pulley a 111S1a and first jaw pitch auxiliary pulley b 111S1b) with different diameters, so that the first jaw wire 130J1 is naturally wound around the pulleys with the height difference.

[0147] In the case of FIG. 17(b), the size and arrangement of the pitch assist pulleys (first jaw pitch assist pulley a 111S1a and first jaw pitch assist pulley b 111S1b) connected to the first jaw yaw assist pulley 112S1 are different from those in the case of FIG. 17(a), so that the first jaw pitch assist pulley a 1 The heights of the wire wound around the first jaw pitch assist pulley b 111S1a and the wire wound around the first jaw pitch assist pulley b 111S1b can be arranged to be opposite, and as a result, the vertical relationship between the two muscles of the first jaw wire 130J1 can be configured to be opposite to that shown in Figure 17(a).

[0148] In the case of Figure 17(c), the first actuation operating unit 113a for driving the first jaw is configured differently from that of Figure 17(a), and in order to ensure that the actuation operation of the operating unit 110 and the operation of the end tool 120 due to the yaw operation are performed in the same way as in Figure 17(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 can be configured to cross each other.

[0149] 17(d) shows a case where the configuration of the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a different direction from that shown in FIG. 17(a). In this case, the rotation direction of the first jaw 121 for the yaw operation is the same as that shown in FIG. 17(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is opposite to that shown in FIG. 17(a). Therefore, in order to move the first jaw wire 130J1 when the first actuation operating unit 113a operates in the opposite direction to that shown in FIG. 17(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 may be configured to cross each other.

[0150] In this configuration, two yaw pulleys, two yaw assist pulleys, two pitch pulleys, and two pitch assist pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, which can improve the safety and efficiency of power transmission by the wires.

[0151] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0152] FIG. 18 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, in which the wire paths and the like in FIG. 17 are modified.

[0153] In the case of Figure 18(a), unlike the configuration according to the first embodiment, both strands of the first jaw wire 130J1 configured to wind around the first jaw 121 are configured to pass through two adjacent connection portion intermediate pulleys MP, and this is an example in which the configuration of the first jaw-yaw auxiliary pulley 112S1 and the like is modified so that the same operation as the configuration according to the first embodiment is possible.

[0154] To this end, pitch auxiliary pulleys (first jaw pitch auxiliary pulley a 111S1a and first jaw pitch auxiliary pulley b 111S1b) of different sizes through which the first jaw wire 130J1 passes are formed adjacent to each other, and the first jaw wire 130J1 that passes through the first jaw pitch auxiliary pulley a 111S1a is wound around the first jaw yaw auxiliary pulley 112S1, and the first jaw wire 130J1 that passes through the first jaw pitch auxiliary pulley b 111S1b is wound immediately around the first jaw yaw pulley 112P1 without being wound around the yaw auxiliary pulley. 18(a) can perform the same operation as in the first embodiment. The configuration shown in Fig. 18(a) can have various modifications through modifications of the wire path, the size and arrangement of the joint pulleys, the operating unit, and the end tool configuration.

[0155] In the case of Figure 18(b), by making the size of the pitch assist pulley connected to the yaw assist pulley different from that in the case of Figure 18(a), the heights of the wire wound around the first jaw pitch assist pulley a 111S1a and the wire wound around the first jaw pitch assist pulley b 111S1b can be arranged to be opposite, as shown in the lower drawing of Figure 18(b).As a result, the relationship between the two muscles of the first jaw wire 130J1 can be configured to be opposite to that in Figure 18(a). In the case of Figure 18(c), the actuation operating unit 113a for driving the first jaw is configured differently from that of Figure 18(a), and in order to ensure that the operation of the end tool 120 due to the actuation operation and yaw operation of the operating unit 110 is performed in the same manner as in Figure 18(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 can be configured to cross each other.

[0156] 18(d), the first jaw 121 and the J11 pulley 123J11 are configured differently, and the first jaw 121 is formed in a different direction from that of FIG. 18(a). In this case, the rotation direction of the first jaw 121 for the yaw operation is the same as that of FIG. 18(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is opposite to that of FIG. 18(a). Therefore, in order to move the first jaw wire 130J1 when the first actuation operating unit 113a operates in the opposite direction to that of FIG. 18(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 may be configured to cross each other.

[0157] In this configuration, two yaw pulleys, one yaw assist pulley, two pitch pulleys, and two pitch assist pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, thereby improving the safety and efficiency of power transmission by the wires.

[0158] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0159] FIG. 19 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, in which the wire paths and the like in FIG. 17 are modified.

[0160] In the case of Figure 19(a), unlike the configuration according to the first embodiment, both strands of the first jaw wire 130J1 configured to wind around the first jaw 121 cross each other and pass through two adjacent connection portion intermediate pulleys MP, and this is an example in which the configuration of the first jaw-yaw auxiliary pulley 112S1 and the like has been modified so as to enable the same operation as the configuration according to the first embodiment.

[0161] 19(a), unlike the configuration according to the first embodiment, the wires cross at least once within the connecting portion 140. That is, within the connecting portion 140 that connects the end tool 120 and the operation unit 110, both strands of the first jaw wire 130J1 are formed to cross each other, and both strands of the second jaw wire 130J2 are also formed to cross each other. However, although it appears that both strands of each wire cross each other when viewed on a two-dimensional plane in the drawing, in reality, the wires can be easily configured not to physically come into contact with each other through an appropriate three-dimensional positional configuration of the intermediate pulleys to which the wires are connected.

[0162] Meanwhile, the first jaw pitch assist pulley a 111S1a and the first jaw pitch assist pulley b 111S1b are formed to have the same diameter, and the first jaw wire 130J1 wound around the first jaw pitch assist pulley b 111S1b passes through the first jaw yaw assist pulley 112S1 and is then wound around the first jaw yaw pulley 112P1. Meanwhile, in the case of the first jaw wire 130J1 wound around the first jaw pitch assist pulley a 111S1a, it is formed to be wound directly around the first jaw yaw pulley 112P1 without the yaw assist pulley, and through this, the modified example described with reference to FIG. 19(a) can perform the same operation as the first embodiment.

[0163] The configuration according to FIG. 19(a) can have a wide variety of variations through variations in wire routing, articulating pulley size and placement, operating section, and end tool configuration.

[0164] In the case of Figure 19(b), the size of the pitch assist pulley connected to the yaw assist pulley is made different from that of Figure 19(a), and the diameters of the first jaw pitch assist pulley a 111S1a and the first jaw pitch assist pulley b 111S1b are made different, so that the two pulleys of the first jaw yaw pulley 112P1 are located at different heights, as shown in the lower drawing of Figure 19(b). This is easily applicable to a configuration in which the first jaw wire 130J1 crosses between the first actuation pulley 113P1 and the first jaw yaw pulley 112P1, as shown in Figure 19(c), which will be described later, and prevents actual physical contact between both sides of the first jaw wire 130J1.

[0165] In the case of Figure 19(c), the actuation operating unit 113a for driving the first jaw is configured differently from that of Figure 19(a), and in order to ensure that the operation of the end tool 120 due to the actuation operation and yaw operation of the operating unit 110 is performed in the same manner as in Figure 19(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 can be configured to cross each other.

[0166] 19(d) shows a case where the configurations of the first jaw 121 and the J11 pulley 123J11 are different, and the first jaw 121 is formed in a different direction from that shown in FIG. 19(a). In this case, the rotation direction of the first jaw 121 for the yaw operation is the same as that shown in FIG. 19(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is opposite to that shown in FIG. 19(a). Therefore, in order to move the first jaw wire 130J1 when the first actuation operating unit 113a operates in the opposite direction to that shown in FIG. 19(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 may be configured to cross each other.

[0167] In this configuration, one or two yaw pulleys, one yaw assist pulley, two pitch pulleys, and two pitch assist pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, thereby improving the safety and efficiency of power transmission by the wires.

[0168] In addition, a configuration in which a pitch pulley is disposed in place of the pitch assist pulley shown in the drawing is also possible.

[0169] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0170] FIG. 20 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, in which the wire paths and the like in FIG. 17 are modified.

[0171] In the case of Figure 20(a), unlike the configuration according to the first embodiment, both strands of the first jaw wire 130J1 configured to wind around the first jaw 121 cross each other and pass through two connecting portion intermediate pulleys MP that are not adjacent to each other. This is an example in which the configuration of the first jaw-yaw auxiliary pulley 112S1 and the like has been modified so that the same operation as the configuration according to the first embodiment is possible. 20(a), unlike the configuration according to the first embodiment, the wires cross at least once within the connecting portion 140. That is, within the connecting portion 140 that connects the end tool 120 and the operation unit 110, both strands of the first jaw wire 130J1 are formed to cross each other, and both strands of the second jaw wire 130J2 are also formed to cross each other. However, although it appears that both strands of each wire cross each other when viewed on a two-dimensional plane in the drawing, in reality, the wires can be easily configured not to physically come into contact with each other through an appropriate three-dimensional configuration of intermediate pulleys to which the wires are connected.

[0172] In addition, pitch auxiliary pulleys of different sizes (first jaw pitch auxiliary pulley a 111S1a and first jaw pitch auxiliary pulley b 111S1b) are formed, and the outer pitch auxiliary pulley, first jaw pitch auxiliary pulley a 111S1a, is configured to be larger, so that the wire wound around the outer pitch auxiliary pulley is wound around the first jaw yaw auxiliary pulley 112S1, which is located lower.

[0173] Meanwhile, in a surgical instrument 100 according to one embodiment of the present invention shown in FIG. 20(a), the yaw joint of the operating unit 110 is formed as an articulated type. That is, the surgical instrument 100 includes a first jaw yaw pulley 112P1 and a first jaw yaw auxiliary pulley 112S1 formed adjacent to each other for the yaw movement of the first jaw 121. In this case, the pulley located on the right side of the drawing is the first jaw yaw pulley 112P1, and the rotation axis of the first jaw yaw pulley 112P1 is the yaw rotation axis. In this case, the first jaw wire 130J1 connecting the first jaw yaw auxiliary pulley 112S1 and the first actuation pulley 113P1 can be configured to cross each other so that the actuation operation of the operating unit 110 and the operation of the end tool due to the yaw movement can be performed in the same manner as in FIG. 17(a).

[0174] The configuration according to FIG. 20(a) can have a wide variety of variations through variations in wire routing, articulation pulley size and placement, operating section, and end tool configuration.

[0175] In the case of FIG. 20(b), by changing the size and arrangement of the pitch assist pulleys (first jaw pitch assist pulley a 111S1a and first jaw pitch assist pulley b 111S1b) connected to the first jaw yaw assist pulley 112S1 from the case of FIG. 20(a), the heights of the wire wound around the first jaw pitch assist pulley a 111S1a and the wire wound around the first jaw pitch assist pulley b 111S1b can be reversed. As a result, the first jaw wire 130 can be arranged to be shorter than that of FIG. 20(a). The upper and lower muscles of J1 can be configured to be reversed.

[0176] In the case of Figure 20(c), the actuation operating unit 113a for driving the first jaw is configured differently from that of Figure 20(a), and in order to ensure that the operation of the end tool 120 due to the actuation operation and yaw operation of the operating unit 110 is performed in the same manner as in Figure 20(a), the first jaw wire 130J1 connecting the first jaw yaw auxiliary pulley 112S1 and the first actuation pulley 113P1 can be configured not to cross each other.

[0177] 20(d) shows a case where the configurations of the first jaw 121 and the J11 pulley 123J11 are different, and the first jaw 121 is formed in a different direction from that shown in FIG. 20(a). In this case, the rotation direction of the first jaw 121 for the yaw operation is the same as that shown in FIG. 20(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is opposite to that shown in FIG. 20(a). Therefore, in order for the operation of the first actuation operating unit 113a to move the first jaw wire 130J1 opposite to that shown in FIG. 20(a), the first jaw wire 130J1 connecting the first jaw-yaw auxiliary pulley 112S1 and the first actuation pulley 113P1 can be configured not to cross each other.

[0178] In this configuration, two yaw pulleys, two yaw assist pulleys, two pitch pulleys, and two pitch assist pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, which can improve the safety and efficiency of power transmission by the wires.

[0179] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0180] FIG. 21 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, in which the wire paths and the like in FIG. 17 are modified.

[0181] In the case of Figure 21(a), unlike the configuration according to the first embodiment, this is a modified example in which both strands of the first jaw wire 130J1 configured to wind around the first jaw 121 cross each other and pass through two adjacent connection portion intermediate pulleys MP, and the second jaw wire 130J2 is also formed so that both strands cross each other.

[0182] Meanwhile, the first jaw pitch assist pulley a 111S1a and the first jaw pitch assist pulley b 111S1b are formed to have the same diameter, and the first jaw wire 130J1 wound around the first jaw pitch assist pulley b 111S1b passes through the first jaw yaw assist pulley 112S1 and is then wound around the first jaw yaw pulley 112P1. Meanwhile, in the case of the first jaw wire 130J1 wound around the first jaw pitch assist pulley a 111S1a, it is formed to be wound directly around the first jaw yaw pulley 112P1 without the yaw assist pulley, and through this, the modified example described with reference to FIG. 21(a) can perform the same operation as the first embodiment.

[0183] Here, in the case of Figure 21(a), the yaw pulley and actuation pulley are not formed separately, but a common yaw pulley is used. At this time, the yaw pulley and actuation operation unit are connected by gears or the like to realize the actuation operation (see the second embodiment).

[0184] The configuration according to FIG. 21(a) can have a wide variety of variations through variations in wire routing, articulating pulley size and placement, operating section, and end tool configuration.

[0185] 21(b), the size and arrangement of the pitch assist pulleys (first jaw pitch assist pulley a 111S1a and first jaw pitch assist pulley b 111S1b) connected to the first jaw yaw assist pulley 112S1 are made different from those in FIG. 21(a), and the first jaw yaw assist pulley 112S1 is made larger than the first jaw yaw pulley 112P1, thereby having the effect of both strands of the first jaw wire 130J1 crossing each other. Therefore, within the connection portion 140 connecting the end tool 120 and the operation unit 110, the both strands of the first jaw wire 130J1 can be configured to pass through two adjacent connection portion intermediate pulleys MP without crossing each other.

[0186] In the case of Figure 21(c), the actuation operating part 113a for driving the first jaw is different from that in the case of Figure 21(a), and at the same time, the configuration of the first jaw 121 and the J11 pulley 123J11 is different, so that the first jaw 121 is formed in a different direction from that in Figure 21(a).

[0187] In the case of Figure 21(d), compared to Figure 21(b), by making the sizes and positions of the pitch auxiliary pulleys (first jaw pitch auxiliary pulley a 111S1a and first jaw pitch auxiliary pulley b 111S1b) connected to the first jaw yaw auxiliary pulley 112S1 different, the heights of the wire wound around the first jaw pitch auxiliary pulley a 111S1a and the wire wound around the first jaw pitch auxiliary pulley b 111S1b can be arranged to be opposite in height.As a result, compared to Figure 21(b), the up-down relationship of the two strands of the first jaw wire 130J1 can be configured to be opposite.

[0188] In this configuration, one or two yaw pulleys, one yaw assist pulley, two pitch pulleys, and two pitch assist pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, thereby improving the safety and efficiency of power transmission by the wires.In addition, a configuration in which a pitch pulley is placed in place of the pitch assist pulley shown on the drawing is also possible.

[0189] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0190] FIG. 22 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, in which the wire paths and the like in FIG. 17 are modified.

[0191] In the case of Figure 22(a), unlike the configuration according to the first embodiment, both strands of the first jaw wire 130J1 configured to wind around the first jaw 121 are configured to pass through two adjacent connection portion intermediate pulleys MP, and this is an example in which the configuration of the first jaw-yaw auxiliary pulley 112S1 and the like is modified so that the same operation as the configuration according to the first embodiment is possible.

[0192] To this end, pitch auxiliary pulleys of different sizes (first jaw pitch auxiliary pulley a 111S1a and first jaw pitch auxiliary pulley b 111S1b) through which the first jaw wire 130J1 passes are formed adjacent to each other, and the first jaw wire 130J1 that passes through the first jaw pitch auxiliary pulley a 111S1a is configured to be wound around the first jaw yaw auxiliary pulley 112S1, and the first jaw wire 130J1 that passes through the first jaw pitch auxiliary pulley b 111S1b is configured to be wound around the first jaw yaw auxiliary pulley 112S1 via the auxiliary pulley SP, so that the modified example described in FIG. 22(a) can perform the same operation as the first embodiment.

