Surgical Instruments

Abstract

The present invention relates to an end tool of a surgical instrument, and more particularly to an end tool of a surgical instrument that is attached to a robotic arm or can be operated manually for use in laparoscopic surgery or various other surgeries, and that compensates for the movement of the jaw wire that occurs during pitch movement, thereby allowing pitch movement and yaw movement / actuation movement to be performed smoothly and independently.

Description

[Technical field]

[0001] The present invention relates to surgical instruments, and in particular to surgical instruments that are mounted on a robotic arm or that can be operated manually for use in laparoscopic or various surgical procedures. [Background technology]

[0002] Medically, surgery refers to the use of medical instruments to cut, incise, or manipulate skin, mucous membranes, and other tissues to treat illnesses. 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, pain for the patient, and scars. Therefore, surgery that involves making holes in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgery using robots, has recently been gaining attention as an alternative.

[0003] Here, a surgical robot is a robot that can replace the surgical procedures performed by surgeons. Such a surgical robot has the advantage of being able to perform more accurate and precise movements than a human and being able to perform remote surgery.

[0004] Currently, surgical robots being developed around the world include bone surgery robots, laparoscopic surgery robots, stereotactic surgery robots, etc. Here, laparoscopic surgery robots are robots that perform minimally invasive surgery using laparoscopes and small surgical tools.

[0005] Laparoscopic surgery is a cutting-edge surgical technique in which surgery is performed after making one or more small holes in the abdomen and inserting a laparoscope, an endoscope that allows doctors to see inside the abdomen, and is a field that is expected to see great developments in the future. Recent laparoscopes are equipped with computer chips, which allow doctors to obtain clearer and more magnified images than can be seen with the naked eye, and have developed to the point where any surgery can be performed by using specially designed laparoscopic surgical instruments while viewing the screen through a monitor.

[0006] Furthermore, while the scope of surgery is almost the same as that of open surgery, laparoscopic surgery has the advantages of fewer complications than open surgery, allowing treatment to begin much sooner after surgery, and being superior in maintaining the physical strength and immune function of the surgical patient. For this reason, laparoscopic surgery is gradually becoming recognized as the standard surgery for colon cancer treatment in the United States and Europe.

[0007] On the other hand, surgical robots are generally composed of a master robot and a slave robot. When a surgeon operates a control lever (e.g., a handle) on the master robot, a surgical tool coupled to the robot arm of the slave robot or held by the robot arm is operated to perform surgery. Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention aims to provide a multi-joint surgical device that can be attached to a robot arm or manually operated for use in laparoscopic surgery or various other surgeries, in which the movement of the jaw wire that occurs during pitch movement is compensated for, and pitch movement and yaw movement / actuation movement are performed independently and smoothly. [Means for solving the problem]

[0009] an end tool including one or more jaws; an end tool jaw pulley coupled to the jaws and rotatable together with the jaws about a first axis, the end tool being configured to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moving in response to rotation of the end tool jaw pulley; a connection part extending in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; and a drive part coupled to the other end of the connection part and controlling the pitch rotation and the yaw rotation of the end tool, the drive part including a drive part jaw pulley rotatable about a second axis and coupled to the jaw wire; and a drive part pitch pulley disposed adjacent to the drive part jaw pulley and rotatable about a third axis different from the second axis,

[0010] In one embodiment of the present invention, the relative position between the drive unit pitch pulley and the drive unit jaw pulley is kept constant.

[0011] In one embodiment of the present invention, when the drive unit pitch pulley rotates around the third axis, the drive unit jaw pulley rotates around the second axis, and the length of the jaw wire in the drive unit is changed.

[0012] In one embodiment of the invention, changing the length of the jaw wire in the drive by rotating the drive jaw pulley also changes the length of the jaw wire in the end tool.

[0013] In one embodiment of the present invention, even if the length of the jaw wire in the drive unit is changed by rotation of the drive unit jaw pulley, the overall length of the jaw wire is kept constant.

[0014] In one embodiment of the present invention, the jaws include a first jaw and a second jaw formed to face the first jaw, the end tool jaw pulley includes a first jaw pulley coupled to the first jaw and formed to be rotatable about the first axis, and a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis and formed to face the first jaw pulley, the jaw wire includes a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley, and the drive unit jaw pulley includes a drive unit first jaw pulley coupled to the first jaw wire to move the first jaw wire, and a drive unit second jaw pulley coupled to the second jaw wire to move the second jaw wire.

[0015] In one embodiment of the present invention, the end tool includes a pair of first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable around a fourth axis forming a predetermined angle with the first axis, a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis substantially the same as or parallel to the fourth axis, a first jaw pitch extra pulley arranged between the first jaw pulley and the pair of first jaw pitch main pulleys and rotatable around a fifth axis, and a second jaw pitch extra pulley arranged between the second jaw pulley and the pair of second jaw pitch main pulleys and rotatable around a sixth axis, and the first jaw wire is wound around at least a portion of the pair of first jaw pitch main pulleys, and the second jaw wire is wound around at least a portion of the pair of second jaw pitch main pulleys.

[0016] In one embodiment of the present invention, of the two strands of the first jaw wires advancing from the proximal portion to the distal portion of the end tool and connected to the first jaw pulley, one of the first jaw wires is wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction, and the other strand of the first jaw wire is wound around the first jaw pitch main pulley in one direction that is either a clockwise or counterclockwise direction.

[0017] In one embodiment of the present invention, based on a plane perpendicular to the first axis and passing between the first jaw pulley and the second jaw pulley, one of the first jaw wires of both strands connected to the first jaw pulley contacts the upper side of the first jaw pitch main pulley, and the first jaw wire of the other strand contacts the lower side of the first jaw pitch main pulley.

[0018] In one embodiment of the present invention, the first jaw wire advances from the proximal portion toward the distal portion of the end tool and contacts the first jaw pitch main pulley and the first jaw pitch extra pulley in sequence.

[0019] In one embodiment of the present invention, the first jaw wire of one of the two strands of first jaw wires connected to the first jaw pulley contacts the underside of the first jaw pitch main pulley and the underside of the first jaw pitch extra pulley in sequence, based on a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, and the first jaw wire of the other strand of the two strands of first jaw wires connected to the first jaw pulley contacts the upper side of the first jaw pitch main pulley and the underside of the first jaw pitch extra pulley in sequence.

[0020] In one embodiment of the present invention, the rotary knives further include a first jaw auxiliary pulley formed between the first jaw pulley and the first jaw pitch extra pulley, and a second jaw auxiliary pulley formed between the second jaw pulley and the second jaw pitch extra pulley.

[0021] In one embodiment of the present invention, the first jaw wire is located on a common inscribed line of the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley is expanded by the first jaw auxiliary pulley.

[0022] In one embodiment of the present invention, the gearbox further includes one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and rotatable around an axis substantially parallel to the fourth axis, and one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable around an axis substantially parallel to the fourth axis.

[0023] In one embodiment of the present invention, the first jaw pitch sub pulley or the second jaw pitch sub pulley includes only one pulley.

[0024] In one embodiment of the present invention, the tool further includes an end tool hub formed so that at least a portion of the first jaw and the second jaw can be accommodated therein, and a pitch hub axially connected to the end tool hub and formed so as to be rotatable relative to the end tool hub.

[0025] In one embodiment of the present invention, the first jaw and the second jaw rotate around the first axis to perform a yaw motion, and the end tool hub rotates around the fourth axis to perform a pitch motion.

[0026] In one embodiment of the present invention, the end tool hub further includes an end tool pitch pulley formed at a proximal end of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0027] In one embodiment of the present invention, when the end tool pitch pulley is rotated by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley changes.

[0028] In one embodiment of the present invention, when the end tool pitch pulley is rotated by the pitch wire, the first jaw wire moves to a certain extent due to an external force to compensate for the change in the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley.

[0029] In one embodiment of the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley is integrally formed with the end tool hub.

[0030] In one embodiment of the present invention, the fifth axis and the sixth axis are substantially parallel to the fourth axis.

[0031] In one embodiment of the present invention, the fifth axis and the sixth axis are formed to be inclined with respect to the first axis and the fourth axis, respectively.

[0032] In one embodiment of the present invention, a groove around which the first jaw wire is wound in the first jaw pulley and a groove around which the second jaw wire is wound in the second jaw pulley are formed to be spaced apart from each other to a certain extent.

[0033] In one embodiment of the present invention, the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley are formed adjacent to each other.

[0034] In one embodiment of the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley includes only one pulley.

[0035] In one embodiment of the present invention, when the drive unit pitch pulley of the drive unit rotates for pitch movement, the drive unit first jaw pulley and the drive unit second jaw pulley of the drive unit rotate together to compensate for the pitch movement.

[0036] In one embodiment of the present invention, there is provided an end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed therein; a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub; a first pin inserted through the end tool hub and formed to extend along a first direction; a second pin inserted through the end tool hub and formed parallel to the first pin and formed on one side of the first pin; a second pin inserted through the end tool hub and formed to extend along a second direction forming a predetermined angle with the first direction and formed on one side of the second pin; a third pin inserted through the end tool hub and the pitch hub and formed parallel to the second pin and formed on one side of the second pin; a fourth pin inserted through the pitch hub and formed parallel to the third pin and formed on one side of the third pin; and a first jaw auxiliary pin formed on one side of the first jaw pulley and formed to be rotatable around the second pin. a pair of first jaw pitch main pulleys formed on one side of the first jaw pitch extra pulley and formed rotatably about the third pin, a pair of second jaw pitch main pulleys formed on one side of the second jaw pitch extra pulley and formed rotatably about the third pin, one or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and formed rotatably about the fourth pin, and one or more second jaw pitch sub pulleys formed on one side of the second jaw pitch main pulley and formed rotatably about the fourth pin.

[0037] In one embodiment of the present invention, the present invention provides a tool holder including an end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed therein; a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub; a first pin penetrating and inserted into the end tool hub and formed to extend along a first direction; a second pin penetrating and inserted into the end tool hub and formed to extend along a second direction forming a predetermined angle with the first direction and formed on one side of the first pin; a third pin penetrating and inserted into the end tool hub and the pitch hub and formed to extend along a third direction forming a predetermined angle with the first direction and the second direction and formed on one side of the second pin; and a fourth pin penetrating and inserted into the pitch hub and formed parallel to the third pin and formed on one side of the third pin. a first jaw auxiliary pulley formed on one side of the first jaw pulley and rotatable about the second pin, a second jaw auxiliary pulley formed on one side of the second jaw pulley and rotatable about the second pin, a pair of first jaw pitch main pulleys formed on one side of the first jaw auxiliary pulley and rotatable about the third pin, a pair of second jaw pitch main pulleys formed on one side of the second jaw auxiliary pulley and rotatable about the third pin, one or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and rotatable about the fourth pin, and one or more second jaw pitch sub pulleys formed on one side of the second jaw pitch main pulley and rotatable about the fourth pin. Effect of the Invention

[0038] According to the present invention, the movement of the jaw wire that occurs during the pitch movement can be compensated for, and the pitch movement and the yaw movement / actuation movement can be performed smoothly and independently. [Brief description of the drawings]

[0039] [Figure 1]FIG. 1 is a conceptual diagram showing a surgical robot system equipped with a surgical instrument according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing the internal configuration of the surgical robot system of FIG. 1. [Diagram 3] FIG. 2 is a perspective view showing a slave robot of the surgical robot system of FIG. 1. [Figure 4] FIG. 2 is a perspective view showing a surgical instrument attached to the slave robot of FIG. 1. [Diagram 5] FIG. 1 is a perspective view showing an end tool of a surgical instrument according to a first embodiment of the present invention. [Figure 6] FIG. 1 is a perspective view showing an end tool of a surgical instrument according to a first embodiment of the present invention. [Figure 7] FIG. 6 is a plan view of the end tool of FIG. 5. [Figure 8] FIG. 6 is a plan view of the end tool of FIG. 5. [Figure 9] FIG. 6 is a plan view of the end tool of FIG. 5. [Figure 10] FIG. 6 is a plan view of the end tool of FIG. 5. [Figure 11] FIG. 6 is a perspective view of the end tool of FIG. 5. [Figure 12] FIG. 6 is a perspective view of an end tool hub of the end tool of FIG. [Figure 13] 6 is a perspective view showing a state in which an end tool of the surgical instrument in FIG. 5 has been pitch-rotated by −90°. FIG. [Figure 14] 6 is a side view showing a state in which the end tool of the surgical instrument in FIG. 5 has been pitch-rotated by +90°. [Figure 15] 6 is a perspective view showing a state in which an end tool of the surgical instrument in FIG. 5 has been yaw-rotated by +90°. FIG. [Figure 16] 6 is a side view showing a state in which the end tool of the surgical instrument in FIG. 5 has been yaw-rotated by −90°. [Figure 17] FIG. 5 is a perspective view of a drive unit of the surgical instrument of FIG. 4. [Figure 18]18 is a plan view of the drive unit of the surgical instrument of FIG. 17. [Figure 19] FIG. 18 is a rear view of the drive unit of the surgical instrument of FIG. 17. [Figure 20] 18 is a side view of the drive unit of the surgical instrument of FIG. 17. [Figure 21] 18 is a diagram showing the configuration of pulleys and wires of the surgical instrument of FIG. 17 in an unfolded state. FIG. [Figure 22] FIG. 18 is a diagram showing the surgical instrument of FIG. 17 in a neutral state. [Figure 23] FIG. 18 is a diagram showing the surgical instrument of FIG. 17 in a neutral state. [Figure 24] FIG. 18 is a diagram showing a case where pitch compensation is not performed in the surgical instrument of FIG. 17. [Diagram 25] FIG. 18 is a diagram showing a case where pitch compensation is not performed in the surgical instrument of FIG. 17. [Figure 26A] FIG. 18 is a diagram showing a case where pitch compensation is not performed in the surgical instrument of FIG. 17. [Figure 26B] FIG. 18 is a diagram showing a case where pitch compensation is not performed in the surgical instrument of FIG. 17. [Figure 27] 18 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 17. FIG. [Figure 28] 18 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 17. FIG. [Figure 29A] 18 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 17. FIG. [Figure 29B] 18 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 17. FIG. [Diagram 30] FIG. 13 is a diagram showing a neutral state of a surgical instrument according to a comparative example of the present invention. [Diagram 31] 31 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 30. FIG. [Diagram 32]31 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 30. FIG. [Diagram 33] 31 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 30. FIG. [Diagram 34] FIG. 1 is a perspective view showing an end tool of a surgical instrument according to a first modified example of the first embodiment of the present invention. [Diagram 35] FIG. 1 is a perspective view showing an end tool of a surgical instrument according to a first modified example of the first embodiment of the present invention. [Diagram 36] FIG. 35 is a plan view of the end tool of FIG. 34. [Figure 37] FIG. 35 is a plan view of the end tool of FIG. 34. [Figure 38] FIG. 35 is a plan view of the end tool of FIG. 34. [Figure 39] FIG. 35 is a perspective view of the end tool of FIG. 34. [Diagram 40] FIG. 35 is a perspective view of the end tool hub of the end tool of FIG. 34. [Diagram 41] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a second modified example of the first embodiment of the present invention. [Diagram 42] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a second modified example of the first embodiment of the present invention. [Diagram 43] FIG. 42 is a plan view of the end tool of FIG. 41. [Diagram 44] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a third modified example of the first embodiment of the present invention. [Diagram 45] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a third modified example of the first embodiment of the present invention. [Figure 46] FIG. 45 is an assembled perspective view of the second jaw of the end tool of FIG. 44. [Figure 47] FIG. 45 is an exploded perspective view of the second jaw of the end tool of FIG. 44. [Figure 48] FIG. 45 is an assembled perspective view of the first jaw of the end tool of FIG. 44. [Figure 49]FIG. 45 is an exploded perspective view of a first jaw of the end tool of FIG. 44. [Figure 50] FIG. 45 is a perspective view of the end tool hub of the end tool of FIG. 44. [Figure 51] FIG. 45 is a perspective view of the end tool hub of the end tool of FIG. 44. [Figure 52] FIG. 45 is a plan view of the end tool of FIG. 44. [Figure 53] FIG. 45 is a side view of the endotool of FIG. [Figure 54] FIG. 45 is a side view of the endotool of FIG. [Figure 55] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a fourth modified example of the first embodiment of the present invention. [Figure 56] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a fourth modified example of the first embodiment of the present invention. [Figure 57] FIG. 56 is a plan view of the end tool of FIG. [Figure 58] FIG. 56 is a plan view of the end tool of FIG. [Figure 59] FIG. 56 is a side view of the endotool of FIG. [Figure 60] FIG. 56 is a side view of the endotool of FIG. [Figure 61] FIG. 56 is a side view of the endotool of FIG. [Figure 62] FIG. 56 is a plan view of the end tool of FIG. [Figure 63] FIG. 56 is a plan view of the end tool of FIG. [Figure 64] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a fifth modified example of the first embodiment of the present invention. [Figure 65] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a fifth modified example of the first embodiment of the present invention. [Figure 66] FIG. 65 is a plan view of the end tool of FIG. [Figure 67] FIG. 65 is a perspective view of an end tool hub of the end tool of FIG. [Figure 68]FIG. 65 is a side view of the endotool of FIG. [Figure 69] 65 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 64 has been pitch-rotated by −90°. [Figure 70] 65 is a side view showing a state in which the end tool of the surgical instrument of FIG. 64 has been pitch-rotated by +90°. [Figure 71] 65 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 64 has been yaw-rotated by +90°. FIG. [Figure 72] 65 is a side view showing a state in which the end tool of the surgical instrument of FIG. 64 has been yaw-rotated by −90°. [Figure 73] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a second embodiment of the present invention. [Figure 74] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a second embodiment of the present invention. [Figure 75] FIG. 74 is a plan view of the end tool of FIG. 73. [Figure 76] FIG. 74 is a plan view of the end tool of FIG. 73. [Figure 77] FIG. 74 is a plan view of the end tool of FIG. 73. [Figure 78] FIG. 74 is a plan view of the end tool of FIG. 73. [Figure 79] FIG. 74 is a side view of the endotool of FIG. 73. [Figure 80] FIG. 74 is a side view of the endotool of FIG. 73. [Figure 81] FIG. 74 is a side view of the endotool of FIG. 73. [Figure 82] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a first modified example of the second embodiment of the present invention. [Figure 83] FIG. 13 is a perspective view showing an end tool of a surgical instrument according to a first modified example of the second embodiment of the present invention. [Figure 84] FIG. 83 is a plan view of the end tool of FIG. 82. [Figure 85] FIG. 83 is a plan view of the end tool of FIG. 82. [Figure 86] FIG. 83 is a side view of the endotool of FIG. 82. [Figure 87] FIG. 83 is a plan view of the end tool of FIG. 82. [Figure 88] FIG. 83 is a plan view of the end tool of FIG. 82. [Figure 89] FIG. 83 is a plan view of the end tool of FIG. 82. [Figure 90] FIG. 83 is a plan view of the end tool of FIG. 82. [Figure 91] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 92] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 93] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 94] FIG. 11 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 95] FIG. 92 is a plan view of the end tool of FIG. 91. [Figure 96] FIG. 92 is a plan view of the end tool of FIG. 91. [Figure 97] FIG. 92 is a side view of the end tool of FIG. 91. [Figure 98] FIG. 92 is a side view of the end tool of FIG. 91. [Figure 99] FIG. 92 is a side view of the end tool of FIG. 91. [Figure 100] FIG. 92 is a plan view of the end tool of FIG. 91. [Figure 101] FIG. 92 is a plan view of the end tool of FIG. 91. [Figure 102] FIG. 92 is a perspective view of an end tool hub of the end tool of FIG. 91 . [Figure 103] FIG. 92 is a front view of the end tool hub of the end tool of FIG. 91 . [Figure 104] FIG. 92 is a side view of the end tool hub of the end tool of FIG. 91 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] The present invention can be modified in various ways and can have various embodiments, and a specific embodiment will be illustrated in the drawings and described in detail. However, it is not intended to limit the present invention to the specific embodiment, and it should be understood that it includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may hinder the gist of the present invention, the detailed description will be omitted.

[0041] Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0042] The terms used in this application are merely used to describe certain embodiments and are not intended to limit the present invention. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this application, terms such as "include" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0043] Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0044] Furthermore, in describing various embodiments of the present invention, it is not necessary to interpret or implement each embodiment independently, and it should be understood that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described separately.

[0045] FIG. 1 is a conceptual diagram showing a surgical robot system to which an articulated surgical device according to one embodiment of the present invention is attached, FIG. 2 is a block diagram showing the internal configuration of the surgical robot system of FIG. 1, and FIG. 3 is a perspective view showing a slave robot of the surgical robot system of FIG. 1 and the articulated surgical device attached thereto.

[0046] With reference to FIGS. 1 to 3, a surgical robot system 1 includes a master robot 10, a slave robot 20, and an articulated surgical apparatus 30.

[0047] The master robot 10 includes an operating member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, .

[0048] In detail, the master robot 10 is provided with an operating member 10a so that the surgeon can hold and operate it with both hands. The operating member 10a can be realized with two or more handles as exemplified in Fig. 1, and an operation signal according to the surgeon's handle operation is transmitted to the slave robot 20 via a wired or wireless communication network to control the robot arm units 21, 22, and 23. In other words, the surgeon can operate the handles to perform surgical operations such as positioning, rotation, and cutting of the robot arm units 21, 22, and 23.

[0049] For example, a surgeon can operate the robot arm units 21, 22, 23 using a handle-shaped operating lever. Such an operating lever can have various mechanical configurations depending on its operation method, and can be provided in various forms for operating the robot arm units 21, 22, 23 of the slave robot 20 and / or other surgical devices, such as a master handle for operating the operations of the robot arm units 21, 22, 23, and various input tools such as a joystick, keypad, trackball, foot pedal, touch screen, etc., added to the master robot 10 for operating the functions of the entire system. Here, the operating member 10a is not limited to the shape of a handle, and can be applied without any restriction as long as it is a form that can control the operations of the robot arm units 21, 22, 23 via a network such as a wired or wireless communication network.

[0050] Alternatively, voice input, motion input, etc. can be applied for user input. That is, the user can wear glasses or a head mounted display (HMD) with a sensor attached to the head, and the laparoscope 50 can move according to the direction of the line of sight. Alternatively, when the user issues a voice command such as "left," "right," "first arm," "second arm," etc., the laparoscope 50 can recognize this and perform the operation.

[0051] On the display member 10b of the master robot 10, an image captured through a laparoscope 50 (described later) is displayed. In addition, on the display member 10b, a predetermined virtual operation panel can be displayed together with the image captured through the laparoscope 50 or can be displayed independently. Detailed description of the arrangement, configuration, etc. of such a virtual operation panel will be omitted.

[0052] Here, the display member 10b may be composed of one or more monitors, and each monitor may display information required during surgery individually. The number of monitors may be determined in various ways depending on the type and variety of information required to be displayed.

[0053] Meanwhile, the slave robot 20 may include one or more robot arm units 21, 22, 23. Here, each robot arm unit 21, 22, 23 may be provided in a modular form capable of operating independently of each other, and in this case, an algorithm for preventing collisions between each robot arm unit 21, 22, 23 may be applied to the surgical robot system 1.

[0054] In general, a robot arm refers to a device that has a function similar to a human arm and / or wrist and can attach a predetermined tool to the wrist. In this specification, the robot arm units 21, 22, and 23 can be defined as a concept that includes all of the components such as the upper arm, lower arm, wrist, and elbow, as well as a multi-joint surgical device connected to the wrist. Alternatively, they can be defined as a concept that includes only the components for driving the multi-joint surgical device, excluding the multi-joint surgical device connected to the wrist.

[0055] In this way, the robot arm units 21, 22, and 23 of the slave robot 20 can be embodied to be driven with multiple degrees of freedom. The robot arm units 21, 22, and 23 can be configured to include, for example, a surgical instrument inserted into a surgical site of a patient, a yaw drive unit that rotates the surgical instrument in a yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in a pitch direction perpendicular to the rotation drive of the yaw drive unit, a transport drive unit that moves the surgical instrument in a longitudinal direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives an end effector at the tip of the surgical instrument to incise or cut the surgical lesion. However, the configuration of the robot arm units 21, 22, and 23 is not limited to this, and it should be understood that such an example does not limit the scope of the present invention. Here, a detailed description of an actual control process, such as the robot arm units 21, 22, and 23 rotating and moving in a corresponding direction by the surgeon operating the operating member 10a, will be omitted.

[0056] Here, two of the robot arm units 21, 22, 23 can be attached with an articulated surgical device 30, and the other can be attached with a laparoscope 50. The surgeon can then select the robot arm unit 21, 22, 23 that he or she wishes to control via the master robot 10. In this way, the surgeon can directly operate a total of three or more surgical instruments via the master robot 10, thereby enabling the surgeon to operate multiple instruments accurately and freely as intended, without the need for a surgical assistant.

[0057] Meanwhile, one or more slave robots 20 may be provided for performing surgery on a patient, and the laparoscope 50 for displaying an image of a surgical site via the display member 10b may be embodied in an independent slave robot 20. Furthermore, as described above, the embodiment of the present invention may be generally used in surgeries using various surgical endoscopes other than laparoscopes (e.g., thoracoscopes, arthroscopes, nasal scopes, etc.).

[0058] Referring to FIG. 2, in one embodiment of the present invention, the master robot 10 may include a video input unit 11, a screen display unit 12, a user input unit 13, an operation signal generation unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0059] The image input unit 11 can receive images captured by a camera provided on the laparoscope 50 of the slave robot 20 via a wired or wireless communication network.

[0060] The screen display unit 12 outputs an image corresponding to the image received through the image input unit 11 as visual information. In addition, when biological information of the patient is input, the screen display unit 12 can further output information corresponding to the biological information. In addition, the screen display unit 12 can further output image data related to the patient for the surgical site (e.g., X-ray image, CT image, MRI image, etc.). Here, the screen display unit 12 can be embodied in the form of a display member (see 10b in FIG. 1), etc., and an image processing process for outputting the received image as an image through the screen display unit 12 can be performed by the control unit 15.

[0061] 2, the image input unit and the screen display unit are shown as being included in the master robot 10, but are not limited thereto. That is, the display member may be provided as a separate member separated from the master robot 10. Alternatively, the display member may be provided as one component of the master robot 10. In other embodiments, multiple display members may be provided, one of which may be disposed adjacent to the master robot 10 and the others may be disposed at a distance from the master robot 10.

[0062] Here, the screen display unit 12 (i.e., the display member 10b in FIG. 1) may be provided as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image and allows the observer to feel three-dimensional dynamism and reality using the depth information. The surgical robot system 1 according to one embodiment of the present invention may provide a more realistic virtual environment to the user by providing the screen display unit 12 with a stereoscopic display device.

[0063] The user input unit 13 is a means for allowing a surgeon to operate the positions and functions of the robot arm units 21, 22, and 23 of the slave robot 20. The user input unit 13 may be formed in the form of a handle-shaped operating member (see 10a in FIG. 1) as exemplified in FIG. 1, but the shape is not limited thereto and may be embodied in various shapes to achieve the same purpose. Also, for example, one part may be formed in a handle shape and another part in a different shape such as a clutch button, and a finger insertion tube or an insertion ring may be further formed to allow the surgeon's finger to be inserted and fixed to facilitate the operation of a surgical tool.

[0064] When the surgeon operates the user input unit 13 to move the positions of the robot arm units 21, 22, 23 or to operate a surgical operation, the operation signal generation unit 14 generates a corresponding operation signal and transmits it to the slave robot 20 via the communication unit 18. The operation signal can be transmitted and received via a wired or wireless communication network.

[0065] The control unit 15 is a kind of central processing unit and controls the operation of each component so as to execute the above-mentioned functions. For example, the control unit 15 may execute a function of converting a video inputted through the video input unit 11 into an image to be displayed on the screen display unit 12.

[0066] The memory 16 can perform a function of temporarily or permanently storing data processed by the control unit 15. Here, the memory 16 can include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto.

[0067] The storage unit 17 can store data received from the slave robot 20. The storage unit 17 can also store various input data (for example, patient data, equipment data, surgery data, etc.).

[0068] The communication unit 18 provides a communication interface required for transmitting and receiving the video data transmitted from the slave robot 20 and the control data transmitted from the master robot 10 in cooperation with the communication network 60 .

[0069] The slave robot 20 includes a plurality of robot arm unit control units 21a, 22a, and 23a. The robot arm unit control unit 21a includes a robot arm control unit 26, an instrument control unit 27, and a communication unit 29. The robot arm unit control unit 21a may further include a rail control unit 28.

[0070] The robot arm control unit 26 can play a role in receiving the operation signal generated by the operation signal generating unit 14 of the master robot 10, and controlling the robot arm units 21, 22, and 23 to operate in response to this operation signal.

[0071] The instrument control unit 27 can play a role in receiving an operation signal generated by the operation signal generating unit 14 of the master robot 10, and controlling the multi-joint surgical device 30 to operate in response to this operation signal.

[0072] The communication unit 29 provides a communication interface required for transmitting and receiving the video data transmitted from the slave robot 20 and the control data transmitted from the master robot 10 in cooperation with the communication network 60 .

[0073] Meanwhile, the communication network 60 serves to connect the master robot 10 and the slave robot 20. In other words, the communication network 60 refers to a communication network that provides a connection path so that the master robot 10 and the slave robot 20 can transmit and receive data to each other after they are connected. The communication network 60 can include, for example, wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MaNs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), and wireless networks such as wireless LANs, CDMA, Bluetooth (registered trademark), and satellite communications, but the scope of the present invention is not limited thereto.

[0074] With continued reference to FIG. 4 , the surgical instrument 30 of the surgical robot system 1 can include an end tool 100 , a drive portion 200 , and a coupling portion 400 .

[0075] Here, the connecting part 400 is formed in the shape of a hollow shaft and can accommodate one or more wires (described later) therein, and has one end connected to the driving part 200 and the other end connected to the end tool 100, thereby serving to connect the driving part 200 and the end tool 100.

[0076] The driving unit 200 is formed at one end of the connecting unit 400, and provides an interface that can be coupled to the robot arm units 21, 22, and 23. Therefore, when the master robot 10 is operated by a user, the motors (not shown) of the robot arm units 21, 22, and 23 are operated so that the end tool 100 of the surgical instrument 30 can perform a corresponding operation, and the driving force of the motors (not shown) is transmitted to the end tool 100 via the driving unit 200. From another perspective, it can also be described that the driving unit 200 itself serves as an interface that connects the surgical instrument 30 and the slave robot 20.

[0077] The end tool 100 is formed on the other end of the connecting portion 400 and is inserted into a surgical site to perform operations required for the surgery. Such an end tool 100 will be described in more detail with reference to FIG.

[0078] A surgical instrument according to one embodiment of the present invention can be provided in the surgical instrument of the surgical robot system shown in FIGS.

[0079] The surgical instruments that can be provided in the surgical robot system will be described in more detail below.

[0080] <First embodiment of surgical instrument>

[0081] Figures 5 and 6 are perspective views of an endotool of a surgical instrument according to a first embodiment of the present invention. Figures 7 and 8 are plan views of the endotool of Figure 5. Figures 9 and 10 are plan views of the endotool of Figure 5. Figure 11 is a side perspective view of the endotool of Figure 5. Figure 12 is a perspective view of an endotool hub of the endotool of Figure 5.

[0082] Fig. 13 is a perspective view showing a state where the end tool of the surgical instrument of Fig. 5 has been pitch-rotated by -90°. Fig. 14 is a side view showing a state where the end tool of the surgical instrument of Fig. 5 has been pitch-rotated by +90°. Fig. 15 is a perspective view showing a state where the end tool of the surgical instrument of Fig. 5 has been yaw-rotated by +90°. Fig. 16 is a side view showing a state where the end tool of the surgical instrument of Fig. 5 has been yaw-rotated by -90°.

[0083] Here, Fig. 6 shows a state in which the end tool hub 106 and the pitch hub 107 have been removed from the end tool of Fig. 5, and Fig. 8 shows a state in which the end tool hub 106 and the pitch hub 107 have been removed from the end tool of Fig. 7. Fig. 9 is a diagram showing the end tool of Fig. 5 with a focus on the wire, and Fig. 10 is a diagram showing the end tool of Fig. 5 with a focus on the pulley. Fig. 11(a) shows a state in which the end tool hub 106 and the pitch hub 107 are attached, Fig. 11(b) shows the path of the wire 301 with the end tool hub 106 and the pitch hub 107 removed, and Fig. 11(c) shows the path of the wire 305 with the end tool hub 106 and the pitch hub 107 removed.

[0084] As described above in Figures 1 to 4, the surgical instrument according to the first embodiment of the present invention (see 30 in Figure 4) can include an end tool 100, a drive unit (see 200 in Figure 4), a power transmission unit 300, and a connecting unit 400.

[0085] 5 to 16, the endotool 100 is formed at the end of the connecting part 400 and is inserted into a surgical site to perform an operation required for surgery. As an example of such an endotool 100, a pair of jaws 101, 102 for performing a gripping operation as shown in FIG. 5 can be used. However, the idea of ​​the present invention is not limited thereto, and various devices for surgery can be used as the endotool 100. For example, a single-arm cautery device or the like can also be used as the endotool. Such an endotool 100 is connected to a driving part (see 200 in FIG. 4) by a power transmission part 300, and the driving force of the driving part (see 200 in FIG. 4) is transmitted through the power transmission part 300 to perform an operation required for surgery, such as gripping, cutting, and suturing.