[0193] 22, compared to FIG. 17, the first jaw pitch assist pulley b 111S1b is formed adjacent to the first jaw pitch assist pulley a 111S1a, an auxiliary pulley SP is added between the pitch assist pulley and the first jaw yaw assist pulley 112S1, and the first jaw wire 130J1 passing through the first jaw pitch assist pulley b 111S1b is easily wound around the first jaw yaw assist pulley 112S1 via the auxiliary pulley SP. In other words, by additionally forming the auxiliary pulley SP, both strands of the first jaw wire 130J1 can pass through two adjacent connection portion intermediate pulleys MP in parallel within the connection portion 140 connecting the end tool 120 and the operation unit 110, and at the same time, the pitch assist pulleys through which the first jaw wire 130J1 passes can also be configured to be adjacent to each other. In addition, when the yaw assist pulley 112S1 is configured by two pulleys, the diameters of the pulleys can be configured to be the same as each other.

[0194] The configuration according to FIG. 22(a) can have a wide variety of variations through variations in wire routing, articulation pulley size and placement, operating section, and end tool configuration.

[0195] In the case of Figure 22(b), by changing the size and position of the pitch assist pulley connected to the yaw assist pulley from that of Figure 22(a), the heights of the wire wound around the first jaw pitch assist pulley a 111S1a and the wire wound around the first jaw pitch assist pulley b 111S1b can be reversed.As a result, the upper and lower relationship of the first jaw wire 130J1 can be reversed compared to Figure 22(a).

[0196] In the case of Figure 22(c), the actuation operating unit 113a for driving the first jaw is configured differently from that of Figure 22(a), and in order to ensure that the operation of the end tool 120 due to the actuation operation and yaw operation of the operating unit 110 is performed in the same manner as in Figure 22(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 can be configured to cross each other.

[0197] In the case of Figure 22(d), the configuration of the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a different direction from that of Figure 22(a). In this case, the rotation direction of the first jaw 121 for the yaw operation is the same as that of Figure 22(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is opposite to that of Figure 22(a). Therefore, in order to move the first jaw wire 130J1 when the first actuation operating unit 113a operates in the opposite direction to that of Figure 22(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 may be configured to cross each other.

[0198] In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, which can improve the safety and efficiency of power transmission by the wires.

[0199] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0200] FIG. 23 is a diagram showing another modified example of the embodiment disclosed in FIG. 22, in which the wire paths and the like in FIG. 22 are modified.

[0201] In the case of Figure 22, of the first jaw yaw pulley 112P1 and the first jaw yaw auxiliary pulley 112S1 formed adjacent to each other for yaw operation of the first jaw 121, the pulley located on the left side of the drawing is the first jaw yaw pulley 112P1, while in the case of Figure 23, the pulley located on the right side of the drawing is the first jaw yaw pulley 112P1 and the pulley located on the left side is the first jaw yaw auxiliary pulley 112S1. In other words, if the yaw joint in Figure 22 is a direct joint, the yaw joint in Figure 23 can be said to be an indirect joint.

[0202] Due to this difference, the direction of movement of both strands of the first jaw wire 130J1 due to the yaw rotation of the operating unit 110 in the case of Fig. 23(a) is opposite to that in the case of Fig. 22(a). In this case, in order to ensure that the actuation operation and the operation of the end tool 110 due to the yaw operation of the operating unit 120 are performed in the same manner as in Fig. 22(a), both strands of the first jaw wire 130J1 may be configured to cross each other and pass through two adjacent connecting unit intermediate pulleys MP in the connecting unit 140 connecting the end tool 120 and the operating unit 110.

[0203] The configuration according to FIG. 23(a) can have a wide variety of variations through variations in wire routing, articulating pulley size and placement, operating section, and end tool configuration.

[0204] In the case of Figure 23(b), by changing the size and position of the pitch assist pulley connected to the yaw assist pulley from that of Figure 23(a), the heights of the wire wound around the first jaw pitch assist pulley a 111S1a and the wire wound around the first jaw pitch assist pulley b 111S1b can be reversed.As a result, the upper and lower relationship of the first jaw wire 130J1 can be reversed compared to Figure 23(a).

[0205] In the case of Figure 23(c), the actuation operating unit 113a for driving the first jaw is configured differently from that of Figure 23(a), and in order to ensure that the operation of the end tool 120 due to the actuation operation and yaw operation of the operating unit 110 is performed in the same manner as in Figure 23(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 can be configured not to cross each other.

[0206] In the case of Figure 23(d), the configuration of the first jaw 121 and the J11 pulley 123J11 is different, and the first jaw 121 is formed in a different direction from that of Figure 23(a). In this case, the rotation direction of the first jaw 121 for the yaw operation is the same as that of Figure 23(a), but the rotation direction of the first jaw 121 and the J11 pulley 123J11 for the actuation operation is opposite to that of Figure 23(a). Therefore, in order for the operation of the first actuation operating unit 113a to move the first jaw wire 130J1 in the opposite direction to that of Figure 23(a), the first jaw wire 130J1 connecting the first jaw yaw pulley 112P1 and the first actuation pulley 113P1 can be configured not to cross each other.

[0207] In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys are formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, which can improve the safety and efficiency of power transmission by the wires.

[0208] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0209] FIG. 24 is a diagram showing another modified example of the embodiment disclosed in FIG. 21, in which the wire paths and the like in FIG. 21 are modified.

[0210] In the case of Figure 21, the yaw pulley and actuation pulley are not formed separately but a common yaw pulley is used, whereas in the case of Figure 24(a), an additional actuation pulley 113P1 is formed separately in addition to the yaw pulley 112P1. Therefore, both strands of the first jaw wire 130J1 that pass through the first jaw pitch assist pulley a 111S1a and the first jaw pitch assist pulley b 111S1b are wound around the yaw pulley 112P1, then cross each other and are wound around the actuation pulley 113P1. In this regard, in the case of Figure 24(a), the position and rotation direction of the actuation operation unit 113a are configured to be opposite to those in Figure 21 so that the modified example described in Figure 24(a) can perform the same operation as the example described in Figure 21.

[0211] The configuration according to FIG. 24(a) can have a wide variety of variations through variations in wire routing, articulating pulley size and placement, operating section, and end tool configuration.

[0212] 24(a), the first jaw-yaw auxiliary pulley 112S1 is made larger than the first jaw-yaw pulley 112P1, and has the effect of causing both strands of the first jaw wire 130J1 to cross each other through it. Therefore, within the connecting portion 140 that connects the end tool 120 and the operating unit 110, it can be configured so that both strands of the first jaw wire 130J1 do not cross each other but pass through two connecting portion intermediate pulleys MP that are adjacent to each other.

[0213] In the case of Figure 24(c), the actuation operating part 113a for driving the first jaw is different from that in the case of Figure 24(a), and at the same time, the configuration of the first jaw 121 and the J11 pulley 123J11 is different, so that the first jaw 121 is formed in a different direction from that in Figure 24(a).

[0214] In the case of Figure 24(d), compared to Figure 24(b), by making the sizes and positions of the pitch auxiliary pulleys (first jaw pitch auxiliary pulley a 111S1a and first jaw pitch auxiliary pulley b 111S1b) connected to the first jaw yaw auxiliary pulley 112S1 different, the heights of the wire wound around the first jaw pitch auxiliary pulley a 111S1a and the wire wound around the first jaw pitch auxiliary pulley b 111S1b can be arranged to be opposite in height.As a result, compared to Figure 24(b), the upper and lower relationship of the two muscles of the first jaw wire 130J1 can be configured to be opposite.

[0215] In this configuration, one or two actuation pulleys, one or two yaw pulleys, one yaw assist pulley, two pitch pulleys, and two pitch assist pulleys are commonly formed, and the wires that appear to cross on the drawing are actually located on different paths and do not physically contact each other, thereby improving the safety and efficiency of power transmission by the wires.In addition, a configuration in which a pitch pulley is placed in place of the pitch assist pulley shown on the drawing is also possible.

[0216] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the second jaw are omitted.

[0217] FIG. 25 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, in which the wire paths and the like in FIG. 17 are modified.

[0218] Here, this modified example differs from the embodiment of FIG. 17 in that both ends of the first jaw wire 130J1 are coupled to different actuation pulleys rather than the same actuation pulley. That is, one end of the first jaw wire 130J1 is coupled to the first actuation pulley 113P1, and the other end of the first jaw wire 130J1 is coupled to the second actuation pulley 113P2. In this case, the rotation of the two actuation pulleys must be synchronized by components such as gears. That is, the two actuation pulleys must be connected so that when one actuation pulley rotates, the other actuation pulley also rotates accordingly.

[0219] In this way, since the rotation of the two actuation pulleys is synchronized with each other by gears or the like, both strands of the first jaw wire 130J1 do not necessarily have to be wound around one actuation pulley, and even if they are wound around different actuation pulleys, the exact same effect can be achieved.

[0220] In such a structure, the first jaw wire 130J1 is seen to virtually form one closed circuit, as indicated by the dotted line in FIG. 25(a), and therefore can be expressed as a kind of virtual closed curve (virtual loop).

[0221] The configuration according to FIG. 25(a) can have a wide variety of variations through variations in wire routing, articulating pulley size and placement, operating section, and end tool configuration.

[0222] Figure 25(b) shows a case where the actuation pulleys to which both ends of the first jaw wire 130J1 are coupled are configured differently from those shown in Figure 25(a). That is, in Figure 25(a), one end of the first jaw wire 130J1 coupled to the first actuation pulley 113P1 is now coupled to the second actuation pulley 113P2. Similarly, in Figure 25(a), the other end of the first jaw wire 130J1 coupled to the second actuation pulley 113P2 is now coupled to the first actuation pulley 113P1.

[0223] In this way, the wire wound around the yaw pulley and connected to the actuation pulley may be connected to either of the two actuation pulleys because the two actuation pulleys are synchronized with each other by gears or the like. However, no matter which actuation pulley it is wound around, the winding direction must be appropriately aligned with the direction of rotation of the actuation pulley so that the actuation operation ultimately matches the actuation movement of the end tool.

[0224] The above description relates to the actuation and yaw movements of the first jaw, and the drawings are also for the purpose of explaining the actuation and yaw movements of the first jaw, and can be fully understood without the explanation of the intermediate pulley and the pulleys involved in the pitch movement, but the intermediate pulley and the pulleys involved in the pitch movement are omitted in the drawings. Furthermore, the second jaw can also be fully understood through the drawings and explanation of the first jaw, but the drawings and explanation of the movement of the second jaw are omitted.

[0225] FIG. 26 is a diagram showing another modified example of the embodiment disclosed in FIG. 25, in which the position of the actuation pulley and the like in FIG. 25 are modified.

[0226] Here, this modified example differs from the embodiment of Fig. 25 in that the two actuation pulleys are not formed close to each other, but are spaced apart and formed on opposite sides of the first jaw / yaw pulley 112P1. Even in this case, if the two actuation pulleys are synchronized with each other by gears or the like, the same operation as the example described in Fig. 25 is possible.

[0227] This configuration allows the actuation pulley to be positioned further back than in other embodiments, i.e., the actuation handle can be made longer, making actuation easier because, according to the principle of leverage, the longer the handle, the less force is required to perform the actuation operation.

[0228] FIG. 26(a) is for explaining the actuation operation and yaw operation of the first jaw, and FIG. 26(b) is for explaining the actuation operation and yaw operation of the second jaw.

[0229] The configurations according to Figures 26(a) and 26(b) can have a wide variety of variations through variations in wire routing, size and placement of articulating pulleys, operating section, and end tool configuration.

[0230] FIG. 27 is a diagram showing another modified example of the embodiment disclosed in FIG. 17, which is a modified example in which the position of the actuation pulley in FIG. 25 is modified.

[0231] In the case of FIG. 27(a), unlike the configuration according to the first embodiment, both strands of the first jaw wire 130J1 configured to wind around the first jaw 121 are formed to pass through two adjacent connection portion intermediate pulleys MP, and a first jaw yaw pulley 112P1 and a first jaw yaw auxiliary pulley 112S1 are formed adjacent to each other for yaw movement. In this case, the pulley located on the right side of the drawing is the first jaw yaw pulley 112P1, and the rotation axis of the first jaw yaw pulley 112P1 is the yaw rotation axis.

[0232] In this modification, the two actuation pulleys are formed close to each other. 17 in that the yaw pulleys are not integral with each other, but are spaced apart and formed on opposite sides of the yaw pulley.

[0233] 17, 25, 26, etc., in that the positional relationship (front-rear relationship) between the yaw pulley and yaw assist pulley has been changed. That is, despite being a direct joint, the pulley located on the right side of the drawing is the first jaw yaw pulley 112P1, and the rotation axis of the first jaw yaw pulley 112P1 is the yaw rotation axis. To embody this, the first jaw wire that passes through the first jaw pitch assist pulley a 111S1a winds around the first jaw yaw assist pulley 112S1, then passes through the first jaw yaw pulley 112P1 and is fixedly connected to the first actuation pulley 113P1. And the first jaw wire that passes through the first jaw pitch assist pulley b 111S1b passes directly through the first jaw yaw pulley 112P1 without passing through the first jaw yaw assist pulley 112S1, and is fixedly connected to the first actuation pulley 113P1.

[0234] With this configuration, the yaw rotation axis can be positioned closer to the pitch rotation axis than in other embodiments, which has the effect of providing a more natural and intuitive feel to the user's operation.

[0235] Furthermore, this configuration allows the actuation pulley to be positioned further back than in other embodiments, i.e., the actuation handle can be made longer, making actuation easier because, according to the principle of leverage, the longer the handle, the less force required to perform the actuation operation.

[0236] FIG. 27(a) is for explaining the actuation operation and yaw operation of the first jaw, and FIG. 27(b) is for explaining the actuation operation and yaw operation of the second jaw.

[0237] The configurations according to Figures 27(a) and 27(b) can have a wide variety of variations through variations in wire routing, articulating pulley size and placement, operating section, and end tool configuration.

[0238] *A modified version of the actuation control unit FIG. 28 is a diagram showing another modification of the embodiment disclosed in FIG.

[0239] Here, the surgical instrument according to this modification is characteristically different from the surgical instrument 100 according to the first embodiment of the present invention (FIG. 8) described above in terms of the configuration of the actuation pulley 113P of the operating section 110 of the surgical instrument. That is, in the surgical instrument 100 of FIG. 8, an actuation pulley is formed on each of the two actuation rotation shafts, and each jaw wire is wound around the corresponding actuation pulley.

[0240] 8, a first actuation pulley 113P1 is formed on the first actuation rotation shaft 1131a, and the first jaw wire 130J1 is wound around the first actuation pulley 113P1. Similarly, a second actuation pulley 113P2 is formed on the second actuation rotation shaft 1131b, and the second jaw wire 130J2 is wound around the second actuation pulley 113P2.

[0241] In contrast, a modified example shown in FIG. 28 is distinctively different in that two wires are both wound around a single actuation rotary shaft. That is, an actuation pulley 113P is formed around an actuation rotary shaft 1131, with a first jaw wire 130J1 wound around the lower side of the actuation pulley 113P and a second jaw wire 130J2 wound around the upper side of the actuation pulley 113P. However, because the two wires 130J1 and 130J2 must move in opposite directions as a result of rotation of a single actuation rotary shaft 1131, one of the two wires must be formed to cross. In FIG. 28, the second jaw wire 130J2 is formed to cross once between the actuation pulley 113P and the second jaw yaw pulley 112P2.

[0242] Other than the actuation rotating shaft and actuation pulley, the remaining components of the actuation operation unit, i.e., the first actuation rotating unit (not shown), first actuation gear 1134a, second actuation rotating unit (not shown), and second actuation gear 1134b, are identical. Here, the gears allow the movements of the two actuation rotating units to be linked together, so that the movement of one of the two fingers holding the two actuation rotating units causes the movement of the other, and also serves to match the amount of rotation of each. To achieve this effect, a link or other structure can be used instead of just gears.

[0243] *One variant of the pitch control unit Figure 29 is a diagram showing another modified example of the embodiment disclosed in Figure 16. Here, Figure 29(a) is a side view, and Figure 29(b) is a plan view.

[0244] Here, the surgical instrument according to this modification is characteristically different from the surgical instrument 100 (FIG. 16) of the present invention described above in terms of the configuration of the operating section 110 of the surgical instrument and the pitch pulley of the end tool 120. That is, in the surgical instrument 100 of FIG. 16, the pitch pulleys are configured to have the same diameter, but in FIG. 29, the pitch pulleys are configured to have different diameters.

[0245] That is, in the end tool 120, the J12 pulley 123J12 and the J14 pulley 123J14, which are formed to face each other, are formed to have different diameters, and in the operating unit 110, the first jaw pitch pulley a 111P1a and the first jaw pitch pulley b 111P1b, which are formed to face each other, are formed to have different diameters.