[0086] Here, the end tool 100 of the surgical instrument 30 according to the first embodiment of the present invention is formed to be rotatable in at least two or more directions. For example, the end tool 100 can be formed to perform a pitch motion around the rotation axis 143 of FIG. 5, as well as a yaw motion and an actuation motion around the rotation axis 141 of FIG. 5.

[0087] Here, the pitch, yaw and actuation movements used in the present invention are defined as follows.

[0088] First, the pitch movement refers to the movement of the end tool 100 rotating in the vertical direction with respect to the extension direction of the connecting part 400 (the X-axis direction in FIG. 5), i.e., the movement of rotating around the Y-axis in FIG. 5. In other words, it refers to the movement of the end tool 100 formed by extending from the connecting part 400 rotating up and down around the Y-axis with respect to the connecting part 400.

[0089] Next, the yaw movement refers to the movement of the end tool 100 rotating left and right with respect to the extension direction of the connecting part 400 (X-axis direction in FIG. 5), i.e., the movement of rotating around the Z-axis in FIG. 5. In other words, it refers to the movement of the end tool 100 formed extending from the connecting part 400 rotating left and right around the Z-axis with respect to the connecting part 400. In other words, it refers to the movement of two jaws 101 and 102 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0090] Meanwhile, the actuation operation means a movement in which the end tool 100 rotates around the same rotation axis as the yaw operation, but the two jaws 101 and 102 rotate in opposite directions to each other, so that the jaws close and open. That is, it means a movement in which the two jaws 101 and 102 formed on the end tool 100 rotate in opposite directions to each other around the Z axis.

[0091] Defining this from another perspective, yaw rotation can also be defined as the motion of the jaw pulley (described later) rotating around rotation axis 141, which is the jaw pulley rotation axis, and pitch rotation can also be defined as the motion of the jaw pulley revolving around rotation axis 143, which is the pitch main rotation axis.

[0092] The power transmission unit 300 connects the drive unit (see 200 in FIG. 4) and the end tool 100 and transmits the driving force of the drive unit (see 200 in FIG. 4) to the end tool 100, and may include multiple wires, pulleys, links, nodes, gears, etc.

[0093] The power transmission section 300 and the end tool 100 including the same will be described in more detail below.

[0094] (Power transmission section) In the following, the power transmission section 300 of the endotool of the surgical instrument of FIG. 5 will be described in more detail.

[0095] 5, 6, 10, etc., the power transmission section 300 of the end tool 100 of the surgical instrument according to one embodiment of the present invention can include wire 301, wire 302, wire 303, wire 304, wire 305, and wire 306.

[0096] Here, wire 301 and wire 305 form a pair and can serve as a first jaw wire. Wire 302 and wire 306 form a pair and can serve as a second jaw wire. Here, a component including wire 301 and wire 305 which are the first jaw wire and wire 302 and wire 306 which are the second jaw wire can be called a jawwire. And wire 303 and wire 304 form a pair and can serve as a pitch wire.

[0097] Here, in the figure, a pair of wires is shown as being associated with the rotational movement of the first jaw 101 and a pair of wires is shown as being associated with the rotational movement of the second jaw 102, but the idea of ​​the present invention is not limited thereto. For example, a pair of wires may be associated with yaw movement and a pair of wires may be associated with actuation movement.

[0098] Furthermore, the power transmission unit 300 of the surgical instrument according to an embodiment of the present invention may include fastening members 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, etc., which are coupled to each end of each wire to couple the wire to the pulley. Here, each fastening member may have various shapes such as a ball shape, a tube shape, etc., as necessary.

[0099] Here, fastening member 321, which is a pitch wire fastening member, is coupled to an end of wire 303, which is the pitch wire, on the end tool 100 side, and fastening member 322, which is a pitch wire fastening member, is coupled to an end of wire 304, which is the pitch wire, on the end tool 100 side, so as to function as a pitch wire end tool fastening member. Meanwhile, fastening member 329, which is a pitch wire drive unit fastening member, may be coupled to an end of wire 303, which is the pitch wire, on the drive unit (see 200 in FIG. 4) side, and fastening member 330, which is a pitch wire drive unit fastening member, may be coupled to an end of wire 304 on the drive unit (see 200 in FIG. 4) side.

[0100] Meanwhile, fastening member 323, which is a first jaw wire fastening member, is coupled to the end of wire 301 and wire 305, which are the first jaw wires, on the end tool 100 side, and can function as a first jaw wire end tool fastening member. Meanwhile, fastening member 324, which is a first jaw wire driving part fastening member, may be coupled to the end of wire 301, which is the first jaw wire, on the driving part (see 200 in FIG. 4) side, and fastening member 325, which is a first jaw wire driving part fastening member, may be coupled to the end of wire 305 on the driving part (see 200 in FIG. 4).

[0101] Meanwhile, fastening member 326, which is a second jaw wire fastening member, is coupled to the end of wire 302 and wire 306, which are the second jaw wires, on the end tool 100 side, and can function as a second jaw wire end tool fastening member. Meanwhile, fastening member 327, which is a second jaw wire drive part fastening member, may be coupled to the end of wire 302, which is the second jaw wire, on the drive part (see 200 in FIG. 4) side, and fastening member 328, which is a second jaw wire drive part fastening member, may be coupled to the end of wire 306 on the drive part (see 200 in FIG. 4).

[0102] Here, each fastening member is classified as being included in the power transmission unit 300, but the fastening members on the end tool 100 side can also be classified as being included in the end tool 100, and the fastening members on the drive unit (see 200 in Figure 4) side can also be classified as being included in the drive unit (see 200 in Figure 4).

[0103] The connection relationship between the wire, the fastening member, and each pulley will be described in detail below.

[0104] First, the second jaw wires, wire 302 and wire 306, may be one single wire. After clamping fastening member 326, which is a second jaw wire end tool fastening member, at the midpoint of the second jaw wire, which is a single wire, and crimping and fixing this fastening member 326, both strands of the second jaw wire can be called wire 302 and wire 306, respectively, with fastening member 326 at the center.

[0105] Alternatively, the second jaw wires 302 and 306 may each be formed of a separate wire, and the wires 302 and 306 may be connected by the fastening member 326 .

[0106] Then, by connecting this fastening member 326 to the pulley 121, the wire 302 and the wire 306 can be fixedly connected to the pulley 121. This allows the wire 302 and the wire 306 to be pulled and unwound, thereby allowing the pulley 121 to rotate.

[0107] Meanwhile, fastening member 327, which is a fastening member of the second jaw wire drive unit, is connected to the opposite end of the part where fastening member 326 is fastened by wire 302, and fastening member 328, which is a fastening member of the second jaw wire drive unit, can be connected to the opposite end of the part where fastening member 326 is fastened by wire 306.

[0108] Then, fastening member 327, which is a fastening member of the second jaw wire drive unit connected to wire 302, is connected to pulley 221, and fastening member 328, which is a fastening member of the second jaw wire drive unit connected to wire 306, is connected to pulley 222, so that wire 302 and wire 306 can be fixedly connected to pulley 221 and pulley 222, respectively. As a result, when pulley 221 and pulley 222 are rotated by a motor or by human power, wire 302 and wire 306 are pulled or unwound, and pulley 121 of end tool 100 can rotate.

[0109] Here, as shown in the figure, the drive unit second jaw pulley includes pulley 221 and pulley 222, the second jaw wire drive unit fastening member also includes fastening member 327 and fastening member 328, wire 302 can be coupled to fastening member 327, and wire 306 can be coupled to fastening member 328. Alternatively, although not shown in the figure, the drive unit second jaw pulley may include one pulley, the second jaw wire drive unit fastening member also includes one fastening member, and wires 302 and 306 may be coupled to one fastening member and coupled to one drive unit second jaw pulley.

[0110] Similarly, wire 301, which is the first jaw wire, is coupled to first jaw wire end tool fastener 323 and first jaw wire drive fastener 324, and wire 305 is coupled to first jaw wire end tool fastener 323 and first jaw wire drive fastener 325. Then, first jaw wire end tool fastener 323 is coupled to pulley 111, first jaw wire drive fastener 324 is coupled to pulley 211, and first jaw wire drive fastener 325 is coupled to pulley 212. As a result, when pulley 211 / pulley 212 is rotated by a motor or human power, wire 301 and wire 305 are pulled or unwound, allowing pulley 111 of end tool 100 to rotate.

[0111] Similarly, one end of wire 303, which is a pitch wire, can be coupled to fastening member 321, which is a pitch wire end tool fastening member, and one end of wire 304, which is a pitch wire, can be coupled to fastening member 322, which is a pitch wire end tool fastening member. The other end of wire 303 can be coupled to fastening member 329, which is a pitch wire drive unit fastening member, and the other end of wire 304 can be coupled to fastening member 330, which is a pitch wire drive unit fastening member. Fastening members 321 and 322 are coupled to pulley 131, respectively, and fastening members 329 and 330 are coupled to pulley 231 / pulley 232, which are drive unit pitch pulleys, respectively. As a result, when pulley 231 / pulley 232, which are drive unit pitch pulleys, are rotated by a motor or human power, wire 303 and wire 304 are pulled or unwound, and pulley 131 of end tool 100 can rotate.

[0112] As a result, the wires 301 and 305 which are both strands of the first jaw wire can be formed to function as a closed loop as a whole by being coupled with the fastening member 323 which is the first jaw wire end tool fastening member and the fastening member 324 / fastening member 325 which is the first jaw wire drive unit fastening member. Similarly, the second jaw wire and the pitch wire can each be formed to function as a closed loop.

[0113] (End Tool) In the following, the endotool 100 of the surgical instrument of FIG. 5 will be described in more detail.

[0114] 5 to 16, an endtool 100 according to a first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

[0115] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, and 118 for rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, and 128 for rotational movement of the second jaw 102.

[0116] Here, in the figure, a group of pulleys is shown as being related to the rotational motion of the first jaw 101, and a group of pulleys is shown as being related to the rotational motion of the second jaw 102, but the idea of ​​the present invention is not limited thereto. For example, a group of pulleys in the end tool may be related to yaw motion, and a group of pulleys may be related to actuation motion. Here, pulleys included in the end tool 100, including the pulleys described above, may be generally referred to as end tool pulleys.

[0117] Here, although the figures show opposing pulleys formed parallel to each other, the concept of the present invention is not limited thereto, and it will be appreciated that each pulley may be formed in a variety of positions and sizes suitable for the configuration of the end tool.

[0118] The end tool 100 of the first embodiment of the present invention may also include an end tool hub 106 and a pitch hub 107 .

[0119] The end tool hub 106 has a rotating shaft 141, a rotating shaft 142, and a rotating shaft 145, which will be described later, inserted therethrough. The end tool hub 106 can accommodate at least a portion of the pulley 111 and the pulley 121 axially coupled to the rotating shaft 141 therein. The end tool hub 106 can accommodate at least a portion of the pulley 112 and the pulley 122 axially coupled to the rotating shaft 142 therein. The end tool hub 106 can also accommodate a pulley 118 and a pulley 128 axially coupled to the rotating shaft 145 therein.

[0120] In detail, referring to FIG. 12 etc., the end tool hub 106 includes a first jaw pulley coupling portion 106a, a second jaw pulley coupling portion 106b, a guide portion 106c, a pitch extra pulley accommodating portion 106d, and a pitch pulley coupling portion 106e.

[0121] In detail, the first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b are formed to face each other, and the pulleys 111 and 121 are housed therein. A through hole is formed in each of the first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b, and the rotating shaft 141 passes through the first jaw pulley coupling portion 106a, the pulley 111, the pulley 121, and the second jaw pulley coupling portion 106b to axially couple them. The rotating shaft 142 passes through the first jaw pulley coupling portion 106a, the pulley 112, the pulley 122, and the second jaw pulley coupling portion 106b to axially couple them.

[0122] The first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b are connected by a guide portion 106c. That is, the first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b, which are parallel to each other, are coupled by a guide portion 106c formed in a direction substantially perpendicular thereto, and the first jaw pulley coupling portion 106a, the second jaw pulley coupling portion 106b, and the guide portion 106c form a substantially U-shape, and pulleys 111, 112, 121, and 122 are housed therein.

[0123] Here, the first jaw pulley, pulley 111, is positioned adjacent to the first jaw pulley connection portion 106a of the end tool hub 106, and the second jaw pulley, pulley 121, is positioned adjacent to the second jaw pulley connection portion 106b of the end tool hub 106, so that a predetermined space can be formed between the first jaw wire, wire 301 / wire 305, and the second jaw wire, wire 302 / wire 306.

[0124] Meanwhile, a pitch extra pulley accommodating portion 106d may be formed on the proximal side of the guide portion 106c of the end tool hub 106. The pitch extra pulleys 118 and 128 can be accommodated in this pitch extra pulley accommodating portion 106d, and these pitch extra pulleys can be axially coupled to the end tool hub 106 by a rotating shaft 145.

[0125] Meanwhile, a pulley 131 serving as an end tool pitch pulley may be formed at the pitch pulley coupling portion 106e at one end of the end tool hub 106. Here, the pulley 131 may be formed as one body with the end tool hub 106. That is, one end of the end tool hub 106 may be formed in a disk or semicircular shape, and a groove around which a wire can be wound may be formed on the outer circumferential surface to form a kind of guide channel. Alternatively, the pulley 131 may be formed of a member separate from the end tool hub 106 and coupled to the end tool hub 106. The above-mentioned wires 303 and 304 are coupled to the pulley 131 serving as an end tool pitch pulley, and the pulley 131 rotates around the rotation axis 143 to perform a pitch motion.

[0126] Rotation shafts 143 and 144, which will be described later, are inserted through the pitch hub 107, and the end tool hub 106 and the pulley 131 can be axially coupled to the pitch hub 107 by the rotation shaft 143. Therefore, the end tool hub 106 and the pulley 131 (coupled thereto) can be formed rotatable relative to the pitch hub 107 around the rotation shaft 143.

[0127] Furthermore, pitch hub 107 can accommodate at least a portion of pulley 113, pulley 114, pulley 123, and pulley 124 axially coupled to rotation shaft 143 therein. Furthermore, pitch hub 107 can accommodate at least a portion of pulley 115 and pulley 125 axially coupled to rotation shaft 144 therein.

[0128] Furthermore, the end tool 100 according to the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0129] The rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144 can be arranged in sequence from the distal end 104 toward the proximal end 105 of the end tool 100. As a result, in order from the distal end 104, the rotating shaft 141 can be called the first pin, the rotating shaft 142 the second pin, the rotating shaft 145 the 2.5 pin, the rotating shaft 143 the third pin, and the rotating shaft 144 the fourth pin.

[0130] Here, the rotation shaft 141 functions as a jaw pulley rotation shaft, the rotation shaft 142 functions as a jaw auxiliary pulley rotation shaft, the rotation shaft 143 functions as a pitch main rotation shaft, and the rotation shaft 144 functions as a pitch sub rotation shaft of the end tool 100. And the rotation shaft 145 disposed between the rotation shaft 142 and the rotation shaft 143 can function as a pitch extra rotation shaft of the end tool 100.

[0131] Each of these rotating shafts 141, 142, 143, 144, 145 may have one or more pulleys fitted thereto, as will be described in more detail below.

[0132] Pulley 111 functions as a first jaw pulley and pulley 121 functions as a second jaw pulley, and these two components may be collectively referred to as the jaw pulleys.

[0133] The pulleys 111 and 121, which are jaw pulleys, are formed to face each other and are formed to be independently rotatable around a rotation axis 141, which is a jaw pulley rotation axis. Here, in the figure, the pulleys 111 and 121 are formed to rotate around one rotation axis 141, but it goes without saying that each jaw pulley may be formed to be rotatable around a separate axis. Here, a first jaw 101 is fixedly connected to the pulley 111 and rotates together with the pulley 111, and a second jaw 102 is fixedly connected to the pulley 121 and rotates together with the pulley 121. Yaw movement and actuation movement of the end tool 100 are performed according to the rotation of the pulleys 111 and 121. That is, when the pulleys 111 and 121 rotate in the same direction around the rotation axis 141, a yaw movement is performed, and when the pulleys 111 and 121 rotate in opposite directions around the rotation axis 141, an actuation movement is performed.

[0134] Here, the first jaw 101 and the pulley 111 may be formed of separate members and coupled to each other, or the first jaw 101 and the pulley 111 may be formed as a one-body. Similarly, the second jaw 102 and the pulley 121 may be formed of separate members and coupled to each other, or the second jaw 102 and the pulley 121 may be formed as a one-body.

[0135] Here, the groove 111a around which the wire 301 / wire 305, which is the first wire, is wound in the pulley 111, which is the first jaw pulley, is disposed adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106, and the groove 121a around which the wire 302 / wire 306, which is the second wire, is wound in the pulley 121, which is the second jaw pulley, is disposed adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106. Therefore, a predetermined space can be formed between the wire 301 / wire 305, which is the first jaw wire, and the wire 302 / wire 306, which is the second jaw wire. In this manner, the wire 301 / wire 305, which is the first jaw wire, and the wire 302 / wire 306, which is the second jaw wire, are disposed to be spaced apart from each other, so that the wires can be wound around each pulley while maintaining a straight line.

[0136] Pulley 112 functions as a first jaw assist pulley and pulley 122 functions as a second jaw assist pulley, and these two components may be collectively referred to as the jaw assist pulleys.

[0137] In detail, the pulleys 112 and 122, which are jaw auxiliary pulleys, may be further provided on one side of the pulleys 111 and 121. That is, the pulley 112, which is a jaw auxiliary pulley, may be disposed between the pulley 111 and the pulleys 113 / 114. The pulley 122, which is a jaw auxiliary pulley, may be disposed between the pulley 121 and the pulleys 123 / 124. The pulleys 112 and 122 may be formed to be independently rotatable about the rotation shaft 142. Here, in the figure, the pulleys 112 and 122 are formed to rotate about one rotation shaft 142, but it goes without saying that the pulleys 112 and 122 may be formed to be rotatable about separate shafts. Such auxiliary pulleys will be described in more detail later.

[0138] Pulley 113 and pulley 114 function as a first jaw pitch main pulley, and pulley 123 and pulley 124 function as a second jaw pitch main pulley, and these two components may be collectively referred to as pitch main pulleys.

[0139] Pulley 115 functions as a first jaw pitch sub-pulley and pulley 125 functions as a second jaw pitch sub-pulley, and these two components may be collectively referred to as pitch sub-pulleys.

[0140] On the other hand, the present invention is characterized in that pulleys 118 and 128, which are pitch redundant pulleys, are further disposed between pulleys 112 and 122, which are jaw auxiliary pulleys, and pulleys 113, 114, 123, and 124, which are pitch main pulleys.

[0141] Pulley 118 functions as a first jaw pitch extra pulley and pulley 128 functions as a second jaw pitch extra pulley, and these two components may be collectively referred to as pitch extra pulleys.

[0142] Also, a rotation shaft 145 that functions as a pitch extra rotation shaft may be further provided, and the rotation shaft 145 may be inserted through the end tool hub 106. Here, the rotation shaft 145 may be formed substantially parallel to the rotation shaft 143 that is the pitch main rotation shaft and the rotation shaft 144 that is the pitch sub rotation shaft. In this case, the rotation shaft 145 is disposed between the rotation shaft 142 that is the 2nd pin and the rotation shaft 143 that is the 3rd pin, and therefore, due to its position, it can also be called the 2.5th pin.

[0143] Such pitch extra pulleys can serve to change the retraction / retraction path of the jawwire as it enters or exits the end tool from the proximal to the distal portion, as will be described in more detail below.

[0144] As a result, the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144 can be arranged in this order from the distal portion 104 toward the proximal portion 105 of the end tool 100.

[0145] In addition, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 118, pulley 113 / pulley 114, and pulley 115, can be arranged in sequence from the distal portion 104 toward the proximal portion 105 of the end tool 100.

[0146] In addition, pulleys related to the rotation of the second jaw 102, that is, pulley 121, pulley 122, pulley 128, pulley 123 / pulley 124, and pulley 125, can be arranged in sequence from the distal portion 104 toward the proximal portion 105 of the end tool 100.

[0147] Pulleys 112 and 122, which act as auxiliary pulleys, are described in more detail below.

[0148] Pulley 112 and pulley 122 can play a role in expanding the rotation angle of first jaw 101 and second jaw 102, respectively, by contacting wire 305, which is the first jaw wire, and wire 302, which is the second jaw wire, and changing the arrangement paths of wire 305 and wire 302 to a certain extent.

[0149] That is, when the auxiliary pulley is not arranged, each of the first jaw and the second jaw can only rotate up to a right angle, but in one embodiment of the present invention, by further providing the auxiliary pulleys 112 and 122, the maximum rotation angle can be increased by θ as seen in FIG. 10. This enables an operation in which the two jaws of the end tool 120 must open for actuation operation when both jaws have yaw-rotated by 90° in the L direction. This is because the second jaw 102 can rotate by an additional angle (θ) as in FIG. 10. Similarly, actuation operation is possible even when the two jaws have yaw-rotated in the R direction. That is, the pulley 112 and the pulley 122 have the characteristic of widening the range of yaw rotation in which actuation operation is possible.

[0150] This will be explained in more detail as follows.

[0151] When the auxiliary pulley is not provided, the first jaw wire is fixedly connected to the first jaw pulley, and the second jaw wire is fixedly connected to the second jaw pulley, so that the first jaw pulley and the second jaw pulley can only rotate up to 90°. In this case, when an actuation operation is performed with the first jaw and the second jaw positioned on the 90° line, the first jaw can spread, but the second jaw cannot rotate more than 90°. Therefore, there is a problem that the actuation operation cannot be performed smoothly when the first jaw and the second jaw are performing a yaw operation more than a certain angle.

[0152] In order to solve such a problem, in the case of the end tool of the surgical instrument of the present invention, the auxiliary pulleys 612 and 622 are further arranged on one side of the pulley 111 and the pulley 121. By arranging the pulleys 112 and 122 in this way and changing the arrangement path of the wire 305, which is the first jaw wire, and the wire 302, which is the second jaw wire, to a certain extent, the tangential direction of the wire 305 and the wire 302 is changed, and thus the fastening member 323, which connects the wire 302 and the pulley 121, can rotate up to the N line in FIG. 10. That is, the fastening member 326, which is the connecting portion between the wire 302 and the pulley 121, can rotate until it is positioned on the common inscribed line of the pulleys 121 and 122. Similarly, the fastening member 323, which is the connecting portion between the wire 305 and the pulley 111, can rotate until it is positioned on the common inscribed line of the pulleys 111 and 112, and the rotation range can be expanded in the L direction.

[0153] That is, the wires 301 and 305 which are the two strands of the first jaw wire wound around the pulley 111 by the pulley 112 are disposed on either side of a plane perpendicular to the Y axis and passing through the X axis. At the same time, the wires 302 and 306 which are the two strands of the second jaw wire wound around the pulley 121 by the pulley 122 are disposed on the other side of a plane perpendicular to the Y axis and passing through the X axis.

[0154] In other words, pulleys 113 and 114 are disposed on either side of a plane perpendicular to the Y axis and passing through the X axis, and pulleys 123 and 124 are disposed on the other side of a plane perpendicular to the Y axis and passing through the X axis.

[0155] In other words, the wire 305 is located on the inscribed line between the pulleys 111 and 112, and the rotation angle of the pulley 111 is expanded by the pulley 112. In addition, the wire 302 is located on the inscribed line between the pulleys 121 and 122, and the rotation angle of the pulley 121 is expanded by the pulley 122.

[0156] According to the present invention, the rotation radius of the jaws 101 and 102 is increased, and this has the effect of expanding the yaw operation range in which normal opening and closing actuation operations can be performed.

[0157] The components involved in the rotation of pulley 111 will be described below.

[0158] Pulley 113 and pulley 114 form a pair and function as a first jaw pitch main pulley. In other words, they function as a main rotating pulley for the pitch operation of first jaw 101. Here, a wire 301 which is a first jaw wire is wound around pulley 113, and a wire 305 which is a first jaw wire is wound around pulley 114.

[0159] The pulley 115 functions as a first jaw pitch sub pulley. That is, it functions as a sub rotating pulley for the pitch motion of the first jaw 101. Here, a wire 301 which is a first jaw wire is wound around the pulley 115.

[0160] The pulley 118 functions as a first jaw extra pulley. That is, it functions as an extra rotating pulley for the pitch motion of the first jaw 101. Here, a wire 305 which is a first jaw wire is wound around the pulley 118.

[0161] Here, a pulley 118 is disposed on one side of the pulleys 111 and 112. Here, the pulley 118 is formed to be rotatable around a rotation axis 145 which is a pitch extra rotation axis. In addition, a pulley 113 and a pulley 114 are disposed on one side of the pulley 118 so as to face each other. Here, the pulleys 113 and 114 are formed to be rotatable independently around a rotation axis 143 which is a pitch main rotation axis. In addition, a pulley 115 is disposed on one side of each of the pulleys 113 and 114. Here, the pulley 115 is formed to be rotatable around a rotation axis 144 which is a pitch sub rotation axis. Here, in the drawing, the pulleys 118, 113, 114, and 115 are all shown to be rotatable around the Y-axis direction, but the idea 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.

[0162] Wire 301, which is the first jaw wire, is wound in sequence so as to make at least a portion of it contact with pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so as to make at least a portion of it contact with pulley 111, pulley 112, pulley 118, and pulley 114.

[0163] Explaining this from another perspective, wire 301 and wire 305, which are the first jaw wires, are wound sequentially around pulley 115, pulley 113, pulley 111, pulley 112, pulley 118, and pulley 114 so that at least a portion of them contact pulley 115, pulley 113, pulley 111, pulley 112, pulley 118, and pulley 114, and wire 301 and wire 305 are formed to move along the pulleys while rotating the pulleys.

[0164] Therefore, when wire 301 is pulled in the direction of arrow 301 in Fig. 9, fastening member 323 to which wire 301 is coupled and pulley 111 coupled thereto rotate in the direction of arrow L in Fig. 9. Conversely, when wire 305 is pulled in the direction of arrow 305 in Fig. 9, fastening member 323 to which wire 305 is coupled and pulley 111 coupled thereto rotate in the direction of arrow R in Fig. 9.

[0165] Next, components related to the rotation of pulley 121 will be described.

[0166] Pulley 123 and pulley 124 form a pair and function as a second jaw pitch main pulley. In other words, they function as a main rotating pulley for the pitch operation of second jaw 102. Here, a wire 306 which is the second jaw wire is wound around pulley 123, and a wire 302 which is the second jaw wire is wound around pulley 124.

[0167] The pulley 125 functions as a second jaw pitch sub pulley. That is, it functions as a sub rotating pulley for the pitch motion of the second jaw 102. Here, a wire 306 that is a second jaw wire is wound around the pulley 125.

[0168] Pulley 128 functions as a second jaw pitch extra pulley, i.e., an extra rotation pulley for the pitch motion of second jaw 102. Here, pulley 128 is wound with wire 302, which is the second jaw wire.

[0169] Here, a pulley 128 is disposed on one side of the pulleys 121 and 122. Here, the pulley 128 is formed to be rotatable around a rotation axis 145 which is a pitch extra rotation axis. In addition, a pulley 123 and a pulley 124 are disposed on one side of the pulley 128 so as to face each other. Here, the pulleys 123 and 124 are formed to be independently rotatable around a rotation axis 143 which is a pitch main rotation axis. In addition, a pulley 125 is disposed on one side of each of the pulleys 123 and 124. Here, the pulley 125 is formed to be rotatable around a rotation axis 144 which is a pitch sub rotation axis. Here, in the drawing, the pulleys 128, 123, 124, and 125 are all shown to be rotatable around the Y-axis direction, but the idea 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.

[0170] Wire 306, which is the second jaw wire, is wound in sequence so as to make at least a portion of it contact pulley 125, pulley 123, and pulley 121. Wire 302, which is connected to wire 306 by fastening member 326, is wound in sequence so as to make at least a portion of it contact pulley 121, pulley 122, pulley 128, and pulley 124.

[0171] Explaining this from another perspective, the second jaw wires, wire 306 and wire 302, are wound sequentially around pulley 125, pulley 123, pulley 121, pulley 122, pulley 128, and pulley 124 so that at least a portion of the wires contact pulley 125, pulley 123, pulley 121, pulley 122, pulley 128, and pulley 124, and wire 306 and wire 302 are formed to move along the pulleys while rotating the pulleys.

[0172] Therefore, when wire 306 is pulled in the direction of arrow 306 in Fig. 9, fastening member 326 to which wire 306 is coupled and pulley 121 coupled thereto rotate in the direction of arrow R in Fig. 9. Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 9, fastening member 326 to which wire 302 is coupled and pulley 121 coupled thereto rotate in the direction of arrow L in Fig. 9.

[0173] Here, the present invention is characterized in that both strands of jaw wire wound around one jaw pulley are wound around the pitch main pulley in opposite directions, thereby facilitating control of the pitch movement.

[0174] In detail, if the +Z axis direction is defined as the upper side and the -Z axis direction as the lower side based on the plane (i.e., the XY plane) passing between pulley 111, which is the first jaw pulley, and pulley 121, which is the second jaw pulley, one of the two strands of the first jaw wire (e.g., wire 301) can enter pulley 113, which is the first jaw pitch main pulley, from the lower side of the XY plane, and the other strand (e.g., wire 305) can exit pulley 114, which is the first jaw pitch main pulley, on the upper side of the XY plane. In other words, it can be expressed as a structure in which the jaw wire enters the lower side of the first jaw pitch main pulley and exits from the upper side. (The second jaw wire enters the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0175] Explaining this from another perspective, wire 301, which is one strand of the first jaw wire, contacts the upper side of pulley 115 and the lower side of pulley 113 in this order, and then contacts pulley 111. Subsequently, wire 305, which is the other strand of the first jaw wire, is wound around pulleys 111 and 112, and then contacts the lower side of pulley 118 and the upper side of pulley 114 in this order, and then exits at connecting portion 400. As a result, the first jaw wire exits connecting portion 400, enters the lower side of pulley 113, passes through each pulley, passes the upper side of pulley 114, and re-enters connecting portion 400.

[0176] Similarly, wire 306, which is one strand of the second jaw wire, contacts the underside of pulley 125, the upper side of pulley 123, in that order, and then contacts pulley 121. Subsequently, wire 302, which is the other strand of the second jaw wire, is wound around pulleys 121 and 122, and then contacts the upper side of pulley 128, the lower side of pulley 124, in that order, and then exits at connecting portion 400. As a result, the second jaw wire exits connecting portion 400, enters the upper side of pulley 123, passes through each pulley, passes through the underside of pulley 124, and then re-enters connecting portion 400.

[0177] From another perspective, one of the first jaw wires of both strands is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other wire is wound around the first jaw pitch main pulley in the other of the clockwise and counterclockwise directions. That is, as shown in Fig. 11, wire 301 is wound in the clockwise direction as it enters from the connecting part 400 toward the end tool 100, and wire 305 is wound in the counterclockwise direction as it enters from the connecting part 400 toward the end tool 100.

[0178] Similarly, one of the two second jaw wires can be expressed as being wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other wire can be expressed as being wound around the second jaw pitch main pulley in the other of the clockwise and counterclockwise directions. That is, as shown in FIG. 10, wire 302 is wound in the clockwise direction as it enters from the connecting portion 400 toward the end tool 100, and wire 306 is wound in the counterclockwise direction as it enters from the connecting portion 400 toward the end tool 100.

[0179] In this way, by winding both jaw wires around one jaw pulley in opposite directions around the pitch main pulley, it is possible to obtain the effect of making it easier to control the pitch movement, which will be described in more detail later.

[0180] On the other hand, from the viewpoint of the XZ plane, both of the jaw wires are arranged on the same side with respect to the XZ plane. In detail, if the +Z axis direction is defined as the upper side and the -Z axis direction is defined as the lower side with respect to a plane (i.e., the XY plane) passing between the pulley 114 which is the first jaw pitch main pulley and the pulley 124 which is the second jaw pitch main pulley, one of the two jaw wires (e.g., wire 301) can be arranged on the first side of the XY plane, and the other jaw wire (e.g., wire 305) can also be arranged on the same first side. Similarly, one of the two jaw wires (e.g., wire 306) can be arranged on the second side of the XZ plane, and the other jaw wire (e.g., wire 302) can also be arranged on the same second side. That is, it can be expressed as a structure in which one jaw wire enters the first side and exits from the first side. (Furthermore, it can be expressed as a structure in which the other jaw wire enters the second side and exits from the second side.)

[0181] (Drive unit) In the following, the drive part 200 of the surgical instrument 30 of FIG. 4 will be explained in more detail.

[0182] 17 is a perspective view of the drive unit of the surgical instrument of FIG. 4, FIG. 18 is a plan view of the drive unit of the surgical instrument of FIG. 17, FIG. 19 is a rear view of the drive unit of the surgical instrument of FIG. 17, and FIG. 20 is a side view of the drive unit of the surgical instrument of FIG. 17.