[0246] In this case, the diameter ratio of the different pitch pulleys on the end tool 120 side (i.e., the diameter ratio between the J12 pulley 123J12 and the J14 pulley 123J14) and the diameter ratio of the different pitch pulleys on the operation unit 110 (the diameter ratio between the first jaw pitch pulley a 111P1a and the first jaw pitch pulley b 111P1b) are configured to be the same, and the amount of movement of both jaw wires due to the pitch rotation of the operation unit 110 is made the same as the amount of movement of both jaw wires on the end tool 120 side due to the pitch rotation, thereby enabling a normal pitch operation. Therefore, even in the case of a direct type pitch joint, pitch pulleys with different diameters can be used. This method can also be applied to a yaw joint. That is, the diameters of the yaw pulleys of the operating unit 110 can be made different, and at the same time, the diameters of the J11 pulley 123J11 and J21 pulley 123J21 of the end tool 120 can be made different, so that the direct type yaw joint can be configured using yaw pulleys with different diameters.

[0247] As described above, the surgical instrument 100 according to the first embodiment of the present invention can be modified into various embodiments that perform the same functions as the surgical instrument 100 according to the first embodiment of the present invention through various modifications of the yaw joint, pitch joint, and actuation joint. Various modifications can be configured by combining the modifications listed as modifications of each joint.

[0248] Meanwhile, although not shown in the drawings, the concept of the present invention is not limited thereto, and various wires, pulleys, and joints formed therewith can be combined to perform the same function as the surgical instrument 100 according to the first embodiment of the present invention.

[0249] <Insulation-related modified examples> 30 and 31 are diagrams showing a modification relating to insulation.

[0250] 30 and 31, the surgical instrument according to this modification is characterized by further including an insulating assembly for insulating each wire, compared to the surgical instrument 100 (FIG. 2) of the present invention described above. This is to electrically separate the end tool and the operating section, ensuring that the operating section remains safely electrically insulated even when additional electric wires are connected to the jaws of the end tool for use in electrocautery. To this end, an insulating assembly is provided between each wire physically connecting the end tool and the operating section, thereby insulating the end tool from the operating section. To this end, a first insulating assembly 135, a second insulating assembly 136, and a third insulating assembly 137 are provided in this order between the bent portions 141 of the connecting portion 140, and each insulating assembly insulates two wires in turn.

[0251] In the drawings, the first insulating assembly 135, the second insulating assembly 136, and the third insulating assembly 137 are shown arranged in this order from the side closest to the end tool 120, but the concept of the present invention is not limited thereto, and the configuration and arrangement of each insulating assembly can be modified in various ways as needed.

[0252] The first insulating assembly 135 is described in more detail below.

[0253] Here, the second jaw R wire 130J2R indicates the right wire of the two strands of the second jaw wire 130J2, and the second jaw R wire 130J2R is further divided into two, the second jaw R wire-in 130J2Rin that enters the first insulating assembly 135, and the second jaw R wire-out 130J2Rout that exits the first insulating assembly 135.

[0254] On the other hand, the first jaw L wire 130J1L indicates the left wire of the two strands of the first jaw wire 130J1, and the first jaw L wire 130J1L is further divided into two, the first jaw L wire-in 130J1Lin that enters the first insulating assembly 135, and the first jaw L wire-out 130J1Lout that exits the first insulating assembly 135.

[0255] The first insulating assembly 135 includes a second jaw R wire-in pulley 1352Rin, a second jaw R wire-out pulley 1352Rout, and a second jaw R wire insulating pulley 1352Ris, which are involved in insulating the second jaw R wire. Here, the second jaw R wire-in 130J2Rin is coupled to the second jaw R wire-out pulley 1352Rout, and the second jaw R wire-out 130J2Rout is coupled to the second jaw R wire-in pulley 1352Rout. A second jaw R wire insulating pulley 1352Ris is interposed between the second jaw R wire-in pulley 1352Rin and the second jaw R wire-out pulley 1352Rout, insulating the second jaw R wire-in pulley 1352Rin from the second jaw R wire-out pulley 1352Rout, and therefore the second jaw R wire-in 130J2Rin and the second jaw R wire-out 130J2Rout are also insulated from each other.

[0256] At this time, a groove is formed on one side of the second jaw R wire-in pulley 1352Rin and the second jaw R wire-insulating pulley 1352Ris, and a protrusion is formed on the other side to couple them together. Also, a groove is formed on one side of the second jaw R wire-out pulley 1352Rout and the second jaw R wire-insulating pulley 1352Ris, and a protrusion is formed on the other side to couple them together. The protrusion (or groove) on the second jaw R wire-in pulley 1352Rin side and the protrusion (or groove) on the second jaw R wire-out pulley 1352Rout side are formed to be separated from each other, so that the second jaw R wire-in 130J2Rin and the second jaw R wire-out 130J2Rout are insulated from each other.

[0257] That is, through the above-mentioned configuration, even if the second jaw R wire-in 130J2Rin, the second jaw R wire-in pulley 1352Rin, the second jaw R wire-out 130J2Rout and the second jaw R wire-out pulley 1352Rout are made of a conductor such as metal, the second jaw R wire insulating pulley 1352Ris is made of a non-conductor, so that the second jaw R wire-in 130J2Rin and the second jaw R wire-out 130J2Rout are insulated from each other.

[0258] With this configuration, the second jaw R wire-in 130J2Rin entering the first insulating assembly 135 and the second jaw R wire-out 130J2Rout exiting the first insulating assembly 135 are electrically insulated from each other, enabling power transmission between the operation of the operating part and the operation of the end tool as if they were connected by a single unbroken wire.

[0259] Meanwhile, the first insulation assembly 135 includes a first jaw L wire-in pulley 1351Lin, a first jaw L wire-out pulley 1351Lout, and a first jaw L wire-insulating pulley 1351Lis, which are related to the insulation of the first jaw L wire. This configuration is fundamentally the same as the components related to the insulation of the first jaw R wire described above, so a detailed description thereof will be omitted.

[0260] The first insulation assembly 135 may also include a first jaw R wire intermediate pulley 1351Rme, a second jaw L wire intermediate pulley 1352Lme, one or more pitch wire intermediate pulleys 135Pme, and one or more insulating auxiliary pulleys 135IsAs which are non-conductive. Here, insulating auxiliary pulleys 135IsAs are fitted inside the second jaw R wire intermediate pulley 1352Rme, the second jaw L wire intermediate pulley 1352Lme, the pitch wire intermediate pulley 135Pme, and other pitch wire intermediate pulleys (not shown), respectively. The first jaw R wire (not shown) passes through the first jaw R wire intermediate pulley 1351Rme while being wound thereon, the second jaw L wire (not shown) passes through the second jaw L wire intermediate pulley 1352Lme while being wound thereon, and both strands of the pitch wire (not shown) pass through the two pitch wire intermediate pulleys 135Pme while being wound thereon.

[0261] With this configuration, the wire connected from the end tool 120 to the first insulating assembly 135 and each pulley of the first insulating assembly 135 around which the wire is wound are electrically insulated and separated from the rotating shaft of the pulley of the first insulating assembly 135.

[0262] More specifically, if the wire and the pulleys of the first insulating assembly are made of metal, the pulleys disposed between the metal pulleys can be made of an electrically insulating material to electrically isolate the end tool and the operating unit as described above; if only the wire is made of metal, the elements constituting the first insulating assembly can be made of an electrically insulating material to electrically isolate the end tool and the operating unit as described above.

[0263] The second insulating assembly 136 has the same structure as the first insulating assembly 135, but the first jaw R wire and the second jaw L wire are separated and insulated, and the third insulating assembly 137 separates and insulates both strands of the pitch wire.

[0264] This configuration allows each wire connecting the end tool and the operating unit to be completely insulated, thereby electrically isolating the end tool from the operating unit and making the operating unit more electrically safe. The aforementioned insulating assembly is characterized by electrically disconnecting a single intermediate point of the wire connecting the end tool to the operating unit, thereby electrically insulating the end tool from the operating unit. While the above description has been given of a case in which the wire and pulleys of the insulating assembly are made of metal, if the pulleys (such as the first jaw L wire-in pulley 1351Lin and the first jaw L wire-out pulley 1351Lout) are made of an electrically non-conductive material, the first jaw L wire-in pulley 1351Lin, the first jaw L wire-out pulley 1351Lout, and the first jaw L wire-insulating pulley 1351Lis can be configured as a single non-conductive pulley without being separated from each other. Such modifications can be easily inferred from the present description, and therefore will not be described further.

[0265] <Second embodiment of surgical instrument> A surgical instrument 200 according to a second embodiment of the present invention will be described below. The surgical instrument 200 according to the second embodiment of the present invention is characterized by a difference in the configuration of the operating section 210 of the surgical instrument 200 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2). In other words, the surgical instrument 200 according to the second embodiment of the present invention is an embodiment in which the modified example shown in FIG. 21 is specifically realized. The differences from the first embodiment will be described in detail later.

[0266] Fig. 32 is a perspective view showing a surgical instrument according to a second embodiment of the present invention, Fig. 33 is an internal perspective view of the surgical instrument of Fig. 32, and Fig. 34 is a side view of the surgical instrument of Fig. 33. Furthermore, Figs. 35 and 36 are perspective views showing the operating portion of the surgical instrument of Fig. 33.

[0267] 32 to 40, the operating unit 210 of the surgical instrument 200 according to the second embodiment of the present invention includes a pitch operating unit 211 that controls the pitch movement of the end tool 220, a yaw operating unit 212 that controls the yaw movement of the end tool 220, an actuation operator 213 that controls the actuation movement of the end tool 220, and a first handle 214 that can be held by the user.

[0268] First, to illustrate an example of how the surgical instrument 200 in Figure 32 is used, a user holds the first handle 214 in the palm of their hand and rotates the first handle 214 around the Y-axis (i.e., pitch rotation axis 2111) to perform a pitch movement, rotates the first handle 214 around the Z-axis (i.e., yaw rotation axis 2121) to perform a yaw movement, and with their thumb and index finger inserted into the actuation operation unit 213, rotates the actuation operation unit 213 to perform an actuation movement.

[0269] Here, the surgical instrument 200 according to the second embodiment of the present invention has the same characteristic as the surgical instrument 100 according to the first embodiment of the present invention, that is, the end tool 120 and the operating section 110 intuitively rotate in the same direction.

[0270] For this reason, one feature of the operating unit 210 is that, like the end tool 220, the parts that actually move for actuation, yaw, and pitch movements are extended in the +X-axis direction from the center of rotation of the joint for each movement.

[0271] In detail, the first handle 214 is formed so that the user can hold it with their hand, and in particular so that the user can hold the first handle 214 with their palm. The actuation operation unit 213 and the yaw operation unit 212 are formed on the first handle 214, and the pitch operation unit 211 is formed on one side of the yaw operation unit 212. The other end of the pitch operation unit 211 is connected to the bent portion 241 of the connection unit 240.

[0272] The actuation operation unit 213 includes a first actuation operation unit 213a and a second actuation operation unit 213b. The first actuation operation unit 213a includes a first actuation rotation shaft 2131a, a first actuation rotation unit 2132a, and a first actuation gear 2134a. The second actuation operation unit 213b includes a second actuation rotation shaft 2131b, a second actuation rotation unit 2132b, and a second actuation gear 2134b. Here, the first actuation rotation unit 2132a and the second actuation rotation unit 2132b can operate as a second handle.

[0273] Here, the actuation rotation axes 2131a, 2131b are also formed to form a predetermined angle with the XY plane on which the connecting portion 240 is formed. For example, if the actuation rotation axes 2131a, 2131b are formed in a direction parallel to the Z axis, and in this state, when the pitch operation unit 211 or the yaw operation unit 212 rotates, the coordinate system of the actuation operation unit 213 changes relatively. However, the concept of the present invention is not limited thereto, and it goes without saying that the actuation rotation axes 2131a, 2131b can be formed in various directions to suit the hand structure of the user holding the actuation operation unit 213 according to ergonomic design.

[0274] Meanwhile, the first actuation rotating portion 2132a and the first actuation gear 2134a are fixedly coupled to each other and are formed to be rotatable together around the first actuation rotating shaft 2131a.

[0275] Similarly, the second actuation rotating portion 2132b and the second actuation gear 2134b are fixedly coupled to each other and are formed to be rotatable together around the second actuation rotating shaft 2131b.

[0276] Here, the first actuation gear 2134a and the second actuation gear 2134b are formed to mesh with each other, and when one side rotates, the other side rotates in the opposite direction.

[0277] The yaw operation unit 212 may include a yaw rotation shaft 2121, a first jaw yaw pulley 212P1, a second jaw yaw pulley 212P2, and a yaw frame 2123. While the drawings show the yaw operation unit 212 as including two pulleys, the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2, the concept of the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be included depending on the configuration of the yaw operation unit 212.

[0278] In detail, on one side of the actuation operation part 213 on the first handle 214, , a yaw rotation axis 2121 is formed. At this time, the first handle 214 is formed to be rotatable around the yaw rotation axis 2121.

[0279] Here, the yaw rotation axis 2121 may be formed to form a predetermined angle with the XY plane on which the connecting unit 240 is formed. For example, if the yaw rotation axis 2121 is formed in a direction parallel to the Z axis and the pitch operation unit 211 rotates in this state, the coordinate system of the yaw rotation axis 2121 changes relatively as described above. However, the concept of the present invention is not limited thereto, and it goes without saying that the yaw rotation axis 2121 may be formed in various directions to suit the hand structure of the user holding the operation unit 210 in accordance with ergonomic design.

[0280] Meanwhile, the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 are coupled to the yaw rotation shaft 2121 so as to be rotatable about the yaw rotation shaft 2121. A first jaw wire 230J1 is wound around the first jaw yaw pulley 212P1, and a second jaw wire 230J2 is wound around the second jaw yaw pulley 212P2.

[0281] The yaw frame 2123 connects the first handle 214, the yaw rotation axis 2121, the first actuation rotation axis 2131a, and the second actuation rotation axis 2131b, and the first handle 214, the yaw operation unit 212, and the actuation operation unit 213 rotate together around the yaw rotation axis 2121.

[0282] Meanwhile, the yaw operating unit 212 may further include a first yaw gear 2124a and a second yaw gear 2124b that are rotatable independently of each other around the yaw rotation axis 2121. In this case, the first yaw gear 2124a is fixedly coupled to the first jaw yaw pulley 212P1 and can rotate together with the first jaw yaw pulley 212P1, and the second yaw gear 2124b is fixedly coupled to the second jaw yaw pulley 212P2 and can rotate together with the second jaw yaw pulley 212P2.

[0283] Here, the first actuation gear 2134a and the second actuation gear 2134b are formed to mesh with each other so that when one of them rotates, they rotate together in the opposite direction. Meanwhile, the first actuation gear 2134a and the first yaw gear 2124a are formed to mesh with each other so that when one of them rotates, they rotate together in the opposite direction. Meanwhile, the second actuation gear 2134b and the second yaw gear 2124b are formed to mesh with each other so that when one of them rotates, they rotate together in the opposite direction.

[0284] 21(a) is a diagram related to the actuation operation and yaw operation of the first jaw 121, and the handle of the operation unit 110 is located on the upper side in the diagram, but in the operation unit 210 of the surgical instrument 200 according to the second embodiment of the present invention, as shown in Fig. 31, the first actuation operation units 213a located on the upper and lower sides in the diagram serve as handles for moving the first jaw wire 230J1 to operate the first jaw 221. This is because the first yaw gear 2124a and the first actuation gear 2134a mesh with each other, and while in Fig. 31 the first actuation rotation unit 2132a must be rotated clockwise to perform one actuation operation, in Fig. 21(a) the handle on the upper side in the diagram is rotated counterclockwise. However, both are for the purpose of closing the two jaws 221, 222 of the end tool 220 toward each other, and can be said to be the same operation. Other than that, the configuration of the pulleys and wires is essentially the same, and it can be said that the surgical instrument 200 according to the second embodiment of the present invention is substantially the same as the example described in Figure 21(a).

[0285] The pitch operation unit 211 may include a pitch rotation shaft 2111, a pitch pulley 211P, a pitch auxiliary pulley 211S, and a pitch frame 2113. The pitch operation unit 211 is connected to the bent portion 241 of the connecting portion 240 via the pitch rotation shaft 2111.