[0183] 17 to 20, the driving unit 200 of the surgical instrument 30 according to the first embodiment of the present invention may include pulleys 211, 212, 213, 214, 215, and 216 related to the rotational motion of the first jaw 101. Also, the driving unit 200 may include pulleys 221, 222, 223, 224, 225, and 226 related to the rotational motion of the second jaw 102.

[0184] Here, although the figures show opposing pulleys formed parallel to each other, the concept of the present invention is not limited thereto, and it will be appreciated that each pulley may be formed in a variety of positions and sizes suitable for the configuration of the drive unit.

[0185] In addition, the driving part 200 of the surgical instrument 30 according to the first embodiment of the present invention may further include a pulley 231 and a pulley 232 that serve as driving part pitch pulleys.

[0186] In addition, the driving unit 200 of the first embodiment of the present invention may include a rotating shaft 241, a rotating shaft 242, a rotating shaft 243, and a rotating shaft 244. Here, the rotating shaft 241 may function as a first jaw rotating shaft of the driving unit, and the rotating shaft 242 may function as a second jaw rotating shaft of the driving unit. The rotating shaft 243 may function as a pitch rotating shaft of the driving unit, and the rotating shaft 244 may function as a roll rotating shaft of the driving unit. Each of these rotating shafts 241, 242, 243, and 244 may be fitted with one or more pulleys, which will be described in detail later.

[0187] Also, the driving unit 200 according to the first embodiment of the present invention may include a motor coupling part 251, a motor coupling part 252, a motor coupling part 253, and a motor coupling part 254. Here, the motor coupling part 251 may function as a first jaw drive motor coupling part, the motor coupling part 252 may function as a second jaw drive motor coupling part, the motor coupling part 253 may function as a pitch drive motor coupling part, and the motor coupling part 254 may function as a roll drive motor coupling part. Here, each of the motor coupling parts 251, 252, 253, and 254 may be formed in a rotatable flat plate shape, and may have one or more coupling holes to which a motor (not shown) can be coupled.

[0188] The motor coupling parts 251, 252, 253, 254 of the driving part 200 are coupled to motors (not shown) formed on the robot arm units 21, 22, 23, and the driving part 200 is operated by the driving of the motors (not shown).

[0189] In addition, the driving unit 200 according to the first embodiment of the present invention may include a gear 263 and a gear 264. Here, the gear 263 and the gear 264 may function as roll driving gears.

[0190] Each component is described in more detail below.

[0191] Pulley 211 and pulley 212 function as a drive part first jaw pulley, and pulley 221 and pulley 222 function as a drive part second jaw pulley, and these components are generally referred to as drive part jaw pulleys.

[0192] Here, in the figure, pulleys 211 and 212 are shown as being related to the rotational motion of the first jaw 101 of the end tool 100, and pulleys 221 and 222 are shown as being related to the rotational motion of the second jaw 102 of the end tool 100, but the idea of ​​the present invention is not limited thereto. For example, a group of pulleys in the drive unit may be related to yaw motion, and a group of pulleys may be related to actuation motion. Therefore, pulleys 211, 212, 221, and 222 may be commonly referred to as drive unit drive pulleys. In addition, a group of pulleys in the following other pulleys may be related to yaw motion, and a group of pulleys may be related to actuation motion.

[0193] Pulleys 213, 214, 215, and 216 function as drive unit first jaw auxiliary pulleys, and pulleys 223, 224, 225, and 226 function as drive unit second jaw auxiliary pulleys, and these components can be commonly referred to as drive unit jaw auxiliary pulleys.

[0194] A plurality of rotation shafts including rotation shaft 241, rotation shaft 242, rotation shaft 243, and rotation shaft 244 may be formed on the first surface of base plate 201. In addition, a plurality of intermediate pulleys 202 are formed on the first surface of base plate 201, and can serve to redirect wires 301, 302, 303, 304, 305, and 306 that pass through shaft 410 and enter driving unit 200 toward pulley 231 / pulley 232.

[0195] In addition, on the base plate 201, a shaft-shaped shaft 410 is connected to a second surface opposite to the first surface, and motor connection portions 251, 252, 253, and 254 to which a motor (not shown) for driving a pulley is connected can be formed.

[0196] Here, each motor coupling portion and the rotating shaft may be directly coupled to each other, or may be indirectly coupled to each other via a gear.

[0197] As an example, the motor coupling part 251, which is a first jaw drive motor coupling part, is directly coupled to the rotating shaft 241, which is a first jaw rotation shaft of the drive part, so that when the motor coupling part 251, which is coupled to the first jaw drive motor (not shown), rotates, the rotating shaft 241, which is directly coupled thereto, can rotate together. Similarly, the motor coupling part 252, which is a second jaw drive motor coupling part, is directly coupled to the rotating shaft 242, which is a second jaw rotation shaft of the drive part, so that when the motor coupling part 252, which is coupled to the second jaw drive motor (not shown), rotates, the rotating shaft 242, which is directly coupled thereto, can rotate together. Similarly, the motor coupling part 253, which is a pitch drive motor coupling part, is directly coupled to the rotating shaft 243, which is a pitch rotation shaft of the drive part, so that when the motor coupling part 253, which is coupled to the pitch drive motor (not shown), rotates, the rotating shaft 243, which is directly coupled thereto, can rotate together.

[0198] As another example, the motor coupling part 254 which is the roll drive motor coupling part and the rotation shaft 244 which is the drive part roll rotation shaft may be disposed at a certain distance from each other in a plan view perpendicular to the rotation shaft 244. Such motor coupling part 254 and the rotation shaft 244 may be connected by the gears 263 and 264 which are roll drive gears.

[0199] The reason why some of the motor coupling parts are directly connected to the rotation shafts and the remaining motor coupling parts are indirectly connected to the rotation shafts is because the coupling position and direction between the surgical instruments 30 and the slave robot 20 must be considered. That is, the rotation shafts that are not affected by the coupling position with the slave robot 20 may be directly connected to the motor coupling parts, while the rotation shafts that may cause interference with the coupling position with the slave robot 20 may be indirectly connected to the motor coupling parts.

[0200] In the figure, motor coupling parts 251, 252, and 253 are shown as being directly connected to the rotating shaft, and motor coupling part 254 is shown as being indirectly connected via a gear, but the concept of the present invention is not limited to this, and it can be said that various configurations are possible depending on the coupling position and direction with respect to the slave robot 20.

[0201] Pulleys 211 and 212, which are first jaw pulleys of the driving unit, may be coupled to a rotation shaft 241, which is a first jaw rotation shaft of the driving unit. Here, the pulleys 211 and 212 may be formed to rotate together with the rotation shaft 241.

[0202] Here, the figure shows the first jaw pulley of the drive unit being formed by two pulleys 211, 212, with wire 301 coupled to one pulley 211 and wire 305 coupled to the other pulley 212, but the concept of the present invention is not limited to this, and the first jaw pulley of the drive unit may be formed by a single pulley, with both wires 301 and 305 coupled to this single pulley.

[0203] As described above, the rotating shaft 241 is connected to the first jaw drive motor (not shown) by the motor coupling portion 251. Therefore, when the first jaw drive motor (not shown) for driving the first jaw 101 rotates, the pulleys 211 and 212, which are the drive unit first jaw pulleys, rotate together with the rotating shaft 241 to pull and rewind the wires 301 and 305, which are the first jaw wires.

[0204] One or more drive unit first jaw auxiliary rotation shafts may be disposed in an area adjacent to the rotation shaft 241. The drive unit first jaw auxiliary pulleys, that is, pulleys 213, 214, 215, and 216, may be coupled to the rotation shafts. The pulleys 213, 214, 215, and 216 may play a role in guiding the paths of the wires 301 and 305, that are the first jaw wires.

[0205] Pulleys 221 and 222, which are drive unit second jaw pulleys, may be coupled to a rotation shaft 242, which is a drive unit second jaw rotation shaft. Here, pulleys 221 and 222 may be formed to rotate together with the rotation shaft 242.

[0206] Here, the figure shows the second jaw pulley of the drive unit being formed by two pulleys 221, 222, with wire 302 coupled to one pulley 221 and wire 306 coupled to the other pulley 222, but the concept of the present invention is not limited to this, and the second jaw pulley of the drive unit may be formed by a single pulley, with both wire 302 and wire 306 coupled to this single pulley.

[0207] As described above, the rotating shaft 242 is connected to the second jaw drive motor (not shown) by the motor coupling portion 252. Therefore, when the second jaw drive motor (not shown) for driving the second jaw 102 rotates, the pulleys 221 and 222, which are the drive unit second jaw pulleys, rotate together with the rotating shaft 242 to pull and rewind the wires 302 and 306, which are the second jaw wires.

[0208] One or more drive unit second jaw auxiliary rotation shafts may be disposed in an area adjacent to the rotation shaft 242. The drive unit second jaw auxiliary pulleys, ie, pulleys 223, 224, 225, and 226, may be coupled to the rotation shafts. The pulleys 223, 224, 225, and 226 may play a role in guiding the paths of the wires 302 and 306, which are the second jaw wires.

[0209] Pulleys 231 and 232, which are drive unit pitch pulleys, may be coupled to a rotation shaft 243, which is a drive unit pitch rotation shaft. Here, pulleys 231 and 232 may be formed to rotate together with the rotation shaft 243.

[0210] Here, the figure shows the drive unit pitch pulley being formed of two pulleys 231, 232, with wire 304 coupled to one pulley 231 and wire 303 coupled to the other pulley 232, but the concept of the present invention is not limited to this, and the drive unit pitch pulley can be formed of a single pulley, with both wire 303 and wire 304 coupled to this single pulley.

[0211] As described above, the rotating shaft 243 is connected to the pitch drive motor (not shown) by the motor coupling portion 253. Therefore, when the pitch drive motor (not shown) rotates for pitch operation, the pulleys 231 and 232, which are drive unit pitch pulleys, rotate together with the rotating shaft 243 to pull and unwind the wires 303 and 304, which are pitch wires.

[0212] One or more driver pitch auxiliary rotating shafts can be disposed in an area adjacent to the rotating shaft 243. Pulleys 233 and 234, which are driver pitch auxiliary pulleys, can be coupled to these rotating shafts. Pulleys 233 and 234 can play a role in guiding the paths of wires 303 and 304, which are pitch wires.

[0213] The first jaw wire, wire 305, has one end connected to pulley 211 by first jaw wire drive unit fastening member 325, and is wound sequentially around pulley 211, pulley 213, and pulley 215 so that at least a portion of the wire is in contact with the pulley, and then connected to end tool 100 via shaft 410.

[0214] To express this from another perspective, the wire 305, which is the first jaw wire, passes through the drive unit first jaw pulley 211, the drive unit first jaw auxiliary pulley 213, and the drive unit first jaw auxiliary pulley 215 in sequence, and is then connected to the end tool 100 via the shaft 410.

[0215] To express this from another perspective, the first jaw wire, wire 305, passes through end tool 100 and shaft 410 and enters drive unit 200, is wound sequentially around pulley 215 and pulley 213, and then is fixedly connected to pulley 211, which is the first jaw pulley of the drive unit.

[0216] On the other hand, the first jaw wire, wire 301, is wound sequentially around pulley 212, pulley 214, and pulley 216 so that at least a portion of the wire is in contact with pulley 212, pulley 214, and pulley 216, with one end of the wire being connected to pulley 212 by first jaw wire drive unit fastening member 324, and then connected to end tool 100 via shaft 410.

[0217] The second jaw wire, wire 306, has one end connected to pulley 221 by second jaw wire drive unit fastening member 327, and is wound sequentially around pulleys 221, 223, and 225 so that at least a portion of the wire is in contact with the pulleys, and then connected to end tool 100 via shaft 410.

[0218] Meanwhile, the second jaw wire, wire 302, has one end connected to pulley 222 by second jaw wire drive unit fastening member 328, and is wound sequentially around pulley 222, pulley 224, and pulley 226 so that at least a portion of the wire is in contact with pulley 222, pulley 224, and pulley 226, and then connected to end tool 100 via shaft 410.

[0219] (Pitch movement) The end tool 100 of the surgical instrument of the present invention includes pulley 131, which is an end tool pitch pulley, the drive unit (see 200 in Figure 17) includes pulleys 231 and 232, which are drive unit pitch pulleys, and the power transmission unit 300 can further include wires 303 and 304, which are pitch wires.

[0220] In detail, the pulley 131 of the end tool 100 is rotatable about a rotation axis 143 which is a pitch main rotation axis, and may be formed integrally with the end tool hub 106 (or fixedly coupled to the end tool hub 106). Also, the wires 303 and 304 can serve to connect the pulley 131 of the end tool 100 to the pulley 231 / pulley 232 which is a drive unit pitch pulley of the drive unit (see 200 in FIG. 17).

[0221] Therefore, when pulley 231 / pulley 232, which is the drive unit pitch pulley of the drive unit (see 200 in Figure 17), rotates, the rotation of pulley 231 / pulley 232, which is the drive unit pitch pulley, is transmitted to pulley 131 of end tool 100 via wires 303 and 304, and pulley 131 also rotates together, resulting in end tool 100 performing a pitch motion while rotating.

[0222] However, when pulley 231 / pulley 232, which is the drive unit pitch pulley, rotates to perform the pitch movement as described above, if no separate pitch compensation is made for the jaw wire in the drive unit, the jaws of the end tool will rotate about rotation axis 141, which is the jaw pulley rotation axis, in addition to the pitch movement, resulting in a problem that pure pitch movement cannot be performed.

[0223] Such pitch compensation is explained in more detail below.

[0224] Fig. 22 to Fig. 29 are conceptual diagrams showing the pitch operation of the surgical instrument shown in Fig. 4. In detail, Fig. 22 and Fig. 23 are diagrams showing the surgical instrument in a neutral state, Fig. 24, Fig. 25, Fig. 26 are diagrams showing the surgical instrument when pitch compensation is not performed, and Fig. 27, Fig. 28, Fig. 29 are diagrams showing the surgical instrument when pitch compensation is performed. Here, for convenience of explanation, Fig. 23(a), Fig. 26(a), and Fig. 29(a) mainly show the pulleys and wires related to the rotation of the first jaw, and Fig. 23(b), Fig. 26(b), and Fig. 29(b) mainly show the pulleys and wires related to the rotation of the second jaw.

[0225] Here, the surgical instrument according to one embodiment of the present invention is characterized in that, during pitch operation, pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, and pulley 221 / pulley 222, which is the second jaw pulley of the drive unit, rotate to wind and unwind the jaw wire, thereby enabling the pitch operation of the end tool 100 to be performed.

[0226] As described above, when pulley 231 / pulley 232, which is the drive unit pitch pulley, rotates in the drive unit to perform pitch movement, if no separate pitch compensation is made to the jaw wire in the drive unit, the jaws of the end tool will rotate about rotation axis 141, which is the jaw pulley rotation axis, in addition to the pitch movement, and as a result, pure pitch movement will not be possible.

[0227] In detail, referring to Figures 22 to 26, when pulley 231 / pulley 232, which is the drive unit pitch pulley of drive unit 200, rotates to perform pitch movement of the end tool, the rotation of pulley 231 / pulley 232, which is the drive unit pitch pulley, is transmitted to pulley 131 of end tool 100 via wires 303 and 304, and pulley 131 also rotates together, resulting in end tool 100 performing pitch movement while rotating.

[0228] That is, when the pulley 231 / pulley 232, which is the drive pitch pulley, rotates in the direction of the arrow P1 in Fig. 26(a), the rotation of the pulley 231 / pulley 232, which is the drive pitch pulley, is transmitted to the pulley 131 of the end tool 100 via the wires 303 and 304, and the pulley 131 rotates in the direction of the arrow P2 in Fig. 26(a), whereby the end tool hub (see 106 in Fig. 5) rotates relative to the pitch hub (see 107 in Fig. 5). Also, the first jaw 101, the second jaw 102, the first jaw pulley 111, the second jaw pulley 122, the first jaw auxiliary pulley 112, and the second jaw auxiliary pulley 122, which are coupled to the end tool hub (see 106 in Fig. 5), rotate relative to the pitch hub (see 107 in Fig. 5) together with the end tool hub (see 106 in Fig. 5).

[0229] At this time, the jaw wires 301 and 302 are further wound only around the pulley 113 / pulley 114, and the wires 305 and 306 are further unwound only around the pulley 114 / pulley 114.

[0230] Therefore, if no compensation is made for this, the first jaw pulley 111 will rotate to a certain extent in the direction of the arrow J1 in FIG. 26(b), and the second jaw pulley 121 will rotate to a certain extent in the direction of the arrow J2 in FIG. 26(a).

[0231] Therefore, if compensation is not made for the movement of the jaw wire, in addition to the pitch movement of the end tool, the jaws will also rotate about rotation axis 141, which is the jaw pulley rotation axis, resulting in a problem that pure pitch movement cannot be performed and pitch movement and yaw movement are mixed.

[0232] In order to compensate for the pitch movement, one feature of the surgical instrument according to one embodiment of the present invention is that, during the pitch movement, pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, and pulley 221 / pulley 222, which is the second jaw pulley of the drive unit, rotate together with the drive unit pitch pulley to wind and unwind the jaw wire, thereby performing a type of compensation for the pitch movement, thereby enabling the pitch movement of the end tool 100 to be performed.

[0233] That is, during pitch operation, pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, rotates to a certain extent in the direction of arrow A1 in Fig. 29(b). Then, wire 301 is unwound to a certain extent (for example) by pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, and the wire 301 is wound around first jaw pitch main pulley 113 by that extent. At the same time, wire 305 is wound around pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, by a certain extent (for example), and the wire 305 is unwound around first jaw pitch main pulley 114 by that extent.

[0234] Similarly, during pitch operation, pulley 221 / pulley 222, which are the second jaw pulley of the drive unit, rotate to a certain extent in the direction of arrow A2 in Fig. 29(a). Then, wire 302 is unwound to a certain extent (for example) by pulley 221 / pulley 222, which are the first jaw pulley of the drive unit, and the wire 302 is wound around second jaw pitch main pulley 123 by that extent. At the same time, wire 306 is wound around pulley 221 / pulley 222, which are the first jaw pulley of the drive unit, by a certain extent (for example), and the wire 306 is unwound around second jaw pitch main pulley 114 by that extent.

[0235] That is, when pulley 231 / pulley 232 which is the drive unit pitch pulley rotates, pulley 211 / pulley 212 which is the drive unit first jaw pulley and pulley 221 / pulley 222 which is the drive unit second jaw pulley also rotate, and therefore the length of each jaw wire wound around pulley 211 / pulley 212 which is the drive unit first jaw pulley and pulley 221 / pulley 222 which is the drive unit second jaw pulley is changed. That is, the jaw wire wound on the end tool 100 side by the rotation of pulley 231 / pulley 232 which is the drive unit pitch pulley is rewound by the same amount on the drive unit 200 side, and the jaw wire rewound on the end tool 100 side is wound by the same amount on the drive unit 200 side, so that the pitch movement does not affect the yaw movement.

[0236] From another perspective, when the end tool 100 performs a pitch motion by the rotation of the drive unit pitch pulleys, pulley 231 / pulley 232, the jaw wire (responsible for the yaw motion and actuation motion) also moves by the pitch motion. That is, pitch rotation is performed around the rotation axis 143 of the end tool 100, and one strand of the jaw wire connected to one jaw is pulled and the other strand is unwound. At the same time, one strand of the jaw wire connected to the other jaw is pulled and the other strand is unwound. Therefore, in order to compensate for such movement of the jaw wires, in the present invention, when pulley 231 / pulley 232, which is the drive unit pitch pulley, rotates for the pitch operation of the end tool, pulley 211 / pulley 212, which is the drive unit first jaw pulley, and pulley 221 / pulley 222, which is the drive unit second jaw pulley, also rotate, changing the length of each jaw wire in the drive unit, and the jaw wire is rewinded (or pulled) on the drive unit side by the amount that the jaw wire was pulled (or rewinded) on the end tool side, thereby compensating for the movement of the jaw wire when the end tool performs the pitch operation.

[0237] In this way, in the endotool 100 of the surgical instrument according to one embodiment of the present invention, the jaw wires of both strands wound around one jaw pulley are wound around the pitch main pulley in opposite directions, which makes it easier to control the pitch movement. That is, during pitch movement, the pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, and the pulley 221 / pulley 222, which is the second jaw pulley of the drive unit, rotate to wind and unwind the jaw wire, thereby providing a kind of compensation for the pitch movement, thereby making it possible to perform the pitch movement of the endotool 100.

[0238] FIG. 30 is a diagram showing a neutral state of a surgical instrument according to a comparative example of the present invention, and FIGS. 31, 32, and 33 are diagrams showing a case where pitch compensation is performed in the surgical instrument of FIG.

[0239] For ease of explanation, Figures 30(a), 31(a) and 32(a) show the end tool with the end tool hub and pitch hub connected, Figures 30(b), 31(b) and 32(b) show the end tool with the end tool hub and pitch hub removed, and Figures 30(c), 31(c) and 32(c) show the drive unit corresponding to the state of the end tool.

[0240] In the case of a surgical instrument according to a comparative example of the present invention shown in Fig. 30, the pitch extra pulley (see 118, 128 in Fig. 6) is not provided. Therefore, both jaw wires wound around one jaw pulley are wound around the pitch main pulley in the same direction.

[0241] For example, one of the two strands of the first jaw wire (e.g., wire 701) can enter pulley 513, which is the first jaw pitch main pulley, from below the XY plane, and the other strand (e.g., wire 705) can exit pulley 514, which is the first jaw pitch main pulley, below the XY plane. In other words, this can be expressed as a structure in which the first jaw wire enters below the first jaw pitch main pulley and exits from the bottom. (The second jaw wire enters above the second jaw pitch main pulley and exits from the top.)

[0242] Therefore, when pulley 631 / pulley 632, which is the drive unit pitch pulley, rotates to perform a pitch movement, wire 701 and wire 705, which are the first jaw wires, move in the same direction.

[0243] For example, as shown in FIGS. 31 and 33, when pulley 631 / pulley 632, which are drive pitch pulleys, rotate in the direction of arrow P in FIG. 31, wire 701 and wire 705 are pulled only as shown in FIG.

[0244] When wire 701 and wire 705 move in the same direction in this way, the pitch movement cannot be compensated for by rotating pulley 611 / pulley 612, which is the first jaw pulley of the drive unit.

[0245] Therefore, as shown in Figures 31 and 33, the position of pulley 611 / pulley 612, which is the first jaw pulley of the drive unit, is moved itself to change the path length of the first jaw wire within the drive unit 600, and at the same time, the position of pulley 621 / pulley 622, which is the second jaw pulley of the drive unit, is moved itself to change the path length of the second jaw wire within the drive unit 600, thereby enabling pitch compensation.

[0246] That is, in order to compensate for the movement of the jaw wire during pitch driving, the pulley 611 / pulley 612, which is the first jaw pulley of the drive unit, moves to a certain extent in the direction of the arrow J1. And, by the same principle, the pulley 621 / pulley 622, which is the second jaw pulley of the drive unit, moves to a certain extent in the direction of the arrow J2.

[0247] In this case, in order to move the positions of the first jaw pulley of the driving unit and the second jaw pulley of the driving unit themselves for pitch compensation, various and complicated mechanical structures are required within the driving unit.

[0248] In contrast, in the end tool 100 of the surgical instrument according to one embodiment of the present invention, both jaw wires wound around one jaw pulley are wound around the pitch main pulley in opposite directions, thereby making it easier to control the pitch movement.

[0249] (Yaw movement) 15 and 16 are diagrams showing the yaw movement of the surgical instrument shown in FIG.

[0250] 15, 16, 17, 21, etc., when pulley 211 / pulley 212, which is the first jaw pulley of the drive unit, rotates in one direction for yaw operation, one side of wire 301 and wire 305, which are the first jaw wire, is wound around pulley 211 / pulley 212 and the other side is unwound from pulley 211 / pulley 212 in response to the rotation of pulley 211 / pulley 212. As a result, pulley 111, which is the end tool first jaw pulley connected to the opposite side of wire 301 and wire 305, rotates in one direction to perform yaw operation.

[0251] At this time, pulley 231 / pulley 232, which are drive unit pitch pulleys, do not rotate, and wires 303 and 304, which are pitch wires, maintain their positions without being wound or unwound.

[0252] Similarly, when pulley 221 / pulley 222, which is the drive unit second jaw pulley, rotates in one direction for yaw operation, one side of wire 302 and wire 306, which are the second jaw wires, is wound around pulley 221 / pulley 222 and the other side is unwound from pulley 221 / pulley 222 as pulley 221 / pulley 222 rotates. As a result, pulley 121, which is the end tool second jaw pulley connected to the opposite side of wire 302 and wire 306, rotates in either direction to perform yaw operation.

[0253] At this time, pulley 231 / pulley 232, which are drive unit pitch pulleys, do not rotate, and wires 303 and 304, which are pitch wires, maintain their positions without being wound or unwound.

[0254] As a result, even if the drive unit jaw pulleys, pulley 211 / pulley 212 or pulley 221 / pulley 222, rotate for yaw or actuation operation, the overall length of the jaw wires, wire 301, wire 302, wire 305, and wire 306, within drive unit 200 remains constant.

[0255] In this manner, in the surgical instrument 30 according to one embodiment of the present invention, when the drive unit pitch pulley rotates, the drive unit jaw pulley also rotates, changing the path length of the jaw wire wound around the drive unit jaw pulley, so that the jaw wire is wound or unwound in response to the rotation of the drive unit pitch pulley, thereby offsetting or compensating for the movement of the jaw wire due to the pitch drive, thereby achieving the effect of separating the pitch movement and the yaw movement.

[0256] <First Modification of First Embodiment> The following describes the endotool 100 of a surgical instrument according to a first modified example of the first embodiment of the present invention. The endotool 100 of a surgical instrument according to the first modified example of the first embodiment of the present invention is characteristically different from the endotool of a surgical instrument according to the first embodiment of the present invention described above in that a part of a pulley is added. The following describes in detail the configuration that differs from the first embodiment in this way.

[0257] Figures 34 and 35 are perspective views showing an end tool of a surgical instrument according to a first modification of the first embodiment of the present invention. Figure 36 is a plan view of the end tool of Figure 34. Figures 37 and 38 are plan views of the end tool of Figure 34. Figure 39 is a perspective view of the end tool of Figure 34. Figure 40 is a perspective view of an end tool hub of the end tool of Figure 34.

[0258] 34 to 40, an end tool 100 according to a first modified example of the first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, can be referred to as a jaw 103.

[0259] The end tool 100 of the first embodiment of the present invention may also include an end tool hub 106 and a pitch hub 107 .

[0260] Moreover, the end tool 100 of the first modified example of the first embodiment of the present invention may include the rotation shaft 141, the rotation shaft 142, the rotation shaft 145, the rotation shaft 143, and the rotation shaft 144. As described above, the rotation shaft 141, the rotation shaft 142, and the rotation shaft 145 may be inserted through the end tool hub 106, and the rotation shaft 143 and the rotation shaft 144 may be inserted through the pitch hub 107.

[0261] In this modified example, the end tool hub 106, the pitch hub 107, and the respective rotation shafts 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, the pitch hub 107, and the respective rotation shafts 141, 142, 143, 144, and 145 described in Figure 5 and the like of the first embodiment, so detailed description thereof will be omitted here.

[0262] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 116, 117, and 118 for the rotational movement of the first jaw 101. Also, the end tool 100 may include pulleys 121, 122, 123, 124, 125, 126, 127, and 128 for the rotational movement of the second jaw 102.

[0263] Here, the end tool 100 of the surgical instrument according to the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley each include two pulleys, and the first jaw pitch sub pulley and the second jaw pitch sub pulley each include two pulleys.

[0264] In detail, the end tool 100 of the surgical instrument according to the first embodiment of the present invention shown in FIG. 6 etc. has only one pulley 118 as the first jaw pitch extra pulley and only one pulley 128 as the second jaw pitch extra pulley.

[0265] In contrast, the end tool 100 of the surgical instrument according to the first modified example of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in Figure 6 etc. in that it has a pair of pulleys, pulley 117 and pulley 118, as a first jaw pitch extra pulley, and a pair of pulleys, pulley 127 and pulley 128, as a second jaw pitch extra pulley.

[0266] Further, the end tool 100 of the surgical instrument according to the first embodiment of the present invention shown in FIG. 6 etc. includes only one pulley 115 as the first jaw pitch sub-pulley, and only one pulley 125 as the second jaw pitch sub-pulley.

[0267] In contrast, the end tool 100 of the surgical instrument according to the first modified example of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in Figure 6 etc. in that it has a pair of pulleys, pulley 115 and pulley 116, as a first jaw pitch sub pulley, and a pair of pulleys, pulley 125 and pulley 126, as a second jaw pitch sub pulley.

[0268] As a result, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 117 / pulley 118, pulley 113 / pulley 114, and pulley 115 / pulley 116, can be arranged sequentially from the distal portion 104 to the proximal portion 105 of the end tool 100.

[0269] In addition, pulleys related to the rotation of the second jaw 102, namely pulley 121, pulley 122, pulley 127 / pulley 128, pulley 123 / pulley 124, and pulley 125 / pulley 126, can be arranged in sequence from the distal portion 104 to the proximal portion 105 of the end tool 100.

[0270] That is, the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in one row, while the first modified example of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in two rows. Also, the first embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in one row, while the first modified example of the first embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows.

[0271] Here, pulley 117 / pulley 118 are disposed on one side of pulley 111 and pulley 112. Here, pulley 117 and pulley 118 are formed to be rotatable independently of each other around rotation axis 145 which is a pitch extra rotation axis. In addition, pulley 113 and pulley 114 are disposed on one side of pulley 117 / pulley 118 so as to face each other. Here, pulley 113 and pulley 114 are formed to be rotatable independently of each other around rotation axis 143 which is a pitch main rotation axis. In addition, pulley 115 and pulley 116 are disposed on one side of pulley 113 and pulley 114 so as to face each other. Here, pulley 115 and pulley 116 are formed to be rotatable independently of each other around rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulleys 117, 118, 113, 114, 115 and 116 as all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley can be formed in various directions as appropriate for the configuration.

[0272] Wire 301, which is the first jaw wire, is wound around pulley 115, pulley 113, pulley 117, and pulley 111 in order so that at least a portion of the wire comes into contact with them. Wire 305, which is connected to wire 301 by fastening member 323, is wound around pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116 in order so that at least a portion of the wire comes into contact with them.

[0273] Explaining this from another perspective, wire 301 and wire 305, which are the first jaw wires, are wound sequentially around pulley 115, pulley 113, pulley 117, pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116 so that at least a portion of them contact pulley 115, pulley 113, pulley 117, pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116, and wire 301 and wire 305 are formed to move along the pulleys while rotating the pulleys.

[0274] Meanwhile, pulley 127 / pulley 128 are disposed on one side of pulley 121 and pulley 122. Here, pulley 127 and pulley 128 are formed to be rotatable independently of each other around rotation axis 145 which is a pitch extra rotation axis. In addition, pulley 123 and pulley 124 are disposed on one side of pulley 127 / pulley 128 so as to face each other. Here, pulley 123 and pulley 124 are formed to be rotatable independently of each other around rotation axis 143 which is a pitch main rotation axis. In addition, pulley 125 and pulley 126 are disposed on one side of pulley 123 and pulley 124 so as to face each other. Here, pulley 125 and pulley 126 are formed to be rotatable independently of each other around rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulley 127, pulley 128, pulley 123, pulley 124, pulley 125 and pulley 126 as all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley can be formed in various directions as appropriate for the configuration.

[0275] Wire 306, which is the second jaw wire, is wound in sequence so as to make at least partial contact with pulley 125, pulley 123, pulley 127, and pulley 121. Wire 302, which is connected to wire 306 by fastening member 326, is wound in sequence so as to make at least partial contact with pulley 121, pulley 122, pulley 128, pulley 124, and pulley 126.

[0276] Explaining this from another perspective, the second jaw wires, wire 306 and wire 302, are wound so as to be in at least partial contact with pulley 125, pulley 123, pulley 127, pulley 121, pulley 122, pulley 128, pulley 124, and pulley 126, and wire 306 and wire 302 are formed so as to move along the pulleys while rotating the pulleys.

[0277] As a result, in the first embodiment of the present invention, the first jaw pitch extra pulley, the second jaw pitch extra pulley, the first jaw pitch sub pulley, and the second jaw pitch sub pulley are each configured in a single row, whereas in the first modified example of an embodiment, the first jaw pitch extra pulley, the second jaw pitch extra pulley, the first jaw pitch sub pulley, and the second jaw pitch sub pulley are each configured in two rows, thereby achieving the effect of more stably supporting the wire.

[0278] <Second Modification of the First Embodiment>

[0279] The following describes the endotool 100 of the surgical instrument according to the second modified embodiment of the first embodiment of the present invention. The endotool 100 of the surgical instrument according to the second modified embodiment of the first embodiment of the present invention is characteristically different from the endotool of the surgical instrument according to the first modified embodiment of the first embodiment of the present invention in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the first modified embodiment of the first embodiment.