[0286] In detail, the pitch frame 2113 serves as a base frame of the pitch operation unit 211, and one end of the pitch frame 2113 is rotatably coupled to the yaw rotation shaft 2121. In other words, the yaw frame 2123 is formed to be rotatable around the yaw rotation shaft 2121 with respect to the pitch frame 2113.

[0287] As described above, the yaw frame 2123 connects the first handle 214, the yaw rotation shaft 2121, the first actuation rotation shaft 2131a, and the second actuation rotation shaft 2131b, and is also connected to the pitch frame 2113. Therefore, when the pitch frame 2113 rotates around the pitch rotation shaft 2111, the yaw frame 2123, the first handle 214, the yaw rotation shaft 2121, the first actuation rotation shaft 2131a, and the second actuation rotation shaft 2131b connected to the pitch frame 2113 rotate together. In other words, when the pitch operation unit 211 rotates around the pitch rotation shaft 2111, the actuation operation unit 213 and the yaw operation unit 212 rotate together with the pitch operation unit 211. In other words, when the user pitches the first handle 214 around the pitch rotation axis 2111, the actuation operation unit 213, the yaw operation unit 212, and the pitch operation unit 211 move together.

[0288] A pitch rotation shaft 2111 and a pitch pulley 211P are coupled to the pitch frame 2113. At this time, the pitch pulley 211P is coupled to the pitch rotation shaft 2111 so as to be rotatable around the pitch rotation shaft 2111. A pitch auxiliary pulley 211S is formed on one side of the pitch pulley 211P.

[0289] The connection relationships between the first handle 214, pitch operation unit 211, yaw operation unit 212, and actuation operation unit 213 can be summarized as follows: Actuation rotation shafts 2131a and 2131b, a yaw rotation shaft 2121, and a pitch rotation shaft 2111 may be formed on the first handle 214. In this case, the actuation rotation shafts 2131a and 2131b are formed directly on the first handle 214, so the first handle 214 and the actuation operation unit 213 are directly connected. On the other hand, the yaw rotation shaft 2121 is formed directly on the first handle 214, so the first handle 214 and the yaw operation unit 212 are directly connected. Meanwhile, since the pitch operation unit 211 is formed on one side of the yaw operation unit 212 so as to be connected to the yaw operation unit 212, the pitch operation unit 211 is not directly connected to the first handle 214, but the pitch operation unit 211 and the first handle 214 are also formed so as to be indirectly connected via the yaw operation unit 212.

[0290] The components for transmitting the operation of the operating unit 210 to the end tool 220 will be described in more detail below.

[0291] A first jaw wire 230J1 that controls the operation of the first jaw 221 of the end tool 220 is fixedly coupled to a point on a first jaw yaw pulley 212P1 of the operating unit 210 and is wound around the first jaw yaw pulley 212P1. Similarly, a second jaw wire 230J2 that controls the operation of the second jaw 222 of the end tool 220 is fixedly coupled to a point on a second jaw yaw pulley 212P2 of the operating unit 210 and is wound around the second jaw yaw pulley 212P2.

[0292] 21, the yaw operation and actuation operation of the end tool 220 are controlled via the rotation of the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2. That is, the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 rotate in the same direction, resulting in the first jaw 221 and the second jaw 222 yaw rotating in the same direction, and as a result, the first jaw 221 and the second jaw 222 actuate rotating in directions different from each other.

[0293] For this reason, a structure is required that allows the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 to rotate in the same direction or in opposite directions in response to the user's yaw operation and actuation operation.

[0294] To this end, the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 are configured to rotate around the same yaw rotation axis 2121, and the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 are connected to each other by one or more gears.

[0295] In detail, the first yaw gear 2124a, which is fixedly coupled to the first jaw yaw pulley 212P1 and can rotate therewith about the yaw rotation axis 2121, is meshed with the first actuation gear 2134a, which is fixedly coupled to the first actuation operation unit 213a and can rotate therewith about the first actuation rotation axis 2131a. The first actuation gear 2134a is meshed with the second actuation gear 2134b, which is fixedly coupled to the second actuation operation unit 213b and can rotate therewith about the second actuation rotation axis 2131b. The second actuation gear 2134b is connected to the second yaw gear 2124b so as to mesh with each other, and at this time, the second yaw gear 2124b is fixedly connected to the second jaw yaw pulley 212P2 and can rotate together around the yaw rotation axis 2121.

[0296] Through this configuration, an actuation operation that rotates the first actuation operating unit 213a and the second actuation operating unit 213b in opposite directions results in the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 rotating in opposite directions, thereby rotating the first jaw 221 and the second jaw 222 of the end tool 220 in opposite directions.

[0297] The first handle 214 is directly coupled to the yaw frame 2123, and the first actuation operation unit 213a and the second actuation operation unit 213b are also connected to the yaw frame 2123. In other words, when the first handle 214 is yaw rotated around the yaw rotation axis 2121, the yaw frame 2123, the first actuation operation unit 213a, the second actuation operation unit 213b, the first actuation gear 2134a, and the second actuation gear 2134b rotate together around the yaw rotation axis 2121. As a result, the first yaw gear 2124a, the second yaw gear 2124b, the first jaw yaw pulley 212P1, and the second jaw yaw pulley 212P2 rotate in the same direction around the yaw rotation axis 2121. Thereby, the first jaw 221 and the second jaw 222 of the end tool 220 perform yaw rotation in the same direction.

[0298] That is, through one or more gear configurations, the first actuation operating unit 213a and the second actuation operating unit 213b rotate in opposite directions by the same rotational amount, and as a result, the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 rotate in opposite directions. Furthermore, the yaw rotation of the operating unit 210 also causes the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 to rotate in the same direction.

[0299] As described above, the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 are rotated by both the actuation operation and the yaw operation. In particular, the structure that rotates the first jaw yaw pulley 212P1 and the second jaw yaw pulley 212P2 in different ways by the actuation operation and the yaw operation can be achieved in various ways, such as a link structure, in addition to a method using gears.

[0300] The actuation operation, yaw operation, and pitch operation in this embodiment will be described as follows.

[0301] First, the actuation operation is as follows.

[0302] The first actuation gear 2134a, which rotates together with the first actuation operating part 213a, and the second actuation gear 2134b, which rotates together with the second actuation operating part 213b, are formed to mesh with each other, so that when either the first actuation operating part 213a or the second actuation operating part 213b rotates, the other will also rotate.

[0303] When the first actuation operation unit 213a and the first actuation gear 2134a rotate clockwise, the first yaw gear 2124a formed to mesh with the first actuation gear 2134a rotates counterclockwise. Also, when the first actuation operation unit 213a and the first actuation gear 2134a rotate clockwise, the second actuation gear 2134b formed to mesh with the first actuation gear 2134a rotates counterclockwise, and the second yaw gear 2124b formed to mesh with the second actuation gear 2134b rotates clockwise.

[0304] As a result, the first jaw yaw pulley 212P1 connected to the first yaw gear 2124a and the second jaw yaw pulley 212P2 connected to the second yaw gear 2124b rotate in opposite directions, and therefore the first jaw 221 connected to the first jaw yaw pulley 212P1 and the second jaw 222 connected to the second jaw yaw pulley 212P2 rotate in opposite directions, thereby performing actuation motion.

[0305] Next, the yaw motion is as follows:

[0306] On the other hand, if the first handle 214 is rotated in one direction around the yaw rotation axis 2121 for yaw operation, the actuation operating part 213 formed at one end of the first handle 214 will also rotate around the yaw rotation axis 2121 together with the first handle 214.

[0307] At this time, the entire actuation operating unit 213 rotates around the yaw rotation axis 2121, so the first actuation gear 2134a and the second actuation gear 2134b do not rotate relative to each other, and therefore the first yaw gear 2124a and the second yaw gear 2124b, which are meshed with the first actuation gear 2134a and the second actuation gear 2134b, respectively, also do not rotate relative to each other.

[0308] That is, the first handle 214, actuation operation unit 213, first actuation gear 2134a, second actuation gear 2134b, first yaw gear 2124a, and second yaw gear 2124b simultaneously rotate around the yaw rotation axis 2121 like a single rigid body. Therefore, the first jaw yaw pulley 212P1 connected to the first yaw gear 2124a and the second jaw yaw pulley 212P2 connected to the second yaw gear 2124b rotate together in one direction, thereby performing a yaw operation in which the first jaw 221 and the second jaw 222 rotate in the same direction.

[0309] Next, the pitch operation is as follows:

[0310] When a user holds the first handle 214 in their hand and rotates the first handle 214 about the pitch rotation axis 2111, the actuation operation unit 213, yaw operation unit 212, and pitch operation unit 211 perform pitch rotation about the pitch rotation axis 2111. That is, when the first jaw / yaw pulley 212P1 of the yaw operation unit 212 to which the first jaw wire 230J1 is fixedly coupled rotates about the pitch rotation axis 2111, the first jaw wire 230J1 wound around the pitch pulley 211P moves. Similarly, when the second jaw / yaw pulley 212P2 of the yaw operation unit 212 to which the second jaw wire 230J2 is fixedly coupled rotates about the pitch rotation axis 2111, the second jaw wire 230J2 wound around the pitch pulley 211P moves. Such a rotational force is transmitted to the end tool 220 via the power transmission unit 20, and the two jaws 221 and 222 of the end tool 220 perform a pitch motion.

[0311] At this time, the pitch frame 2113 is connected to the yaw frame 2123, and the yaw frame 2123 connects the first knob 214, the yaw rotation shaft 2121, the first actuation rotation shaft 2131a, and the second actuation rotation shaft 2131b, so when the pitch frame 2113 rotates around the pitch rotation shaft 2111, the yaw frame 2123, the first knob 214, the yaw rotation shaft 2121, the first actuation rotation shaft 2131a, and the second actuation rotation shaft 2131b connected to the pitch frame 2113 rotate together. In other words, when the pitch operation unit 211 rotates around the pitch rotation shaft 21111, the actuation operation unit 213 and the yaw operation unit 212 rotate together with the pitch operation unit 211.

[0312] In summary, the surgical instrument 200 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and rotational operation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired movement of the end tool 220. Furthermore, an auxiliary pulley is formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound multiple times around one pulley.

[0313] <Third embodiment of surgical instrument> The following describes a surgical instrument 300 according to a third embodiment of the present invention. Surgical instrument 300 according to the third embodiment of the present invention is characterized by a difference in the configuration of operating section 310 of surgical instrument 300 compared to surgical instrument 200 according to the second embodiment of the present invention (FIG. 32). The differences compared to the second embodiment will be described in detail below.

[0314] FIG. 41 is a perspective view showing a surgical instrument according to a third embodiment of the present invention, FIG. 42 is a plan view of the surgical instrument of FIG. 41, and FIG. 43 is a perspective view showing an operating portion of the surgical instrument of FIG. 42.

[0315] Referring to Figures 41, 42, and 43, a surgical instrument 300 according to the third embodiment of the present invention differs from the second embodiment in the actuation operation unit, which is composed of a first yaw gear, a second yaw gear, a first actuation gear, and a second actuation gear, and the yaw operation unit, but the resulting operating mechanism is the same.

[0316] The actuation operation unit 313 includes a first actuation operation unit 313a and a second actuation operation unit 313b. The first actuation operation unit 313a includes a first actuation rotation unit 3132a and a first actuation gear 3134a. The second actuation operation unit 313b includes a second actuation rotation unit 3132b and a second actuation gear 3134b. Here, the first actuation rotation unit 3132a and the second actuation rotation unit 3132b can operate as a second handle. The actuation operation unit 313 further includes a third actuation gear 3134c.

[0317] Meanwhile, the first actuation rotating portion 3132a and the first actuation gear 3134a are fixedly coupled to each other and are formed to be rotatable together around the yaw rotation axis 3121. Similarly, the second actuation rotating portion 3132b and the second actuation gear 3134b are fixedly coupled to each other and are formed to be rotatable together around the yaw rotation axis 3121.

[0318] Here, the first actuation gear 3134a and the second actuation gear 3134b are formed to mesh with each other by the third actuation gear 3134c, and are also formed to rotate together in the opposite direction when one side rotates.

[0319] The yaw operation unit 312 may include a yaw rotation shaft 3121, a first jaw yaw pulley 312P1, and a second jaw yaw pulley 312P2. The first jaw yaw pulley 312P1 and the second jaw yaw pulley 312P2 are connected to the yaw rotation shaft 3121 so as to be rotatable about the yaw rotation shaft 3121. The first jaw yaw pulley 312P1 is fixedly coupled to a first actuation gear 3134a and can rotate therewith, and the second jaw yaw pulley 312P2 is fixedly coupled to a second actuation gear 3134b and can rotate therewith. A first jaw wire 330J1 is wound around the first jaw yaw pulley 312P1, and a second jaw wire 330J2 is wound around the second jaw yaw pulley 312P2. The first jaw yaw pulley 312P1 and the second jaw yaw pulley 312P2 are formed to face each other and are configured as two pulleys that can rotate independently. The rotation axis of the third actuation gear 3134c is connected to the first handle 314, so that when the first handle 314 rotates, the third actuation gear 3134c can also rotate.

[0320] The actuation operation and yaw operation in this embodiment will be described as follows.

[0321] First, the actuation operation will be described. Figures 46 and 47 are diagrams showing the actuation operation of the surgical instrument of Figure 41.

[0322] 46 and 47, the first actuation gear 3134a, which rotates together with the first actuation rotation portion 3132a, and the second actuation gear 3134b, which rotates together with the second actuation rotation portion 3132b, are formed to mesh with each other via the third actuation gear 3134c, so that when either the first actuation rotation portion 3132a or the second actuation rotation portion 3132b rotates, the other also rotates. When the first actuation rotation portion 3132a and the first actuation gear 3134a rotate in the direction of arrow A1 around the yaw rotation axis 3121, the third actuation gear 3134c, which is formed to mesh with the first actuation gear 3134a, rotates, and when the third actuation gear 3134c rotates, the third actuation gear 3134c meshes with the third actuation gear 3134c. The second actuation gear 3134b formed in this manner rotates in the direction of A2 around the yaw rotation axis 3121.

[0323] As a result, the first jaw yaw pulley 312P1 connected to the first actuation gear 3134a and the second jaw yaw pulley 312P2 connected to the second actuation gear 3134b rotate in opposite directions, and therefore the first jaw 321 connected to the first jaw yaw pulley 312P1 and the second jaw 322 connected to the second jaw yaw pulley 312P2 rotate in opposite directions, thereby performing actuation movement.

[0324] Next, the yaw movement will be described. Figures 44 and 45 are diagrams showing the yaw movement of the surgical instrument of Figure 41.

[0325] 44 and 45, when the first handle 314 is rotated around the yaw rotation axis 3121, the third actuation gear central axis 3134c1 connected to the first handle 314 rotates around the yaw rotation axis 3121, and the third actuation gear 3134c formed on the third actuation gear central axis 3134c1 revolves around the yaw rotation axis 3121. Therefore, the first actuation gear 3134a and the second actuation gear 3134b connected to the third actuation gear 3134c simultaneously rotate in the direction of the arrow Y.

[0326] As a result, the first jaw yaw pulley 312P1 connected to the first actuation gear 3134a and the second jaw yaw pulley 312P2 connected to the second actuation gear 3134b rotate in the same direction, and therefore the first jaw 321 connected to the first jaw yaw pulley 312P1 and the second jaw 322 connected to the second jaw yaw pulley 312P2 rotate in the same direction, thereby performing yaw motion.

[0327] The configuration and operation of other parts are the same as those of the second embodiment, so detailed description thereof will be omitted.

[0328] <Fourth embodiment of surgical instrument> A surgical instrument 400 according to a fourth embodiment of the present invention will be described below. The surgical instrument 400 according to the fourth embodiment of the present invention is characterized by a difference in the configuration of the operating section 410 of the surgical instrument 400 compared to the surgical instrument 300 according to the third embodiment of the present invention (FIG. 41). Therefore, the differences in configuration compared to the third embodiment will be described in detail.

[0329] FIG. 48 is a perspective view showing the yaw operation of the surgical instrument according to the fourth embodiment of the present invention, and FIG. 49 is a diagram showing the actuation operation of the surgical instrument according to the fourth embodiment of the present invention.

[0330] A surgical instrument 400 according to the fourth embodiment of the present invention differs from the third embodiment in that an actuation operation unit 413 including a first actuation gear 4124a, a second actuation gear 4124b, and a third actuation gear 4134, etc., and a yaw operation unit 412. In the third embodiment, a first actuation rotation unit 3132a is fixedly coupled to a first actuation gear 3134a, and a second actuation rotation unit 3132b is fixedly coupled to a second actuation gear 3134b. In contrast, the fourth embodiment differs in that a first actuation rotation unit 4132 is fixedly coupled to a third actuation gear 4134. Another difference is that the fourth embodiment performs actuation operations solely through rotation of the first actuation rotation unit 4132. For ease of explanation, the first actuation gear, second actuation gear, third actuation gear, and first actuation rotating portion of the third embodiment will be referred to as the first yaw gear, second yaw gear, actuation gear, and actuation rotating portion, respectively, in the fourth embodiment.