[0280] 41 and 42 are perspective views showing an end tool of a surgical instrument according to a second modified embodiment of the first embodiment of the present invention, and FIG 43 is a plan view of the end tool of FIG 41.

[0281] 41 to 43, an end tool 100 according to a second modified example of the first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

[0282] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0283] Also, the end tool 100 of the second modified example of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0284] In this modified embodiment, the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0285] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 116, and 118 for the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, 126, and 128 for the rotational movement of the second jaw 102.

[0286] Here, the end tool 100 of the surgical instrument according to the second variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley each include only one pulley.

[0287] In detail, the end tool 100 of the surgical instrument according to the first variant of the first embodiment of the present invention shown in FIG. 34 etc. has a pair of pulleys, pulley 117 and pulley 118, as a first jaw pitch extra pulley, and a pair of pulleys, pulley 127 and pulley 128, as a second jaw pitch extra pulley.

[0288] In contrast, the end tool 100 of the surgical instrument according to the second variant of the first embodiment of the present invention is differentiated from the first variant of the first embodiment of the present invention shown in FIG. 34, etc., in that it has a single pulley, pulley 118, as the first jaw pitch extra pulley and a single pulley, pulley 128, as the second jaw pitch extra pulley.

[0289] As a result, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 118, pulley 113 / pulley 114, and pulley 115 / pulley 116, can be arranged sequentially while moving from the distal part 104 to the proximal part 105 of the end tool 100.

[0290] In addition, pulleys related to the rotation of the second jaw 102 from the distal portion 104 toward the proximal portion 105 of the end tool 100, namely pulley 121, pulley 122, pulley 128, pulley 123 / pulley 124, and pulley 125 / pulley 126, can be arranged in sequence.

[0291] Here, pulleys 117 and 127 of the end tool 100 in the first variant of the first embodiment of the present invention shown in Figure 34 etc. are not pulleys around which a wire is wound, but pulleys that graze in a straight line, making it possible to omit the pulleys as in this variant.

[0292] In other words, the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in two rows, whereas the second variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in one row.

[0293] Here, a pulley 118 is disposed on one side of the pulleys 111 and 112. Here, the pulley 118 is formed to be rotatable around a rotation axis 145 which is a pitch extra rotation axis. In addition, pulleys 113 and 114 are disposed on one side of the pulley 118 to face each other. Here, the pulleys 113 and 114 are formed to be rotatable independently of each other around a rotation axis 143 which is a pitch main rotation axis. In addition, pulleys 115 and 116 are disposed on one side of the pulleys 113 and 114 to face each other. Here, the pulleys 115 and 116 are formed to be rotatable independently of each other around a rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulley 118, pulley 113, pulley 114, pulley 115 and pulley 116 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0294] Wire 301, which is the first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so that at least a portion of it contacts pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116.

[0295] In other words, wire 301 and wire 305, which are the first jaw wires, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116, and wire 301 and wire 305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0296] Meanwhile, a pulley 128 is disposed on one side of the pulleys 121 and 122. Here, the pulley 128 is formed to be rotatable around a rotation axis 145 which is a pitch extra rotation axis. In addition, pulleys 123 and 124 are disposed on one side of the pulley 128 so as to face each other. Here, the pulleys 123 and 124 are formed to be rotatable independently of each other around the rotation axis 143 which is a pitch main rotation axis. In addition, pulleys 125 and 126 are disposed on one side of the pulleys 123 and 124 so as to face each other. Here, the pulleys 125 and 126 are formed to be rotatable independently of each other around the rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulley 128, pulley 123, pulley 124, pulley 125 and pulley 126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0297] The wire 306, which is the second jaw wire, is wound around the pulley 125, the pulley 123, and the pulley 121 in sequence so that at least a portion of the wire comes into contact with the pulleys. The wire 302, which is connected to the wire 306 by the fastening member 326, is wound around the pulley 121, the pulley 122, the pulley 128, the pulley 124, and the pulley 126 in sequence so that at least a portion of the wire comes into contact with the pulleys.

[0298] In other words, the second jaw wires, wire 306 and wire 302, are wound sequentially so as to be in at least partial contact with pulley 125, pulley 123, pulley 121, pulley 122, pulley 128, pulley 124 and pulley 126, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0299] As a result, in the first variant of the first embodiment of the present invention, the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in two rows, whereas in the second variant of the first embodiment of the present invention, the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in one row, thereby reducing the number of parts and simplifying the manufacturing process.

[0300] <Third Modification of the First Embodiment> The following describes the endotool 100 of the surgical instrument according to the third modified embodiment of the first embodiment of the present invention. Here, the endotool 100 of the surgical instrument according to the third modified embodiment of the first embodiment of the present invention has a characteristically different configuration of the endotool hub compared to the endotool of the surgical instrument according to the first modified embodiment of the first embodiment of the present invention described above. The following describes in detail the configuration that has changed compared to the first modified embodiment of the first embodiment.

[0301] Figures 44 and 45 are perspective views of an endotool of a surgical instrument according to a third variation of the first embodiment of the present invention. Figure 46 is an assembled perspective view of the second jaw of the endotool of Figure 44. Figure 47 is an exploded perspective view of the second jaw of the endotool of Figure 44. Figure 48 is an assembled perspective view of the first jaw of the endotool of Figure 44. Figure 49 is an exploded perspective view of the first jaw of the endotool of Figure 44. Figures 50 and 51 are perspective views of the endotool hub of the endotool of Figure 44. Figure 52 is a plan view of the endotool of Figure 44. Figures 53 and 54 are side views of the endotool of Figure 44.

[0302] 44 to 54, an end tool 100 according to a third modified example of the first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

[0303] Meanwhile, an electric wire 411 can be coupled to the first jaw 101, and an electric wire 412 can be coupled to the second jaw 102.

[0304] Additionally, the end tool 100 of the third variation of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107. The end tool hub 180 will be described in more detail below.

[0305] Furthermore, the end tool 100 of the third modified example of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141 and the rotating shaft 142 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0306] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 for the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, and 126 for the rotational movement of the second jaw 102.

[0307] In this modified embodiment, the first jaw 101, the second jaw 102, the pitch hub 107, the respective pulleys and the respective rotating shafts, etc. are substantially the same as those of the end tool 100 described in FIG. 5 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0308] The following describes in more detail the end tool hub 180 of the third variant of the first embodiment of the present invention, with particular focus on the first pitch extra pulley portion 183 and the second pitch extra pulley portion 184 of the end tool hub 180 which serve as pitch extra pulleys.

[0309] End tool hub 180 includes a first jaw pulley attachment portion 181 and a second jaw pulley attachment portion 182 , a first pitch extra pulley portion 183 , a second pitch extra pulley portion 184 and a pitch pulley attachment portion 185 .

[0310] In detail, first jaw pulley coupling portion 181 and second jaw pulley coupling portion 182 are formed to face each other, and pulleys 111, 112, 121, and 122 are housed therein. Further, a through hole is formed in each jaw pulley coupling portion 181, 182, and rotating shaft 141 passes through jaw pulley coupling portions 181, 182 and pulleys 111 and 121 to axially couple them. Further, a through hole is formed in each jaw pulley coupling portion 181, 182, and rotating shaft 142 passes through jaw pulley coupling portions 181, 182 and pulleys 112 and 122 to axially couple them.

[0311] First jaw pulley coupling portion 181 and second jaw pulley coupling portion 182 are connected by guide portion 186. In other words, first jaw pulley coupling portion 181 and second jaw pulley coupling portion 182, which are parallel to each other, are coupled by guide portion 186 formed in a direction approximately perpendicular thereto, and first jaw pulley coupling portion 181, second jaw pulley coupling portion 182, and guide portion 186 form an approximately U-shape, and pulleys 111, 112, pulley 121, and pulley 122 are housed therein.

[0312] In other words, it can be considered that first jaw pulley connecting portion 181 and second jaw pulley connecting portion 182 are formed extending in the X-axis direction from both ends of guide portion 186 which is formed long in the Z-axis direction.

[0313] A first pitch extra pulley portion 183 may be formed on one side of the guide portion 186, and a second pitch extra pulley portion 184 may be formed on the other side.

[0314] In detail, a first pitch extra pulley part 183 and a second pitch extra pulley part 184 may be formed on both sides of the guide part 186, each of which is formed in a disk shape like a pulley and has a groove around which a wire can be wound on its outer circumferential surface.

[0315] Then, the wire 305 which is the first jaw wire can be wound around the first pitch extra pulley portion 183 , and the wire 302 which is the second jaw wire can be wound around the second pitch extra pulley portion 184 .

[0316] On the other hand, the wire 301 which is the first jaw wire can pass through the side of the first pitch extra pulley portion 183, and the wire 306 which is the second jaw wire can pass through the side of the second pitch extra pulley portion 184.

[0317] Meanwhile, a pulley 131 serving as an end tool pitch pulley may be formed at a pitch pulley coupling portion 185 at one end of the end tool hub 180. Here, the pulley 131 may be formed integrally with the end tool hub 180. That is, one end of the end tool hub 180 may be formed in a disk or semicircular shape, and a groove around which a wire is wound may be formed on the outer circumferential surface thereof to form a kind of guide channel. Alternatively, the pulley 131 may be formed of a member separate from the end tool hub 180 and coupled to the end tool hub 180. The above-mentioned wires 303 and 304 are coupled to the pulley 131 serving as an end tool pitch pulley, and the pulley 131 rotates around the rotation axis 143 to perform a pitch motion.

[0318] In this manner, by forming the first pitch extra pulley portion 183 and the second pitch extra pulley portion 184 on the already existing end tool hub 180 without adding a separate structure such as a pitch extra pulley, it is possible to realize an expansion of the rotation range without adding parts or manufacturing processes.

[0319] <Fourth Modification of the First Embodiment> The following describes the endotool 100 of the surgical instrument according to the fourth modified embodiment of the first embodiment of the present invention. The endotool 100 of the surgical instrument according to the third modified embodiment of the first embodiment of the present invention is characteristically different from the endotool of the surgical instrument according to the first modified embodiment of the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the first modified embodiment of the first embodiment.

[0320] Figures 55 and 56 are perspective views showing an end tool of a surgical instrument according to a fourth modified embodiment of the first embodiment of the present invention. Figures 57 and 58 are plan views of the end tool of Figure 55. Figures 59, 60, and 61 are side views of the end tool of Figure 55. Figures 62 and 63 are plan views of the end tool of Figure 55.

[0321] 55 to 63, an end tool 100 according to a third modified example of the first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

[0322] Additionally, the end tool 100 of the fourth variation of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0323] Furthermore, the end tool 100 of the fourth modified example of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0324] In this modified embodiment, the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0325] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 117, and 118 for the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, 127, and 128 for the rotational movement of the second jaw 102.

[0326] Here, the end tool 100 of the surgical instrument according to the fourth modified example of the first embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0327] In detail, the end tool 100 of the surgical instrument according to the first variant of the first embodiment of the present invention shown in FIG. 34 etc. has a pair of pulleys, pulley 115 and pulley 116, as a first jaw pitch sub-pulley, and a pair of pulleys, pulley 125 and pulley 126, as a second jaw pitch sub-pulley.

[0328] In contrast, the end tool 100 of the surgical instrument according to the fourth variant of the first embodiment of the present invention is differentiated from the first variant of the first embodiment of the present invention shown in FIG. 34, etc., in that it has a single pulley, pulley 115, as the first jaw pitch sub-pulley and a single pulley, pulley 125, as the second jaw pitch sub-pulley.

[0329] As a result, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 117 / pulley 118, pulley 113 / pulley 114, and pulley 115, can be arranged sequentially while moving from the distal part 104 to the proximal part 105 of the end tool 100.

[0330] In addition, pulleys related to the rotation of the second jaw 102 from the distal portion 104 toward the proximal portion 105 of the end tool 100, namely pulley 121, pulley 122, pulley 127 / pulley 128, pulley 123 / pulley 124, and pulley 125, can be arranged in sequence.

[0331] Here, pulley 116 and pulley 126 of the end tool 100 in the first variant of the first embodiment of the present invention shown in Figure 34 etc. are not pulleys around which a wire is wound, but pulleys that graze in a straight line, making it possible to omit the pulleys as in this variant.

[0332] In other words, the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas the third variant of the first embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in one row.

[0333] Here, pulley 117 / pulley 118 are disposed on one side of pulley 111 and pulley 112. Here, pulley 117 / pulley 118 are formed to be rotatable around rotation axis 145 which is a pitch extra rotation axis. In addition, pulley 113 and pulley 114 are disposed on one side of pulley 117 / pulley 118 to face each other. Here, pulley 113 and pulley 114 are formed to be rotatable independently of each other around rotation axis 143 which is a pitch main rotation axis. In addition, pulley 115 is disposed on one side of pulley 113 and pulley 114. Here, pulley 115 is formed to be rotatable around rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulleys 117, 118, 113, 114 and 115 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0334] Wire 301, which is the first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 115, pulley 113, pulley 117, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so that at least a portion of it contacts pulley 111, pulley 112, pulley 118, and pulley 114.

[0335] In other words, wire 301 and wire 305, which are the first jaw wires, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 117, pulley 111, pulley 112, pulley 118 and pulley 114, and wire 301 and wire 305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0336] Meanwhile, pulley 127 / pulley 128 are disposed on one side of pulley 121 and pulley 122. Here, pulley 127 / pulley 128 are formed to be rotatable around rotation axis 145 which is a pitch extra rotation axis. In addition, pulley 123 and pulley 124 are disposed on one side of pulley 127 / pulley 128 to face each other. Here, pulley 123 and pulley 124 are formed to be rotatable independently of each other around rotation axis 143 which is a pitch main rotation axis. In addition, pulley 125 is disposed on one side of pulley 123 and pulley 124. Here, pulley 125 is formed to be rotatable around rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulleys 127, 128, 123, 124, 125 and 126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0337] The wire 306, which is the second jaw wire, is wound in sequence so that at least a portion of the wire comes into contact with the pulleys 125, 123, 127, and 121. The wire 302 connected to the wire 306 by the fastening member 326 is wound in sequence so that at least a portion of the wire comes into contact with the pulleys 121, 122, 128, and 124.

[0338] In other words, the second jaw wires, wire 306 and wire 302, are wound sequentially so as to be in at least partial contact with pulley 125, pulley 123, pulley 127, pulley 121, pulley 122, pulley 128 and pulley 124, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0339] As a result, in the first variant of the first embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas in the third variant of the first embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in a single row, thereby reducing the number of parts and simplifying the manufacturing process.

[0340] <Fifth Modification of First Embodiment>

[0341] The following describes the endotool 100 of a surgical instrument according to the fifth modified example of the first embodiment of the present invention. The endotool 100 of a surgical instrument according to the fifth modified example of the first embodiment of the present invention is characterized by a different configuration of the endotool hub 180 that performs the role of an auxiliary pulley compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above. Such configurations that differ from the first embodiment will be described in detail later.

[0342] 64 and 65 are perspective views showing an end tool of a surgical instrument according to a fifth modified example of the first embodiment of the present invention. FIG. 66 is a plan view of the end tool of FIG. 64. FIG. 67 is a perspective view of an end tool hub of the end tool of FIG. 64. FIG. 68 is a side view of the end tool of FIG. 64. FIG. 69 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 64 has been pitch-rotated by −90°. FIG. 70 is a side view showing a state in which the end tool of the surgical instrument of FIG. 64 has been pitch-rotated by +90°. FIG. 71 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 64 has been yaw-rotated by +90°. FIG. 72 is a side view showing a state in which the end tool of the surgical instrument of FIG. 64 has been yaw-rotated by −90°.

[0343] 64 to 72, an end tool 100 according to a fifth modified example of the first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, can be referred to as a jaw 103.

[0344] On the other hand, the end tool 100 includes a plurality of pulleys including a pulley 111 related to the rotational motion of the first jaw 101. The pulleys related to the rotational motion of the first jaw 101 in this modification are substantially the same as the pulleys 111, 112, 113, 114, 115, and 118 described in FIG. 5 and other drawings in the first embodiment, and therefore detailed description thereof will be omitted here.

[0345] On the other hand, the end tool 100 includes a plurality of pulleys including a pulley 121 related to the rotational motion of the second jaw 102. The pulleys related to the rotational motion of the second jaw 102 in this modification are substantially the same as the pulleys 121, 122, 123, 124, 125, and 128 described in FIG. 5 and other drawings in the first embodiment, and therefore detailed description thereof will be omitted here.

[0346] The end tool 100 of the first embodiment of the present invention may also include an end tool hub 180 and a pitch hub 107. The end tool hub 180 is described in more detail below.