[0331] The actuation operation and yaw operation in this embodiment will be described as follows.

[0332] First, the actuation operation will be described. Figure 49 is a diagram showing the actuation operation of the surgical instrument of Figure 48.

[0333] When the actuation rotating part 4132 and the actuation gear 4134 connected thereto rotate in the direction of arrow A in Figure 49, the first yaw gear 4124a and the second yaw gear 4124b, which are formed to mesh with the actuation gear 4134, rotate in opposite directions around the yaw rotation axis 4121.

[0334] As a result, the first jaw yaw pulley 412P1, which is fixedly connected to the first yaw gear 4124a, and the second jaw yaw pulley 412P2, which is fixedly connected to the second yaw gear 4124b, rotate in opposite directions. Therefore, the first jaw 421, which is connected to the first jaw yaw pulley 412P1, and the second jaw 422, which is connected to the second jaw yaw pulley 412P2, rotate in opposite directions, thereby performing actuation motion.

[0335] Next, the yaw operation will be described.

[0336] When the first handle 414 is rotated around the yaw rotation axis 4121, the actuation gear central axis 4134A connected to the first handle 414 rotates around the yaw rotation axis 4121, and the actuation gear 4134 formed on the actuation gear central axis 4134A revolves around the yaw rotation axis 4121. Therefore, the first yaw gear 4124a and the second yaw gear 4124b connected to the actuation gear 4134 rotate simultaneously in the same direction, in the direction of the arrow Y.

[0337] As a result, the first jaw yaw pulley 412P1, which is fixedly connected to the first yaw gear 4124a, and the second jaw yaw pulley 412P2, which is fixedly connected to the second gear 335G2, rotate in the same direction. Therefore, the first jaw 421, which is connected to the first jaw yaw pulley 412P1, and the second jaw 422, which is connected to the second jaw yaw pulley 412P2, rotate in the same direction, thereby performing yaw motion.

[0338] The configuration and operational characteristics of other parts are the same as those of the third embodiment, so detailed description thereof will be omitted.

[0339] <Fifth embodiment of surgical instrument> A surgical instrument 500 according to a fifth embodiment of the present invention will be described below. The surgical instrument 500 according to the fifth embodiment of the present invention is characterized by a difference in the configuration of the operating section 510 of the surgical instrument 500 compared to the surgical instrument 200 according to the second embodiment of the present invention (FIG. 32). Therefore, the differences in configuration compared to the second embodiment will be described in detail.

[0340] Meanwhile, a surgical instrument 500 according to a fifth embodiment of the present invention is an embodiment in which the modified example shown in Fig. 24 is specifically realized. That is, the first jaw-yaw auxiliary pulley 112S1 in Fig. 24(a) corresponds to the first jaw-yaw auxiliary pulley 512S1 in Fig. 53, the first jaw-yaw pulley 112P1 in Fig. 24(a) corresponds to the first jaw-yaw pulley 512P1 in Fig. 53, and the first actuation pulley 113P1 in Fig. 24(a) corresponds to the first actuation pulley (not shown) in Fig. 53.

[0341] FIG. 50 is a perspective view showing a surgical instrument according to a fifth embodiment of the present invention, FIG. 51 is a plan view of the surgical instrument of FIG. 50, and FIG. 52 is a perspective view showing the operating portion of the surgical instrument of FIG. 51.

[0342] The actuation operation unit 513 includes an actuation rotating shaft 5131, a first actuation operation unit 513a, and a second actuation operation unit 513b. The first actuation operation unit 513a includes a first actuation rotating shaft 5131a, a first actuation rotating unit 5132a, and a first actuation gear 5134a. The second actuation operation unit 513b includes a second actuation rotating shaft 5131b, a second actuation rotating unit 5132b, and a second actuation gear 5134b. Here, the first actuation rotating unit 5132a and the second actuation rotating unit 5132b can operate as a second handle.

[0343] At this time, the first actuation rotating portion 5132a and the first actuation gear 5134a are fixedly coupled to each other and are rotatable together around the first actuation rotation shaft 5131a. Similarly, the second actuation rotating portion 5132b and the second actuation gear 5134b are fixedly coupled to each other and are rotatable together around the second actuation rotation shaft 5131b.

[0344] Meanwhile, the first actuation gear 5134a and the second actuation gear 5134b are formed to mesh with each other, and when one side rotates, the other side rotates in the opposite direction.

[0345] The actuation rotation shaft 5131 includes a third actuation gear 5134c and a fourth actuation gear 5134d that are formed to be independently rotatable about the actuation rotation shaft 5131.

[0346] In addition, a third actuation pulley (not shown) may be formed on one side of the third actuation gear 5134c, fixedly connected to the third actuation gear 5134c and rotating therewith, and a fourth actuation pulley 5133d may be formed on one side of the fourth actuation gear 5134d, fixedly connected to the fourth actuation gear 5134d and rotating therewith.

[0347] The first actuation gear 5134a and the third actuation gear 5134c are formed to mesh with each other so that when one of them rotates, they rotate together in the opposite direction, while the second actuation gear 5134b and the fourth actuation gear 5134d are formed to mesh with each other so that when one of them rotates, they rotate together in the opposite direction.

[0348] Meanwhile, a first jaw yaw pulley 512P1 is formed on one side of the third actuation gear 5134c and the third actuation pulley (not shown), and the third actuation pulley (not shown) and the first jaw yaw pulley 512P1 are connected via a first jaw wire 530J1, so that when the third actuation gear 5134c rotates, the first jaw yaw pulley 512P1 rotates together. In this case, the first jaw wire 530J1 is wound so as to be fixedly connected to one point of the third actuation pulley (not shown), and is wound crosswise around the first jaw yaw pulley 512P1, so that the first jaw yaw pulley 512P1 can rotate in the opposite direction to that of the third actuation pulley (not shown).

[0349] A second jaw yaw pulley 512P2 is formed on one side of the fourth actuation gear 5134d and the fourth actuation pulley 5133d. The fourth actuation pulley 5133d and the second jaw yaw pulley 512P2 are connected via a second jaw wire 530J2, so that when the fourth actuation gear 5134d rotates, the second jaw yaw pulley 512P2 rotates together. In this case, the second jaw wire 530J2 is wound so as to be fixedly connected to one point of the fourth actuation pulley 5133d, and is wound crosswise around the second jaw yaw pulley 512P2, so that the second jaw yaw pulley 512P2 can rotate in the opposite direction to that of the fourth actuation pulley 5133d.

[0350] At this time, the first jaw yaw pulley 512P1 and the second jaw yaw pulley 512P2 are formed to be able to rotate independently around the yaw rotation axis 5121.

[0351] The yaw operation unit 512 may include a yaw rotation shaft 5121, a first jaw yaw pulley 512P1, and a second jaw yaw pulley 512P2. The pitch operation unit 511 may include a pitch rotation shaft 5111, a pitch pulley 511P, a pitch auxiliary pulley 211S, and a pitch frame 5113. The pitch operation unit 511 is connected to the bent portion 541 of the connecting portion 540 via the pitch rotation shaft 5111.

[0352] The actuation operation, yaw operation, and pitch operation in this embodiment will be described as follows.

[0353] First, the actuation operation is as follows.

[0354] Referring to Figures 50 to 55, the first actuation gear 5134a, which rotates together with the first actuation operation part 513a, and the second actuation gear 5134b, which rotates together with the second actuation operation part 513b, are formed to mesh with each other, so that when either the first actuation operation part 513a or the second actuation operation part 513b rotates, the other will also rotate.

[0355] When the first actuation operating part 513a and the first actuation gear 5134a rotate in the direction of arrow A1 around the first actuation rotation axis 5131a, the third actuation gear 5134c formed to mesh with the first actuation gear 5134a will rotate in the opposite direction of A1.

[0356] Similarly, the second actuation gear 5134b formed to mesh with the first actuation gear 5134a will rotate in the direction of arrow A2, and the fourth actuation gear 5134d formed to mesh with the second actuation gear 5134b will rotate in the opposite direction of A2.

[0357] As a result, the third actuation pulley (not shown), which is fixedly connected to the third actuation gear 5134c, and the fourth actuation pulley 5133d, which is fixedly connected to the fourth actuation gear 5134d, rotate in opposite directions to each other, and as a result, the first jaw 521, which is connected to the third actuation pulley (not shown), and the second jaw 522, which is connected to the fourth actuation pulley 5133d, rotate in opposite directions, thereby performing actuation movement.

[0358] Here, this embodiment is characterized by having a yaw rotation shaft 5121 and an actuation rotation shaft 5131 separately. The first jaw yaw pulley 512P1 and the second jaw yaw pulley 512P2 are formed to be independently rotatable around the yaw rotation shaft 5121.

[0359] That is, in the second embodiment, the first yaw gear 2124a, the second yaw gear 2124b, the first jaw yaw pulley 212P1, and the second jaw yaw pulley 212P2 were all formed on the yaw rotation shaft 2121, but in the present embodiment, the third actuation gear 5134c and the fourth actuation gear 5134d are formed on the actuation rotation shaft 5131, and the first jaw yaw pulley 512P1 and the second jaw yaw pulley 512P2 are formed on the yaw rotation shaft 5121.

[0360] Therefore, in order for this embodiment to have the same operational characteristics as the second embodiment, the first jaw wire 530J1 must cross once between the third actuation pulley (not shown) and the first jaw yaw pulley 512P1, and the second jaw wire 530J2 must cross once between the fourth actuation pulley 5133d and the second jaw yaw pulley 512P2. In this way, only when the first jaw wire 530J1 and the second jaw wire 530J2 cross once can the operation of the operating unit 510 and the operation of the end tool 520 intuitively match.

[0361] Next, the yaw movement will be described. Figures 54 and 55 are diagrams showing the yaw movement of the surgical instrument of Figure 50.

[0362] 50 to 55, when the first handle 514 is rotated in one direction around the yaw rotation axis 5121, the actuation operation unit 513 formed on one end of the first handle 514 also rotates together with the first handle 514 around the yaw rotation axis 5121. At this time, since the entire actuation operation unit 513 rotates around the yaw rotation axis 5121, the first actuation gear 5134a and the second actuation gear 5134b do not rotate relative to each other, and therefore the third actuation gear 5134c and the fourth actuation gear 5134d meshed with the first actuation gear 5134a and the second actuation gear 5134b, respectively, do not rotate relative to each other either.

[0363] That is, the first handle 514, actuation operation unit 513, first actuation gear 5134a, second actuation gear 5134b, third actuation gear 5134c, fourth actuation gear 5134d, first jaw yaw pulley 512P1, and second jaw yaw pulley 512P2 rotate simultaneously around the yaw rotation axis 5121 like a single rigid body. As a result, the first jaw yaw pulley 512P1 and the second jaw yaw pulley 512P2 rotate together in one direction, and a yaw operation is performed in which the first jaw 521 and the second jaw 522 rotate in the same direction.

[0364] The configuration and operational characteristics of other parts are the same as those of the second embodiment, so detailed description thereof will be omitted.

[0365] <Sixth embodiment of surgical instrument> A surgical instrument 600 according to a sixth embodiment of the present invention will be described below. The surgical instrument 600 according to the sixth embodiment of the present invention is characterized by a difference in the configuration of the operating section 610 of the surgical instrument 600 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2). The differences in configuration compared to the first embodiment will be described in detail later.

[0366] Fig. 56 is a perspective view showing a surgical instrument according to a sixth embodiment of the present invention, Fig. 57 is an internal perspective view of the surgical instrument of Fig. 56, Fig. 58 is an internal perspective view of the surgical instrument of Fig. 56 and an internal perspective view showing the wiring structure, Fig. 59 is a perspective view showing the yaw movement of the surgical instrument of Fig. 56, and Fig. 60 is a perspective view showing the pitch movement of the surgical instrument of Fig. 56.

[0367] 56 to 60, a surgical instrument 600 according to the sixth embodiment of the present invention includes an operating unit 610, an end tool 620, a power transmission unit 60, and a connecting unit 640. Here, the connecting unit 640 is formed in a hollow shaft shape, and one or more wires (described below) are housed therein. The operating unit 610 is coupled to one end of the connecting unit 640, and the end tool 620 is coupled to the other end of the connecting unit 640, thereby connecting the operating unit 610 and the end tool 620. The connecting unit 640 may have a bent portion 641 formed on the operating unit 610 side.

[0368] The operating unit 610 of the surgical instrument 600 according to the sixth embodiment of the present invention includes a pitch operating unit 611 that controls the pitch movement of the end tool 620, a yaw operating unit 612 that controls the yaw movement of the end tool 620, an actuation operating unit 613 that controls the actuation movement of the end tool 620, and a first handle 614 that can be held by the user.

[0369] First, to illustrate an example of how the surgical instrument 600 in Figure 56 is used, a user holds the first handle 614 in the palm of their hand and rotates the first handle 614 around the Y-axis (i.e., pitch rotation axis 6111) to perform a pitch movement, rotates the first handle 614 around the Z-axis (i.e., yaw rotation axis 6121) to perform a yaw movement, and with their thumb and index finger inserted into the actuation operation unit 613, rotates the actuation operation unit 613 to perform an actuation movement.

[0370] Here, in the surgical instrument 600 according to the sixth embodiment of the present invention, compared to the first embodiment, the yaw operation unit 612 is formed to be considerably spaced apart from the first handle 614. That is, the actuation operation unit 613 and the pitch operation unit 611 are formed on the first handle 614 and relatively close to the first handle 614, whereas the yaw operation unit 612 is connected to the pitch rotation shaft 6111 of the pitch operation unit 611 via an I-shaped yaw frame 6123 and is formed on one side of the bending portion 641 so that the yaw operation unit 612 and the bending portion 641 are connected to each other by the yaw rotation shaft 6121. Therefore, the yaw operation unit 612 is formed to be spaced apart from the first handle 614 in the Z-axis direction by the length of the yaw frame 6123. In other words, the yaw rotation axis 6121 is formed on the upper side in the Z-axis direction rather than on the side of the actuation operation unit 613, and multiple pulleys are arranged between the yaw rotation axis 6121 and the actuation operation unit 613. When the user yaw rotates the first handle 614, the first handle 614, the actuation operation unit 613, and the pitch operation unit 611 will all rotate around the yaw rotation axis 6121.

[0371] In the first embodiment, the joint configuration of the operating unit for controlling the operation of the end tool is connected in the order of the pitch joint and the yaw joint. That is, the wire connected for transmitting power to the end tool passes through a connecting portion and a bending portion, and is first connected to the pitch joint of the operating unit, and then connected to the yaw joint.

[0372] However, in the case of the sixth embodiment, the order in which the joints of the operation unit are configured is different from that of the first embodiment, and they are connected in the order of the yaw joint and the pitch joint. In other words, from the perspective of the connection configuration with the end tool, the yaw operation unit is formed first, and then the pitch operation unit and the excitation operation unit are formed on the yaw operation unit, which is a major difference.

[0373] However, the sixth embodiment, like the first embodiment, also shares the characteristic that the end tool intuitively rotates in the same direction as the operation direction of the operation unit. That is, as described with reference to FIG. 1, when a user moves the handle for actuation rotation, pitch rotation, and yaw rotation, the rotation axis of the operation unit for the rotation is located rearward (toward the user), similar to the end tool. More specifically, the first handle 614 is formed so that the user can hold it in their hand, and particularly so that the user can grip the first handle 614 with their palm. An actuation operation unit 613 is formed on the first handle 614, and a pitch operation unit 611 is formed on one side of the actuation operation unit 613. The pitch operation unit 611 is connected to a yaw operation unit 612 via a yaw frame 6123. One side of the yaw frame 6123 is connected to a pitch rotation axis 6111, and the other side is connected to a yaw rotation axis 6121.

[0374] The actuation operation unit 613 includes a first actuation operation unit 613a and a second actuation operation unit 613b. The first actuation operation unit 613a includes a first actuation rotation shaft 6131a, a first actuation rotation unit 6132a, a first actuation pulley 613P1, and a first actuation gear 6134a. The second actuation operation unit 613b includes a second actuation rotation shaft 6131b, a second actuation rotation unit 6132b, a second actuation pulley 613P2, and a second actuation gear 6134b. Here, the first actuation rotation unit 6132a and the second actuation rotation unit 6132b can function as a second handle.

[0375] Meanwhile, the first actuation rotating portion 6132a, the first actuation pulley 613P1, and the first actuation gear 6134a are fixedly coupled to one another and are formed to be rotatable together around the first actuation rotating shaft 6131a.

[0376] Similarly, the second actuation rotating portion 6132b, the second actuation pulley 613P2, and the second actuation gear 6134b are fixedly coupled to one another and are formed to be rotatable together around the second actuation rotating shaft 6131b.

[0377] Here, the first actuation gear 6134a and the second actuation gear 6134b are formed to mesh with each other, and when one side rotates, the other side rotates in the opposite direction.

[0378] The pitch operation unit 611 may include a pitch rotation shaft 6111, a plurality of pitch pulleys 611P, a plurality of pitch auxiliary pulleys 611S, and a pitch frame 6113. The pitch operation unit 611 may further include a plurality of pitch wire pitch pulleys 611PP, a pitch wire pitch auxiliary pulley 611PS, and a pitch wire pitch return pulley 611PR.

[0379] A pitch rotation shaft 6111 and a pitch pulley 611P are coupled to the pitch frame 6113. At this time, the pitch pulley 611P is connected to the pitch rotation shaft 6111 so as to be rotatable around the pitch rotation shaft 6111.

[0380] The pitch frame 6113 serves as a base frame for the pitch operation unit 611 and connects the pitch rotation shaft 6111, the first actuation rotation shaft 6131a, and the second actuation rotation shaft 6131b, so that the first handle 614, the actuation operation unit 613, and the pitch operation unit 611 are all rotatable around the pitch rotation shaft 6111. In other words, when the first handle 614 rotates around the pitch rotation shaft 6111, the first actuation rotation shaft 6131a and the second actuation rotation shaft 6131b connected to the first handle 614 rotate together. In other words, when the user pitch-rotates the first handle 614 around the pitch rotation shaft 6111, the actuation operation unit 613 moves together with the first handle 614.

[0381] The yaw operation unit 612 may include a yaw rotation shaft 6121, a first jaw yaw pulley 612P1, a second jaw yaw pulley 612P2, and a yaw frame 6123. The yaw operation unit 612 may further include a first jaw yaw auxiliary pulley 612S1 formed on one side of the first jaw yaw pulley 612P1, and a second jaw yaw auxiliary pulley 612S2 formed on one side of the second jaw yaw pulley 612P2.

[0382] In detail, the yaw frame 6123 is a base frame of the yaw operation unit 612 and is also formed as an I-shaped frame. One side of the yaw frame 6123 is connected to the pitch rotation shaft 6111, and the other side is connected to the yaw rotation shaft 6121. The yaw frame 6123 and the bent portion 641 of the extension portion 640 are formed to be rotatable relative to each other around the yaw rotation shaft 6121.

[0383] In addition, a first pitch wire yaw pulley 612PP1, a first pitch wire yaw auxiliary pulley 612PS1, a second pitch wire yaw pulley 612PP2, and a second pitch wire yaw auxiliary pulley 612PS2, around which the pitch wire 630P is wound, may be further formed on one side of each of the first jaw yaw pulley 612P1, the first jaw yaw auxiliary pulley 612S1, the second jaw yaw pulley 612P2, and the second jaw yaw auxiliary pulley 612S2.

[0384] Although the drawings show each of the first jaw yaw pulley 612P1, second jaw yaw pulley 612P2, first jaw yaw auxiliary pulley 612S1, second jaw yaw auxiliary pulley 612S2, first pitch wire yaw pulley 612PP1, first pitch wire yaw auxiliary pulley 612PS1, second pitch wire yaw pulley 612PP2, and second pitch wire yaw auxiliary pulley 612PS2 of the yaw control unit 612 as including two pulleys, the concept of the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be provided depending on the configuration of the yaw control unit 612.

[0385] In detail, the yaw rotation shaft 6121 is inserted through the bending portion 641, the yaw frame 6123, the first jaw yaw pulley 612P1, and the second jaw yaw pulley 612P2. Therefore, the yaw frame 6123 is formed to be rotatable relative to the bending portion 641 around the yaw rotation shaft 6121. The pitch frame 6113 is coupled to the actuation operation unit 613, and the actuation operation unit 613 is coupled to the first handle 614. Therefore, as a result, when the first handle 614 is rotated around the yaw rotation shaft 6121, the first handle 614, the actuation operation unit 613, the pitch frame 6113, and the yaw frame 6123 all rotate relative to the bending portion 641.

[0386] With this configuration, the rotation axis of the yaw joint of the operating unit and the rotation axis of the pitch joint are arranged close to each other so that they intersect, as shown in FIG. 57, which has the effect of providing a more natural and intuitive operating feel to the user when operating the unit.

[0387] Meanwhile, the first jaw yaw pulley 612P1 and the second jaw yaw pulley 612P2 are connected to the yaw rotation shaft 6121 so as to be rotatable about the yaw rotation shaft 6121. A first jaw wire 630J1 is wound around the first jaw yaw pulley 612P1, and a second jaw wire 630J2 is wound around the second jaw yaw pulley 612P2. The first jaw yaw pulley 612P1 and the second jaw yaw pulley 612P2 are formed to face each other and are also composed of two pulleys that are rotatable independently. Therefore, the wire that is wound in and the wire that is wound out are wound around separate pulleys, respectively, and can operate without interfering with each other.

[0388] Similarly, the first jaw-yaw auxiliary pulley 612S1 and the second jaw-yaw auxiliary pulley 612S2 are each formed to face each other and are configured as two pulleys that can rotate independently. Therefore, the wire that is wound in and the wire that is wound out are wound on separate pulleys, respectively, and can operate without interfering with each other.

[0389] The connection relationships between the first handle 614 and the pitch operation unit 611, yaw operation unit 612, and actuation operation unit 613 can be summarized as follows: Actuation rotation shafts 6131a and 6131b, a yaw rotation shaft 6121, and a pitch rotation shaft 6111 may be formed on the first handle 614. In this case, the actuation rotation shafts 6131a and 6131b are formed directly on the first handle 614, so the first handle 614 and the actuation operation unit 613 are directly connected. On the other hand, the pitch rotation shaft 6111 is formed directly on the first handle 614, so the first handle 614 and the pitch operation unit 611 are directly connected. On the other hand, since the yaw operation unit 612 is formed to be connected to the pitch operation unit 611 via the yaw frame 6123, the yaw operation unit 612 is not directly connected to the first handle 614, but is also formed to be indirectly connected to the first handle 614 via the pitch operation unit 611.

[0390] The actuation operation, yaw operation, and pitch operation in this embodiment will be described as follows.

[0391] First, the actuation operation is as follows.

[0392] When a user inserts his / her index finger into the first actuation rotating portion 6132a and his / her thumb into the second actuation rotating portion 6132b, and uses either one or both fingers to rotate the actuation rotating portions 6132a, 6132b, the first actuation pulley 613P1 and the first actuation gear 6134a, which are fixedly connected to the first actuation rotating portion 6132a, rotate around the first actuation rotation axis 6131a, and the second actuation pulley 6133b and the second actuation gear 6134b, which are fixedly connected to the second actuation rotating portion 6132b, rotate around the second actuation rotation axis 6131b. At this time, the first actuation pulley 613P1 and the second actuation pulley 613P2 rotate in opposite directions, and therefore the first jaw wire 630J1, one end of which is fixedly connected to the first actuation pulley 613P1, and the second jaw wire 630J2, one end of which is fixedly connected to the second actuation pulley 613P2, also move in opposite directions. This rotational force is then transmitted to the end tool 620 via the power transmission unit 60, and the two jaws 621 and 622 of the end tool 620 perform an actuation operation.

[0393] Next, the pitch operation is as follows:

[0394] 57 and 60, when a user holds the first handle 614 in his / her hand and rotates the first handle 614 about the pitch rotation axis 6111, the actuation operation unit 613 also performs pitch rotation about the pitch rotation axis 6111. That is, when the first actuation pulley 613P1 of the first actuation operation unit 613a to which the first jaw wire 630J1 is fixedly coupled rotates about the pitch rotation axis 6111, both strands 630J1R, 630J1L of the first jaw wire 630J1 wound around the pitch pulley 611P move in the same direction. Similarly, when the second actuation pulley 613P2 of the second actuation operation unit 613b, to which the second jaw wire 630J2 is fixedly coupled, rotates about the pitch rotation axis 6111, both strands 630J2R and 630J2L of the second jaw wire 630J2 wound around the pitch pulley 611P move in the same direction. Such a rotational force is then transmitted to the end tool 620 via the power transmission unit 60, and the two jaws 621 and 622 of the end tool 620 perform a pitch movement.

[0395] Meanwhile, as shown in FIG. 58, the end tool 620 is formed with a pitch pulley 623P and a pitch wire 630P, and the pitch operation of the operating part 610 makes the pitch movement of the end tool 620 easier.

[0396] Both strands 630PL and 630PR of pitch wire 630P are wound around pitch wire pitch return pulleys 611PR through yaw operation unit 612 and pitch operation unit 611, and are fixedly connected to a point on each of the bent portions through pitch operation unit 611 and yaw operation unit 612.

[0397] When a user pitch-rotates first handle 614 around pitch rotation axis 6111, pitch wire pitch return pulley 611PR also rotates around pitch rotation axis 611. At this time, both strands 630PL, 630PR of pitch wire 630P are formed to be wound in opposite directions to each other around pitch wire pitch pulley 611PP formed to rotate around pitch rotation axis 611. As a result, both strands 630PL, 630PR of pitch wire 630P close to end tool 620 move in opposite directions to each other, and additional pitch rotation power can be transmitted in addition to the pitch movement of end tool 620 by first jaw wire 630J1 and second jaw wire 630J2.

[0398] Next, the yaw motion is as follows:

[0399] 57 and 59, when a user holds the first handle 614 and rotates the first handle 614 about the yaw rotation axis 6121, the actuation operation unit 613, pitch operation unit 611, and yaw operation unit 612 perform yaw rotation about the yaw rotation axis 6121. That is, when the first actuation pulley 613P1 of the first actuation operation unit 613a to which the first jaw wire 630J1 is fixedly coupled rotates about the yaw rotation axis 6121, the first jaw wire 630J1 wound around the first jaw yaw pulley 612P1 moves. Similarly, when the second actuation pulley 613P2 of the second actuation operation unit 613b, to which the second jaw wire 630J2 is fixedly coupled, rotates about the yaw rotation axis 6121, the second jaw wire 630J2 wound around the second jaw yaw pulley 612P2 moves. At this time, the first jaw wire 630J1 connected to the first jaw 621 and the second jaw wire 630J2 connected to the second jaw 622 may be configured so that the first jaw 621 and the second jaw 622 rotate in the same direction during yaw rotation. Then, such a rotational force is transmitted to the end tool 620 via the power transmission unit 60, and the end tool 620 rotates. The two jaws 621, 622 of the tool 620 perform the yaw movement.

[0400] On the other hand, pitch wire 630P, which is formed to facilitate pitch movement, must not affect the movement of end tool 620 during yaw operation of operation unit 610. In other words, both muscles 630PL and 630PR of pitch wire 630P must not move toward end tool 620 during yaw operation of operation unit 620.

[0401] Both strands 630PL, 630PR of the pitch wire 630P disclosed in the sixth embodiment extend from the end tool 620, are wound crosswise around the pitch wire yaw pulleys 612PP1, 612PP2 and the pitch wire yaw assist pulleys 612PS1, 612PS2, pass through the pitch operation unit 611 and the actuation operation unit 613, are further wound crosswise around the pitch wire yaw assist pulleys 612PS1, 612PS2 and the pitch wire yaw pulleys 612PP1, 612PP2, and are finally fixedly coupled to one point of the bent portion 641. At this time, the direction in which the respective strands 630PL, 630PR of the pitch wire 630P are wound around the pitch wire yaw pulleys 612PP1, 612PP2 and the direction in which they are wound out are opposite to each other.

[0402] Therefore, when the user yaw rotates the first handle 614 around the yaw rotation axis 6121, the pitch wire 630P wound around the pitch wire yaw pulleys 612PP1, 612PP2 and formed on the pitch operation unit 611 side will move, but the pitch wire 630P wound around the pitch wire yaw pulleys 612PP1, 612PP2 and formed on the end tool 620 side, that is, the portion of the pitch wire 630P wound around the pitch wire yaw pulleys 612PP1, 612PP2 and entering the end tool 620 side, and the portion wound around the pitch wire yaw pulleys 612PP1, 612PP2 and exiting the fixed point of the bending portion 641, will not move, and as a result, will not affect the operation of the end tool 620.

[0403] In summary, the surgical instrument 600 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and rotational operation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired movement of the end tool 620. Furthermore, an auxiliary pulley is formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound multiple times around one pulley.

[0404] <Seventh embodiment of surgical instrument> A surgical instrument 700 according to a seventh embodiment of the present invention will be described below. The surgical instrument 700 according to the seventh embodiment of the present invention is characterized by a difference in the configuration of the operating section 710 of the surgical instrument 700 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2). The differences in configuration compared to the first embodiment will be described in detail later.

[0405] Fig. 61 is a perspective view showing a surgical instrument according to a seventh embodiment of the present invention, Fig. 62 is a side view of the surgical instrument of Fig. 61, Fig. 63 is an internal perspective view of the surgical instrument of Fig. 61, Fig. 65 is an internal perspective view of the surgical instrument of Fig. 61 and an internal perspective view showing the wiring structure. Fig. 66 is an enlarged view of portion A of Fig. 65, Fig. 67 is a cross-sectional view taken along line CC' of Fig. 66. Fig. 68 is a perspective view showing the yaw movement of the surgical instrument of Fig. 61, and Fig. 69 is a perspective view showing the pitch movement of the surgical instrument of Fig. 61.

[0406] 61 to 69, a surgical instrument 700 according to the seventh embodiment of the present invention includes an operating unit 710, an end tool 720, a power transmission unit 70, and a connecting unit 740. Here, the connecting unit 740 is formed in a hollow shaft shape, and one or more wires (described later) are housed therein. The operating unit 710 is coupled to one end of the connecting unit 740, and the end tool 720 is coupled to the other end of the connecting unit 740, thereby connecting the operating unit 710 and the end tool 720. The connecting unit 740 may have a bent portion 741 formed on the operating unit 710 side.

[0407] The operating unit 710 of the surgical instrument 700 according to the seventh embodiment of the present invention includes a pitch operating unit 711 that controls the pitch movement of the end tool 720, a yaw operating unit 712 that controls the yaw movement of the end tool 720, an actuation operating unit 713 that controls the actuation movement of the end tool 720, and a first handle 714 that can be held by the user.

[0408] First, to illustrate an example of how the surgical instrument 700 in Figure 61 is used, a user holds the first handle 714 in the palm of their hand and rotates the first handle 714 around the Y-axis (i.e., pitch rotation axis 7111) to perform a pitch movement, rotates the first handle 714 around the Z-axis (i.e., yaw rotation axis 7121) to perform a yaw movement, and with their thumb and index finger inserted into the actuation operation unit 713, rotates the actuation operation unit 713 to perform an actuation movement.

[0409] Here, in the surgical instrument 700 according to the seventh embodiment of the present invention, compared to the first embodiment, the bending portion 741 is formed in a substantially "∩" shape so as to branch off to the left and right from the middle, and correspondingly, the pitch frame 7113 is also formed in a substantially "∩" shape so as to branch off to the left and right, and pitch rotation axes 7111 are formed at both ends of the pitch frame 7113 branching off to the left and right, respectively, so that the pitch rotation axis 7111 is formed to be considerably spaced apart from the yaw rotation axis 7121. In other words, the actuation rotation axes 7131a and 7131b and the yaw rotation axis 7121 are formed at or adjacent to the first handle 714, i.e., relatively close to the first handle 714, whereas the pitch rotation axis 7111 is formed at both ends of the pitch frame 7113 branching off to the left and right. Therefore, the pitch rotation axis 7111 is formed to a certain extent below the actuation rotation axes 7131a, 7131b and the yaw rotation axis 7121 in the Z-axis direction, and therefore a portion of the user's hand is accommodated to a certain extent within the ``∩''-shaped pitch frame 7113.

[0410] With this configuration, not only are the rotation axes of the yaw joint and pitch joint of the operation unit arranged close to each other so as to intersect, as shown in Figure 64, but the rotation axes of the yaw joint and pitch joint also coincide with the wrist joint of the user who holds the handle and performs yaw and pitch operations. As a result, this has the effect of providing a more natural and intuitive operating feel to the user.

[0411] In detail, the first handle 714 is formed to be able to be held by a user's hand, and in particular, is formed to be able to hold the first handle 714 in the palm of the user's hand. An actuation operation unit 713 is formed on the first handle 714, a yaw operation unit 712 is formed on one side of the actuation operation unit 713, and a pitch operation unit 711 is formed on one side of the yaw operation unit 712, and the yaw operation unit 712 and the pitch operation unit 711 are connected by a "∩"-shaped pitch frame 7113. The other end of the pitch operation unit 711 is connected to a bent portion 741 of the connecting portion 740.

[0412] The actuation operation unit 713 includes a first actuation operation unit 713a and a second actuation operation unit 713b. The first actuation operation unit 713a includes a first actuation rotation shaft 7131a, a first actuation rotation unit 7132a, a first actuation pulley 713P1, and a first actuation gear 7134a. The second actuation operation unit 713b includes a second actuation rotation shaft 7131b, a second actuation rotation unit 7132b, a second actuation pulley 713P2, and a second actuation gear 7134b. Here, the first actuation rotation unit 7132a and the second actuation rotation unit 7132b can function as a second handle.

[0413] Meanwhile, the first actuation rotating portion 7132a, the first actuation pulley 713P1, and the first actuation gear 7134a are fixedly coupled to each other and are rotatable together around the first actuation rotation shaft 7131a. Similarly, the second actuation rotating portion 7132b, the second actuation pulley 713P2, and the second actuation gear 7134b are fixedly coupled to each other and are rotatable together around the second actuation rotation shaft 7131b. Here, the first actuation gear 7134a and the second actuation gear 7134b are formed to mesh with each other, so that when one side rotates, the other side rotates in the opposite direction.

[0414] The yaw operation unit 712 may include a yaw rotation shaft 7121, a first jaw yaw pulley 712P1, a second jaw yaw pulley 712P2, and a yaw frame 7123. The yaw operation unit 712 may further include a first jaw yaw auxiliary pulley 712S1 formed on one side of the first jaw yaw pulley 712P1 and a second jaw yaw auxiliary pulley 712S2 formed on one side of the second jaw yaw pulley 712P2. Here, the first jaw yaw pulley 712P1, the second jaw yaw pulley 712P2, the first jaw yaw auxiliary pulley 712S1, and the second jaw yaw auxiliary pulley 712S2 may be connected to a pitch frame 7113, which will be described later.

[0415] More specifically, a yaw rotation axis 7121 is formed on one side of the actuation operation unit 713 on the first handle 714. At this time, the first handle 714 is formed to be rotatable around the yaw rotation axis 7121. Meanwhile, the first jaw yaw pulley 712P1 and the second jaw yaw pulley 712P2 are connected to the yaw rotation axis 7121 to be rotatable around the yaw rotation axis 7121. A first jaw wire 730J1 is wound around the first jaw yaw pulley 712P1, and a second jaw wire 730J2 is wound around the second jaw yaw pulley 712P2. At this time, the first jaw yaw pulley 712P1 and the second jaw yaw pulley 712P2 are formed to face each other, and are also composed of two pulleys that are rotatable independently. Therefore, the wire being wound in and the wire being wound out are wound on separate pulleys, respectively, and can operate without interfering with each other.

[0416] The yaw frame 7123 connects the first handle 714, the yaw rotation axis 7121, the first actuation rotation axis 7131a, and the second actuation rotation axis 7131b, and the first handle 714, the yaw operation unit 712, and the actuation operation unit 713 rotate together around the yaw rotation axis 7121.

[0417] The pitch operation unit 711 may include a pitch frame 7113, a J1R intermediate pulley 715J1R, a J1L intermediate pulley 715J1L, a J2R intermediate pulley (not shown), and a J2L intermediate pulley (not shown). Here, the J1R intermediate pulley 715J1R and the J2R intermediate pulley (not shown) are formed at both ends of the pitch frame 7113 branching out to the left and right, and the J1L intermediate pulley 715J1L and the J2L intermediate pulley (not shown) are also formed at both ends of the pitch frame 7113 branching out to the left and right.

[0418] In this case, the J1R intermediate pulley 715J1R, the J1L intermediate pulley 715J1L, the J2R intermediate pulley 715J2R, and the J2L intermediate pulley 715J2L function as pitch pulleys in the above-described embodiment and can rotate around the pitch rotation axis 7111.

[0419] On the other hand, the first jaw R wire 730J1R indicates the right wire of the two strands of the first jaw wire 730J1, and the first jaw R wire 730J1R is further divided into two, the first jaw R wire-in 730J1Rin that enters the pitch operation unit 711, and the first jaw R wire-out 730J1Rout that exits the pitch operation unit 711 and is connected to the actuation operation unit 713.

[0420] Similarly, the first jaw L wire 730J1L indicates the left wire of the two strands of the first jaw wire 730J1, and the first jaw L wire 730J1L is further divided into two, the first jaw L wire-in 730J1Lin that enters the pitch operation unit 711, and the first jaw L wire-out 730J1Lout that exits the pitch operation unit 711 and is connected to the actuation operation unit 713.

[0421] The J1R intermediate pulley 715J1R includes two pulleys that are formed to face each other and rotate together as a unit. The first jaw R wire-in 730J1Rin is coupled to one of the pulleys of the J1R intermediate pulley 715J1R, and the first jaw R wire-out 730J1Rout is coupled to the other pulley. In this case, as shown in FIG. 66, the direction in which the first jaw R wire-in 730J1Rin is wound into the J1R intermediate pulley 715J1R and enters (counterclockwise when viewed in FIG. 66) is the same as the direction in which the first jaw R wire-out 730J1Rout is wound into and exits the J1R intermediate pulley 715J1R (counterclockwise when viewed in FIG. 66).

[0422] The J1L intermediate pulley 715J1L includes two pulleys that are formed to face each other and rotate together as a unit. The first jaw L wire-in 730J1Lin is coupled to one of the pulleys of the J1L intermediate pulley 715J1L, and the first jaw L wire-out 730J1Lout is coupled to the other pulley. In this case, as shown in FIG. 66, the direction in which the first jaw L wire-in 730J1Lin is wound onto the J1L intermediate pulley 715J1L and enters (counterclockwise when viewed in FIG. 66) is the same as the direction in which the first jaw L wire-out 730J1Lout is wound onto the J1L intermediate pulley 715J1L and exits (counterclockwise when viewed in FIG. 66).

[0423] For example, if the first jaw R wire-in 730J1Rin is pushed out or pulled, the J1R intermediate pulley 715J1R rotates, and therefore the first jaw R wire-out 730J1Rout connected via the J1R intermediate pulley 715J1R is pushed out or pulled along the J1R intermediate pulley 715J1R in the same rotation direction of the J1R intermediate pulley 715J1R as the first jaw R wire-in 730J1Rin. In other words, if the first jaw R wire-in 730J1Rin moves from the J1R intermediate pulley 715J1R toward the end tool 720, the first jaw R wire-out 730J1Rout moves from the yaw operation unit 712 side toward the J1R intermediate pulley 715J1R. The same applies to the first jaw L wire 730J1L. At this time, the J1R intermediate pulley 715J1R and the J1L intermediate pulley 715J1L can rotate independently of each other around the pitch rotation axis 7111. The second jaw wire is also formed to connect the end tool and the operating part in the same manner.

[0424] The pitch wire end pulley 715P is fixedly coupled to the pitch rotation shaft 7111 so as to rotate together with the pitch rotation shaft 7111, which is fixedly coupled to the pitch frame 7113. As a result, the pitch frame 7113, the pitch rotation shaft 7111, and the pitch wire end pulley 715P can rotate together by pitch rotation. At this time, the J1R intermediate pulley 715J1R, the J1L intermediate pulley 715J1L, and the J2R intermediate pulley 715J1R are connected to the pitch frame 7113. The intermediate pulleys 15J2R and 715J2L are formed so as to rotate independently about the pitch rotation axis 7111, respectively.

[0425] The actuation operation, yaw operation, and pitch operation in this embodiment will be described as follows.

[0426] First, the actuation operation is as follows.

[0427] When a user inserts their index finger into the first actuation rotating portion 7132a and their thumb into the second actuation rotating portion 7132b, and uses either one or both fingers to rotate the actuation rotating portions 7132a and 7132b, the first actuation pulley 713P1 and first actuation gear 7134a, which are fixedly connected to the first actuation rotating portion 7132a, rotate around the first actuation rotation axis 7131a, and the second actuation pulley 7133b and second actuation gear 7134b, which are fixedly connected to the second actuation rotating portion 7132b, rotate around the second actuation rotation axis 7131b. At this time, the first actuation pulley 713P1 and the second actuation pulley 713P2 rotate in opposite directions, and therefore the first jaw wire 730J1, one end of which is fixedly connected to the first actuation pulley 713P1, and the second jaw wire 730J2, one end of which is fixedly connected to the second actuation pulley 713P2, also move in opposite directions. This rotational force is then transmitted to the end tool 720 via the power transmission unit 70, and the two jaws 721 and 722 of the end tool 720 perform an actuation operation.

[0428] Next, the yaw motion is as follows:

[0429] 65 and 68, when a user holds the first handle 714 and rotates the first handle 714 about the yaw rotation axis 7121, the actuation operation unit 713 and the yaw operation unit 712 perform yaw rotation about the yaw rotation axis 7121. That is, when the first actuation pulley 713P1 of the first actuation operation unit 713a to which the first jaw wire 730J1 is fixedly coupled rotates about the yaw rotation axis 7121, the first jaw wire 730J1 wound around the first jaw / yaw pulley 712P1 moves. Similarly, when the second actuation pulley 713P2 of the second actuation operation unit 713b to which the second jaw wire 730J2 is fixedly coupled rotates about the yaw rotation axis 7121, the second jaw wire 730J2 wound around the second jaw / yaw pulley 712P2 moves. In this case, the first jaw wire 730J1 connected to the first jaw 721 and the second jaw wire 730J2 connected to the second jaw 722 may be configured so that the first jaw 721 and the second jaw 722 rotate in the same direction during yaw rotation. Such a rotational force is transmitted to the end tool 720 via the power transmission unit 70, and the two jaws 721 and 722 of the end tool 720 perform a yaw movement.

[0430] At this time, the yaw frame 7123 connects the first handle 714, the yaw rotation axis 7121, the first actuation rotation axis 7131a, and the second actuation rotation axis 7131b, so that the first handle 714, the yaw operation unit 712, and the actuation operation unit 713 rotate together around the yaw rotation axis 7121.

[0431] Next, the pitch operation is as follows:

[0432] 65 and 69, when a user holds first handle 714 and rotates first handle 714 about pitch rotation axis 7111, actuation operation unit 713, yaw operation unit 712, and pitch operation unit 711 all perform pitch rotation about pitch rotation axis 7111. That is, when first actuation pulley 713P1 of first actuation operation unit 713a to which first jaw wire 730J1 is fixedly coupled rotates about pitch rotation axis 7111, both ends 730J1R, 730J1L of first jaw wire 730J1 coupled to J1R intermediate pulley 715J1R and J1L intermediate pulley 715J1L move in the same direction. Similarly, when the second actuation pulley 713P2 of the second actuation operation unit 713b, to which the second jaw wire 730J2 is fixedly coupled, rotates about the pitch rotation axis 7111, both strands of the second jaw wire 730J2 coupled to the J2R intermediate pulley 715J2R and the J2L intermediate pulley 715J2L move in the same direction. At this time, the first jaw wire 730J1 and the second jaw wire 730J2 move in opposite directions. This rotational force is then transmitted to the end tool 720 via the power transmission unit 70, causing the two jaws 721 and 722 of the end tool 720 to perform a pitch movement.

[0433] At this time, the pitch frame 7113 is connected to the yaw frame 7123, and the yaw frame 7123 connects the first knob 714, the yaw rotation shaft 7121, the first actuation rotation shaft 7131a, and the second actuation rotation shaft 7131b, so when the pitch frame 7113 rotates around the pitch rotation shaft 7111, the yaw frame 7123, the first knob 714, the yaw rotation shaft 7121, the first actuation rotation shaft 7131a, and the second actuation rotation shaft 7131b connected to the pitch frame 7113 rotate together. In other words, when the pitch operation unit 711 rotates around the pitch rotation shaft 7111, the actuation operation unit 713 and the yaw operation unit 712 rotate together with the pitch operation unit 711.

[0434] Meanwhile, a pitch pulley 723P is formed on the end tool, and a pitch wire end pulley 715P is formed on the operating unit, which are connected to each other by a pitch wire 730P, so that pitch operation of the operating unit can more easily perform pitch movement of the end tool. Both ends of the pitch wire 730P are fixedly coupled to the corresponding pitch wire end pulleys 715P, and each pitch wire end pulley 715P is fixedly coupled to the pitch frame 7113. That is, when the operating unit is rotated for pitch, the pitch frame 7113 and the pitch wire end pulley 715P also rotate about the pitch rotation axis 7111. As a result, both ends of the pitch wire 730P move in opposite directions to each other, and additional pitch rotation power can be transmitted in addition to the pitch movement of the end tool by the first jaw wire 730J1 and the second jaw wire 730J2.

[0435] In summary, the surgical instrument 700 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and rotational operation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired movement of the end tool 720. Furthermore, an auxiliary pulley is formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound multiple times around one pulley.

[0436] In this embodiment, the bending portion 741 and the operation unit 710 are branched to both sides, so that the rotation axis of the yaw joint and the rotation axis of the pitch joint can be as close as possible to each other, as shown in FIG. 64 . At the same time, a space for accommodating the user's hand or wrist is formed at the intersection or proximity. To achieve this, in this embodiment, the components of the operation unit 710 (pulleys, wires, etc.) are divided into two and arranged on both sides of the branch. However, the configuration for achieving this feature can be modified in various ways. That is, all of the components of the operation unit 710 (pulleys, wires, etc.) can be arranged on only one of the branched sides. Furthermore, to form a space for accommodating the user's hand or wrist, the bending portion 741 and the operation unit 710 can be configured to be bent to only one side, rather than branched to both sides. That is, in one embodiment, in a structure branched to both sides, one side can be omitted. Such modifications can be fully understood from the description of this embodiment, and detailed description thereof will be omitted.

[0437] <Eighth embodiment of surgical instrument> A surgical instrument 800 according to an eighth embodiment of the present invention will be described below. The surgical instrument 800 according to the eighth embodiment of the present invention is characterized by a difference in the configuration of the operating unit 810 of the surgical instrument 800 compared to the sixth embodiment of the present invention. As in the sixth embodiment, the joint configuration of the operating unit 810 for controlling the movement of the end tool 820 is described based on the wire connecting the end tool 820 to the operating unit 810. The yaw operating unit 812 is formed first, and then the pitch operating unit 811 and the actuation operating unit 813 are formed on the yaw operating unit 812. However, the difference between the eighth embodiment and the sixth embodiment is that, as in the seventh embodiment, the bending portion 841 is formed in a substantially "∩" shape so as to branch off to the left and right from the middle, the pitch frame 8113 is also formed in a substantially "∩" shape so as to branch off to the left and right, and both ends of the pitch frame 8113 branching off to the left and right and both ends of the bending portion 841 branching off to the left and right are connected to each other via the pitch rotation shaft 8111. With this configuration, as described in the seventh embodiment, the rotation axis of the yaw joint and the rotation axis of the pitch joint of the operation unit 810 coincide with the wrist joint of the user who holds the handle and performs yaw and pitch operations, which has the effect of providing a more natural and intuitive operating feel to the user.

[0438] Fig. 70 is a perspective view showing a surgical instrument according to an eighth embodiment of the present invention, Fig. 71 is an internal perspective view of the surgical instrument of Fig. 70, Fig. 72 is an internal perspective view of the surgical instrument of Fig. 70 and an internal perspective view showing the wiring structure, Fig. 73 is a perspective view showing the yaw movement of the surgical instrument of Fig. 70, and Figs. 74, 75, and 76 are perspective views showing the pitch movement of the surgical instrument of Fig. 70.

[0439] The differences between the configuration of the eighth embodiment and the sixth embodiment are the same as the differences between the configuration of the seventh embodiment and the first embodiment. That is, the configuration of the seventh embodiment is characterized in that the configuration of the first embodiment has a jaw wire path and a pulley therefor that are branched into two lines, and similarly, the configuration of the eighth embodiment is characterized in that the configuration of the sixth embodiment has a jaw wire path and a pulley therefor that are branched into two lines. Therefore, the configuration of the eighth embodiment can be fully understood from the descriptions of the sixth and seventh embodiments, and a detailed description thereof will be omitted.

[0440] In this embodiment, the bending portion 841 and the operation unit 810 are branched to both sides, so that the rotation axis of the yaw joint and the rotation axis of the pitch joint can be as close as possible to each other, as shown in FIG. 64 . At the same time, a space for accommodating the user's hand or wrist is formed at the intersection or proximity. To this end, in this embodiment, the components of the operation unit 810 (pulleys, wires, etc.) are divided into two and arranged on both sides of the branch. However, the configuration for achieving this feature can be modified in various ways. That is, all of the components of the operation unit 810 (pulleys, wires, etc.) can be arranged on only one of the branched sides. Furthermore, in order to form a space for accommodating the user's hand or wrist, the bending portion 841 and the operation unit 810 can be configured to be bent to only one side, rather than branched to both sides. That is, in this embodiment, in the structure branched to both sides, one side can be omitted. Such modifications can be easily understood from the description of the present embodiment, but detailed description thereof will be omitted.

[0441] <Ninth embodiment of surgical instrument> A surgical instrument 900 according to a ninth embodiment of the present invention will be described below. The surgical instrument 900 according to the ninth embodiment of the present invention is characterized by a difference in the configuration of the operating section 910 of the surgical instrument 900 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2) described above. Therefore, the differences in configuration compared to the first embodiment will be described in detail.

[0442] FIG. 77 is an internal perspective view of a surgical instrument according to a ninth embodiment of the present invention, FIG. 78 is a perspective view showing the yaw movement of the surgical instrument of FIG. 77, and FIG. 79 is a perspective view showing the pitch movement of the surgical instrument of FIG. 77.

[0443] Here, a surgical instrument 900 according to the ninth embodiment of the present invention is an embodiment in which the modified example shown in Fig. 25(a) is specifically realized. That is, the first jaw-yaw auxiliary pulley 112S1 in Fig. 25(a) corresponds to the first jaw-yaw auxiliary pulley 912S1 in Fig. 77, the first jaw-yaw pulley 112P1 in Fig. 25(a) corresponds to the first jaw-yaw pulley 912P1 in Fig. 77, and the first actuation pulley 113P1 and the second actuation pulley 113P2 in Fig. 25(a) correspond to the first actuation pulley 913P1 and the second actuation pulley 913P2 in Fig. 77.

[0444] Here, this embodiment differs from the first embodiment in that both ends of a single jaw wire are coupled to different actuation pulleys rather than the same actuation pulley, i.e., one end of the first jaw wire 930J1 is coupled to a first actuation pulley 913P1, and the other end of the first jaw wire 930J1 is coupled to a second actuation pulley 913P2.

[0445] The first actuation pulley 913P1 is fixedly coupled to the first actuation gear 9134a and rotates together with it, and the second actuation pulley 913P2 is fixedly coupled to the second actuation gear 9134b and rotates together with it, and the first actuation gear 9134a and the second actuation gear 9134b are formed to mesh with each other, and the rotation of the two actuation pulleys is synchronized. Therefore, when either actuation pulley rotates, the other actuation pulley also rotates accordingly.

[0446] In this way, because the rotations of the two actuation pulleys are synchronized with each other by gears or the like, both strands of the first jaw wire 930J1 are not necessarily wound around one actuation pulley, and even if they are wound around different actuation pulleys, the exact same effect can be realized. Therefore, as shown in Fig. 25(b), a configuration in which both strands of the first jaw wire 930J1 are wound around respective actuation pulleys is also possible, and although it can be easily inferred, detailed description thereof will be omitted.

[0447] <Tenth embodiment of surgical instrument> A surgical instrument 1000 according to a tenth embodiment of the present invention will be described below. The surgical instrument 1000 according to the tenth embodiment of the present invention is characterized by a difference in the configuration of the operating section 1010 of the surgical instrument 1000 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2). Therefore, the differences in configuration compared to the first embodiment will be described in detail.

[0448] Figure 80 is an internal perspective view of a surgical instrument according to a tenth embodiment of the present invention, Figure 81 is an internal perspective view of Figure 80 with the actuation gear removed, Figure 82 is a perspective view showing the yaw movement of the surgical instrument of Figure 81, and Figure 83 is a perspective view showing the pitch movement of the surgical instrument of Figure 81.

[0449] Here, a surgical instrument 1000 according to a tenth embodiment of the present invention is an embodiment in which the modified example shown in Fig. 26 is specifically realized. That is, the first jaw-yaw auxiliary pulley 112S1 in Fig. 26 corresponds to the first jaw-yaw auxiliary pulley 1012S1 in Fig. 81, the first jaw-yaw pulley 112P1 in Fig. 26 corresponds to the first jaw-yaw pulley 1012P1 in Fig. 81, and the first actuation pulley 113P1 and the second actuation pulley 113P2 in Fig. 26 correspond to the first actuation pulley 1013P1 and the second actuation pulley 1013P2 in Fig. 81.

[0450] Here, this embodiment differs from the first embodiment in that both ends of a single jaw wire are coupled to different actuation pulleys rather than the same actuation pulley, i.e., one end of the first jaw wire 1030J1 is coupled to a first actuation pulley 1013P1, and the other end of the first jaw wire 1030J1 is coupled to a second actuation pulley 1013P2.

[0451] The first actuation pulley 1013P1 is fixedly coupled to the first actuation gear 10134a and rotates together, and the second actuation pulley 1013P2 is fixedly coupled to the second actuation gear 10134b and rotates together, and the first actuation gear 10134a and the second actuation gear 10134b are formed to mesh with each other, and the rotation of the two actuation pulleys is synchronized. Therefore, when either actuation pulley rotates, the other actuation pulley also rotates accordingly.

[0452] This embodiment also differs from the embodiment of FIG. 2 in that the two actuation pulleys are not formed close to each other, but are spaced apart and formed on opposite sides of the first jaw / yaw pulley 112P1.

[0453] In order to allow the first actuation gear 10134a and the second actuation gear 10134b, which are far apart from each other, to mesh with each other and rotate, the diameters of the first actuation gear 10134a and the second actuation gear 10134b may be formed to be somewhat larger than those in the above-mentioned embodiment.

[0454] This configuration allows the actuation pulley to be positioned further back than in other embodiments, i.e., the actuation handle can be made longer, making actuation easier because, according to the principle of leverage, the longer the handle, the less force is required to perform the actuation operation.

[0455] <Eleventh embodiment of surgical instrument> A surgical instrument 1100 according to an eleventh embodiment of the present invention will be described below. The surgical instrument 1100 according to the eleventh embodiment of the present invention is characterized by a difference in the configuration of the operating section 1110 of the surgical instrument 1100 compared to the surgical instrument 100 according to the first embodiment of the present invention (FIG. 2). Therefore, the differences in configuration compared to the first embodiment will be described in detail.

[0456] Figure 84 is an internal perspective view of a surgical instrument according to an eleventh embodiment of the present invention, Figure 85 is an internal perspective view of Figure 84 with the actuation gear removed, Figure 86 is a perspective view showing the yaw movement of the surgical instrument of Figure 84, and Figure 87 is a perspective view showing the pitch movement of the surgical instrument of Figure 84.

[0457] Here, a surgical instrument 1100 according to an eleventh embodiment of the present invention is an embodiment in which the modified example shown in Fig. 27 is specifically realized. That is, the first jaw-yaw auxiliary pulley 112S1 in Fig. 27 corresponds to the first jaw-yaw auxiliary pulley 1112S1 in Fig. 84, the first jaw-yaw pulley 112P1 in Fig. 27 corresponds to the first jaw-yaw pulley 1112P1 in Fig. 84, and the first actuation pulley 113P1 and the second actuation pulley 113P2 in Fig. 27 correspond to the first actuation pulley 1113P1 and the second actuation pulley 1113P2 in Fig. 84.

[0458] This embodiment differs from the first embodiment in that the two actuation pulleys are not formed close to each other but are spaced apart and located on opposite sides of the yaw pulley. Therefore, the first actuation pulley 1113P1 is fixedly coupled to the first actuation gear 11134a and rotates therewith, and the second actuation pulley 1113P2 is fixedly coupled to the second actuation gear 11134b and rotates therewith. The first actuation gear 11134a and the second actuation gear 11134b are meshed with each other, and the rotation of the two actuation pulleys is synchronized. Therefore, when one actuation pulley rotates, the other actuation pulley also rotates accordingly.

[0459] In order to allow the first actuation gear 11134a and the second actuation gear 11134b, which are far apart from each other, to mesh with each other and rotate, the diameters of the first actuation gear 11134a and the second actuation gear 11134b may be formed to be somewhat larger than those in the above-mentioned embodiment.

[0460] This embodiment also differs from the first embodiment in that the positional relationship (front-rear relationship) between the yaw pulley and the yaw assist pulley has been changed. That is, despite the direct joint, the pulley located on the right side of the drawing is the first jaw yaw pulley 1112P1, and the rotation axis of the first jaw yaw pulley 1112P1 is the yaw rotation axis. To achieve this, the first jaw wire passes through the first jaw pitch assist pulley a 1111S1a, winds around the first jaw yaw assist pulley 1112S1, then passes through the first jaw yaw pulley 1112P1 and is fixedly connected to the first actuation pulley 1113P1. The first jaw wire passes through the first jaw pitch assist pulley b (not shown), bypassing the first jaw yaw assist pulley 1112S1, and immediately passes through the first jaw yaw pulley 1112P1 and is fixedly connected to the first actuation pulley 1113P1.

[0461] This configuration allows the yaw rotation axis to be positioned closer to the pitch rotation axis than in other embodiments, resulting in a more natural and intuitive user experience. Furthermore, this configuration allows the actuation pulley to be positioned further rearward than in other embodiments, meaning the actuation handle can be made longer, making actuation easier. This is because, according to the principle of leverage, the longer the handle, the less force is required to perform the actuation operation.

[0462] <Twelfth embodiment of surgical instrument> The following describes a surgical instrument 1200 according to a twelfth embodiment of the present invention. The surgical instrument 1200 according to the twelfth embodiment of the present invention is characterized by a difference in the configuration of the operating section 1210 of the surgical instrument 1200 compared to the first embodiment 100 (FIG. 2) of the present invention described above.

[0463] FIG. 88 is a perspective view showing a surgical instrument according to a twelfth embodiment of the present invention, and FIG. 89 is an internal perspective view showing the structure of the wires and the like of the surgical instrument of FIG.

[0464] As in the first embodiment, the joint configuration of the operating unit 1210 for controlling the movement of the end tool (not shown) is described based on the wire connecting from the end tool (not shown) to the operating unit 1210, and is formed in this order with a pitch operating unit 1211, a yaw operating unit 1212, and an actuation operating unit 1213.

[0465] The configuration of the twelfth embodiment differs from the configuration of the first embodiment in that, like the seventh embodiment, the pitch rotation axis 12111 is formed so as to be considerably separated from the yaw rotation axis 12121. As a result, the yaw rotation axis 12121 of the yaw joint and the pitch rotation axis 12111 of the pitch joint can be close to each other, intersecting, as shown in Fig. 88, and at the same time, a space is formed at the intersecting or close position where the user's hand, wrist, etc. can be accommodated.

[0466] However, the configuration of the twelfth embodiment and the seventh embodiment are distinctively different in the configuration of the operating unit. In the seventh embodiment, the bending portion 741 and the pitch frame 7113 are formed in a substantially "∩" shape so as to branch off to the left and right, and the left and right ends of the pitch frame 7113 branch off to the left and right ends of the bending portion 741 are connected to each other via the pitch rotation shaft 7111. In contrast, in the twelfth embodiment, as shown in FIG. 88, the bending portion 1241 and the operating unit 1210 are configured so as to be bent to only one side, rather than branching off to both sides.

[0467] Through this configuration, the first jaw wire (not shown) and the second jaw wire (not shown) can be connected from the end tool (not shown) to the operating unit 1210 side without using separate intermediate pulleys 715J1R and 715J1L as in the seventh embodiment.

[0468] This allows the yaw rotation axis 12121 of the yaw joint of the operation unit 1210 and the pitch rotation axis 12111 of the pitch joint to coincide with the wrist joint of the user who holds the handle and performs yaw and pitch operations, thereby providing a more natural and intuitive operational feel to the user.

[0469] The configuration of the operating section 1210 of the twelfth embodiment is identical to that of the surgical instrument 100 of the first embodiment in the structures of the yaw pulley, pitch pulley, etc., except that the bending section 1241 and the pitch frame 12113 are folded, and is also similar to the configuration of the surgical instrument 700 of the seventh embodiment. Therefore, the configuration of the twelfth embodiment can be sufficiently inferred from the configurations of the first and seventh embodiments, but a detailed description will be omitted.

[0470] 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]

[0471] The present invention relates to surgical instruments, and is particularly applicable to manually actuable surgical instruments for use in laparoscopic surgery or in many different surgical procedures.

Claims

1. 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; a J16 pulley formed on one side of the J11 pulley and rotatable about a second shaft formed on one side of the first shaft; a J12 pulley and a J14 pulley formed on one side of the J16 pulley, forming a predetermined angle with the first axis, and rotatable about 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 J26 pulley formed on one side of the J21 pulley and rotatable about a fourth axis formed on one side of the first axis; a J22 pulley and a J24 pulley formed on one side of the J26 pulley and rotatable about an axis substantially the same as or parallel to the third axis; Including, a connecting portion hub is formed on one side of the end tool hub, the connecting portion hub being rotatable about the third axis relative to the end tool hub; the J12 pulley, the J14 pulley, the J22 pulley, and the J24 pulley are formed on a common axis of the end tool hub and the connection portion hub; The connection hub has: a J13 pulley and a J15 pulley formed to be rotatable about an axis substantially parallel to the third axis; a J23 pulley and a J25 pulley formed to be rotatable about an axis substantially parallel to the third axis; is formed, a first jaw wire is formed so as to be in at least partial contact with the J13 pulley, the J12 pulley, the J11 pulley, the J16 pulley, the J14 pulley, and the J15 pulley; a second jaw wire is formed so as to be in at least partial contact with the J23 pulley, the J22 pulley, the J21 pulley, the J26 pulley, the J24 pulley, and the J25 pulley; the first jaw wire is formed to pass between the J12 pulley and the J13 pulley, the second jaw wire is formed to pass between the J22 pulley and the J23 pulley; An end tool of a surgical instrument, characterized in that

2. The J16 pulley is disposed on the opposite side of the first jaw and the second jaw with respect to the J11 pulley, The J26 pulley is disposed on the opposite side of the first jaw and the second jaw with respect to the J21 pulley.

2. An end tool of a surgical instrument according to claim 1.

3. the first jawwire is fixedly coupled to the J11 pulley; the second jawwire is fixedly coupled to the J21 pulley; 2. An end tool of a surgical instrument according to claim 1.

4. The diameter of the J16 pulley is smaller than the diameter of the J11 pulley, and the diameter of the J26 pulley is smaller than the diameter of the J21 pulley.

2. An end tool of a surgical instrument according to claim 1.

5. When both sides of the wire wound around the end tool are pulled relative to the first jaw wire or the second jaw wire, a pitch movement of the end tool is performed.

2. An end tool of a surgical instrument according to claim 1.

6. When one side of a wire wound around the end tool is pulled and the other side is pushed relative to the first jaw wire or the second jaw wire, a yaw movement or an actuation movement of the end tool is performed.

2. An end tool of a surgical instrument according to claim 1.

7. one side of the first jaw wire wound around the J11 pulley is formed to pass between the J11 pulley and the J16 pulley, One side of the second jaw wire wound around the J21 pulley is formed to pass between the J21 pulley and the J26 pulley.

2. An end tool of a surgical instrument according to claim 1.

8. The J12 pulley and the J13 pulley are perpendicular to the third axis and are disposed on one side of a plane passing through the first axis, The J22 pulley and the J23 pulley are perpendicular to the third axis and are disposed on the other side of a plane passing through the first axis.

2. An end tool of a surgical instrument according to claim 1.

9. The J14 pulley and the J15 pulley are perpendicular to the third axis and are disposed on one side of a plane passing through the first axis, The J24 pulley and the J25 pulley are perpendicular to the third axis and are disposed on the other side of a plane passing through the first axis.

2. An end tool of a surgical instrument according to claim 1.

10. The J11 pulley and the J16 pulley are disposed on the same plane that is perpendicular to the first axis.

2. An end tool of a surgical instrument according to claim 1.

11. The J11 pulley and the J21 pulley are disposed so as to be spaced apart by a certain amount in the first axial direction, A predetermined space is formed between the J11 pulley and the J21 pulley.

2. An end tool of a surgical instrument according to claim 1.

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