[0347] Furthermore, the end tool 100 according to the fifth modified example of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141 and the rotating shaft 145 may be inserted through the end tool hub 180, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0348] In this modified example, pitch hub 107 and rotating shafts 141, 143, 144, and 145 are substantially the same as pitch hub 107 and rotating shafts 141, 143, 144, and 145 described in FIG. 5 and other drawings in the first embodiment, so detailed description thereof will be omitted here.

[0349] Here, the end tool 100 according to the fifth variation of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107 .

[0350] The end tool hub 180 has a rotating shaft 141 inserted therethrough, and the pulleys 111 and 121 axially coupled to the rotating shaft 141 and at least a portion of the first jaw 101 and the second jaw 102 coupled thereto can be housed inside the end tool hub 180. Here, one feature of an embodiment of the present invention is that the end tool hub 180 is provided with a guide portion 183 that serves as an auxiliary pulley. That is, the end tool hub 180 may be provided with a guide portion 183 that guides the paths of the wires 305 and 302. The guide portion 183 of the end tool hub 180 can change the path of the wires by serving as a kind of auxiliary pulley, and the guide portion 183 of the end tool hub 180 that serves as an auxiliary pulley will be described in more detail later.

[0351] Meanwhile, a pulley 131 serving as an end tool pitch pulley may be formed at one end of the end tool hub 180. As shown in FIG. 64, the pulley 131 may be formed as one body with the end tool hub 180. In this case, the pulley 131 may be formed inside the end tool hub 180 in the form of a kind of guide channel to guide the paths of the wires 303 and 304. Alternatively, the pulley 131 may be formed of a member separate from the end tool hub 180 and coupled to the end tool hub 180. The wires 303 and 304 are coupled to the pulley 131 serving as an end tool pitch pulley, and the pulley 131 rotates around the rotation axis 143 to perform a pitch motion.

[0352] The rotation shaft 143 and the rotation shaft 144 are inserted through the pitch hub 107, and the pitch hub 107 can be axially coupled to the end tool hub 180 and the pulley 131 by the rotation shaft 143. Therefore, the end tool hub 180 and the pulley 131 can be formed to be pitch rotatable relative to the pitch hub 107 around the rotation shaft 143.

[0353] Furthermore, pitch hub 107 can accommodate at least a portion of pulley 113, pulley 114, pulley 123, and pulley 124 axially coupled to rotation shaft 143 therein. Furthermore, pitch hub 107 can accommodate at least a portion of pulley 115 and pulley 125 axially coupled to rotation shaft 144 therein.

[0354] The end tool hub 180 of one embodiment of the present invention will be described in more detail below, with particular emphasis on the guide portion 183 of the end tool hub 180 that serves as an auxiliary pulley.

[0355] The end tool hub 180 includes a pair of jaw pulley coupling portions 181 and 182 , a guide portion 183 , a guide groove 184 , and a pitch pulley portion 185 .

[0356] In detail, a pair of jaw pulley coupling parts 181, 182 are formed to face each other, and the pulleys 111 and 121 are housed therein. A through hole is formed in each of the jaw pulley coupling parts 181, 182, and the rotating shaft 141 passes through the jaw pulley coupling parts 181, 182 and the pulleys 111 and 121 to axially couple them.

[0357] The pair of jaw pulley coupling parts 181, 182 are connected by a guide part 183. In other words, the pair of jaw pulley coupling parts 181, 182 which are parallel to each other are coupled by a guide part 183 formed in a direction substantially perpendicular thereto, and the pair of jaw pulley coupling parts 181, 182 and the guide part 183 form a substantially U-shape, inside which the pulleys 111 and 121 are housed.

[0358] From another perspective, this can be seen as a pair of jaw pulley coupling parts 181, 182 extending in the X-axis direction from both ends of a guide part 183 formed long in the Z-axis direction.

[0359] Here, guide portion 183 may be formed in a cylindrical shape with a substantially semicircular cross section. This semicircular portion can be disposed so as to protrude toward pulley 111 and pulley 121. From another perspective, this can also be expressed as guide portion 183 being formed to protrude toward the space formed by the pair of jaw pulley coupling portions 181, 182 and guide portion 183. From another perspective, this can also be expressed as the region of guide portion 183 adjacent to jaw pulley coupling portions 181, 182 being formed to be curved so that its cross section has a predetermined curvature.

[0360] Or, from another perspective, it can be said that the guide portion 183 has the wire 305 and the wire 302 wound around its outer circumferential surface and functions as a kind of pulley member that guides the paths of the wire 305 and the wire 302. However, the guide portion 183 here is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as a part of the end tool hub 180, and by having the wire wound around it, it can be said that it performs the function of a pulley that guides the path of the wire in a manner similar to that of a pulley.

[0361] Here, in the figure, the guide portion 183 is shown as being formed in a cylindrical shape with a semicircular cross section. That is, at least a part of the cross section of the guide portion 183 on the XY plane is shown to be in a predetermined arc shape. However, the idea of ​​the present invention is not limited to this, and it can be said that the cross section can be formed to have a predetermined curvature such as an ellipse or a parabola, or the corners of a polygonal column are rounded to a certain degree, and the guide portion 183 can be formed in various shapes and sizes suitable for guiding the paths of the wires 305 and 302.

[0362] Here, a guide groove 184 for better guiding the paths of the wires 305 and 302 may be further formed in the portion of the guide portion 183 that contacts the wires 305 and 302. The guide groove 184 may be formed in a groove shape recessed to a certain extent from the protruding surface of the guide portion 183.

[0363] Here, although the figure shows guide groove 184 as being formed over the entire arcuate surface of guide portion 183, the concept of the present invention is not limited thereto, and it can be said that guide groove 184 can also be formed over only a portion of the arcuate surface of guide portion 183 if necessary.

[0364] By thus forming guide groove 184 in guide portion 183, unnecessary friction with the wire can be reduced, and the durability of the wire can be improved.

[0365] The guide part 183 may further include a pitch pulley part 185 formed in a direction opposite to the direction in which the jaw pulley coupling parts 181 and 182 are formed. The pitch pulley part 185 may include a pitch pulley 131 around which the wires 303 and 304, which are pitch wires, can be wound. However, the pulley 131 is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as a part of the end tool hub 180, and it can be said that the pulley 131 performs a part of the pulley function in a similar manner by winding a wire around it. That is, the pulley 131 may be formed in a kind of groove shape in the pitch pulley part 185 of the end tool hub 180, and such a pulley 131 may serve as a guide channel for the wires 303 and 304. Here, the pitch pulley part 185 may be formed on the XZ plane. The pitch pulley part 185 may include a through hole through which the rotating shaft 143 can be inserted.

[0366] On the other hand, although not shown in the figure, the pitch pulley portion and the pitch pulley can be formed as separate members and then joined together, and the rotating shaft 143 can be formed so as to pass through the pitch pulley portion and the pulley.

[0367] The role and function of the guide portion 183 will be described in more detail below.

[0368] The guide portion 183 can play a role in expanding the rotation radius of each of the first jaw 101 and the second jaw 102 by coming into contact with the wires 305 and 302 and changing the arrangement paths of the wires 305 and 302 to a certain extent.

[0369] In other words, if the auxiliary pulley or guide portion 183 is not provided, pulley 111, which is the first jaw pulley, and pulley 121, which is the second jaw pulley, can only rotate up to a right angle, but in one embodiment of the present invention, by further providing guide portion 183 on end tool hub 180, the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0370] This enables an operation in which the two jaws of the end tool 100 must open for the actuation operation when the two jaws are rotated in a yaw direction by 90°. In other words, the configuration of the guide portion 183 of the end tool hub 180 has the characteristic of being able to expand the range of yaw rotation in which the actuation operation is possible.

[0371] Furthermore, by forming the guide portion 183 on the end tool hub 180 that already existed, without adding a separate structure such as an auxiliary pulley, the rotation range can be expanded without adding any additional parts or manufacturing processes.

[0372] In this way, there is no need to install a separate structure to expand the rotation angle, the number of parts is reduced, the manufacturing process is simplified, and the length of the end tool is shortened by the size of the auxiliary pulley, making it easier to perform surgical operations in a small space by shortening the length of the end tool when performing a pitch operation.

[0373] This will be explained in more detail as follows.

[0374] The endotool 100 of the surgical instrument according to one embodiment of the present invention is characterized in that the wire arrangement path can be changed without a separate structure by forming a guide portion 183 that can change the path of the wire on the inner wall of the endotool hub 180. By forming the guide portion 183 on the endotool hub 180 in this manner and changing the arrangement paths of the wires 305 and 302 to a certain extent, the tangential directions of the wires 305 and 302 are changed, and therefore the rotation angle of the fastening members 323 and 326 that connect the wires to the pulleys is increased.

[0375] That is, the fastening member 326 that connects the wire 302 and the pulley 121 becomes rotatable until it is positioned on the common inscribed line of the pulley 121 and the guide portion 183. Similarly, the fastening member (see 323 in FIG. 11) that connects the wire 305 and the pulley 111 becomes rotatable until it is positioned on the common inscribed line of the pulley 111 and the guide portion 183, and the rotation angle of the fastening member (see 323 in FIG. 11) can be increased.

[0376] Explaining this from another perspective, wire 301 and wire 305 wound around pulley 111 by guide unit 183 are disposed on one side with respect to a plane perpendicular to the Y axis and passing through the X axis. At the same time, wire 302 and wire 306 wound around pulley 121 by guide unit 183 are disposed on the other side with respect to a plane perpendicular to the Y axis and passing through the X axis.

[0377] In other words, pulleys 113 and 114 are arranged on one side with respect to a plane perpendicular to the Y axis and passing through the X axis, and pulleys 123 and 124 are arranged on the other side with respect to a plane perpendicular to the Y axis and passing through the X axis.

[0378] In other words, the wire 305 is located on the inscribed line between the pulley 111 and the guide portion 183, and the rotation angle of the pulley 111 is increased by the guide portion 183. In addition, the wire 302 is located on the inscribed line between the pulley 121 and the guide portion 183, and the rotation angle of the pulley 121 is increased by the guide portion 183.

[0379] In comparison with a surgical instrument having a separate auxiliary pulley, the length of the endotool of the surgical instrument of the present embodiment can be shortened since no auxiliary pulley is formed and the guide portion 183 for changing the wire path is formed on the inner wall of the endotool hub 180. As the length of the endotool is shortened in this manner, it is possible to obtain an effect of making it easier for the surgeon to operate the endotool when performing surgery in a narrow surgical space inside the human body and reducing side effects of surgery.

[0380] According to the present invention, the rotation radius of the pulley 111 serving as the first jaw pulley and the pulley 121 serving as the second jaw pulley is increased, thereby obtaining an effect of expanding the yaw operation range in which normal opening and closing actuation operations can be performed.

[0381] <Second embodiment of the end tool of the surgical instrument>

[0382] The following describes an endotool 1100 of a surgical instrument according to the second embodiment of the present invention. The endotool 1100 of a surgical instrument according to the second embodiment of the present invention is characterized by a different arrangement of jaw pulleys and jaw wires compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 5, etc.). The configuration that has changed compared to the first embodiment will be described in detail later.

[0383] Fig. 73 and Fig. 74 are perspective views showing an end tool of a surgical instrument according to a second embodiment of the present invention. Fig. 75, Fig. 76, Fig. 77 and Fig. 78 are plan views of the end tool of Fig. 73. Fig. 79, Fig. 80 and Fig. 81 are side views of the end tool of Fig. 73.

[0384] 73 to 81, a power transmission section 1300 of an end tool 1100 of a surgical instrument according to the second embodiment of the present invention can include a wire 1301, a wire 1302, a wire 1303, a wire 1304, a wire 1305, and a wire 1306. In this embodiment, the wires are substantially the same as the wires 301, 302, 303, 304, 305, and 306 described in FIG. 9 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0385] In addition, the power transmission unit 1300 of the end tool 1100 of the surgical instrument according to the second embodiment of the present invention may include fastening members 1321, 1322, 1323, 1324, 1326, 1327, and 1329, which are coupled to each end of each wire to couple the wire with the pulley. Here, each fastening member may have various shapes such as a ball shape, a tube shape, and the like, as necessary. In this embodiment, the fastening members are substantially the same as the fastening members 321, 322, 323, 324, 326, 327, and 329 described in FIG. 9 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0386] (End Tool) In the following, the endotool 1100 of the surgical instrument of FIG. 73 will be described in more detail.

[0387] 73 to 81, an end tool 1100 according to a second embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or a component including the first jaw 1101 and the second jaw 1102, may be referred to as a jaw 1103.

[0388] The end tool 1100 may also include pulleys 1111, 1112, 1113, 1114, 1115, 1116, and 1118 for rotational movement of the first jaw 1101. The end tool 1100 may also include pulleys 1121, 1122, 1123, 1124, 1125, 1126, and 1128 for rotational movement of the second jaw 1102. These pulleys are described in more detail below.

[0389] Additionally, the end tool 1100 of the second embodiment of the present invention may include an end tool hub 1106 and a pitch hub 1107 .

[0390] The end tool hub 1106 has a rotating shaft 1141, a rotating shaft 1142, and a rotating shaft 1145 inserted therethrough. The end tool hub 1106 can accommodate at least a portion of the pulley 1111 and the pulley 1121 axially coupled to the rotating shaft 1141 therein. The end tool hub 1106 can accommodate at least a portion of the pulley 1112 and the pulley 1122 axially coupled to the rotating shaft 1142 therein. The end tool hub 1106 can have a pulley 1118 and a pulley 1128 axially coupled to the rotating shaft 1145 coupled thereto.

[0391] The pitch hub 1107 has a rotation shaft 1143 and a rotation shaft 1144 inserted therethrough, and can be axially coupled to the end tool hub 1106 and the pulley 1131 by the rotation shaft 1143. Therefore, the end tool hub 1106 and the pulley 1131 (formed integrally therewith) can be formed rotatable relative to the pitch hub 1107 around the rotation shaft 1143.

[0392] In addition, the pitch hub 1107 can accommodate at least a portion of the pulleys 1113, 1114, 1123, and 1124 axially coupled to the rotation shaft 1143 therein. In addition, the pitch hub 1107 can accommodate at least a portion of the pulleys 1115, 1116, 1125, and 1126 axially coupled to the rotation shaft 1144 therein.

[0393] Furthermore, the end tool 1100 of the second embodiment of the present invention may include the rotating shaft 1141, the rotating shaft 1142, the rotating shaft 1145, the rotating shaft 1143, and the rotating shaft 1144. As described above, the rotating shaft 1141, the rotating shaft 1142, and the rotating shaft 1145 may be inserted through the end tool hub 1106, and the rotating shaft 1143 and the rotating shaft 1144 may be inserted through the pitch hub 1107.

[0394] The rotating shafts 1141, 1142, 1145, 1143, and 1144 may be sequentially arranged from the distal end 1104 to the proximal end 1105 of the end tool 1100. Therefore, in order from the distal end 1104, the rotating shaft 1141 may be referred to as the first pin, the rotating shaft 1142 as the second pin, the rotating shaft 1145 as the 2.5 pin, the rotating shaft 1143 as the third pin, and the rotating shaft 1144 as the fourth pin.

[0395] Here, the rotation shaft 1141 functions as a jaw pulley rotation shaft, the rotation shaft 1142 functions as a jaw auxiliary pulley rotation shaft, the rotation shaft 1143 functions as a pitch main rotation shaft, and the rotation shaft 1144 functions as a pitch sub rotation shaft of the end tool 1100. And the rotation shaft 1145 disposed between the rotation shaft 1142 and the rotation shaft 1143 can function as a pitch extra rotation shaft of the end tool 1100.

[0396] In this embodiment, the end tool hub 1106, pitch hub 1107, and each of the rotation shafts 1141, 1142, 1143, 1144, and 1145 are substantially the same as the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0397] Meanwhile, one or more pulleys may be fitted to each of the rotating shafts 1141, 1142, 1143, 1144, 1145, which will be described in detail below.

[0398] Pulley 1111 functions as a first jaw pulley and pulley 1121 functions as a second jaw pulley, and these two components may be collectively referred to as the jaw pulleys.

[0399] The pulleys 1111 and 1121, which are jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 1141, which is a jaw pulley rotation axis. Here, in the drawing, the pulleys 1111 and 1121 are formed to rotate around one rotation axis 1141, but it goes without saying that each jaw pulley can be formed to be rotatable around a different axis. Here, a first jaw 1101 is fixedly connected to the pulley 1111 and rotates together with the pulley 1111, and a second jaw 1102 is fixedly connected to the pulley 1121 and rotates together with the pulley 1121. Yaw and actuation operations of the end tool 1100 are performed according to the rotation of the pulleys 1111 and 1121. That is, when pulley 1111 and pulley 1121 rotate in the same direction around rotation axis 1141, a yaw motion is performed, and when pulley 1111 and pulley 1121 rotate in opposite directions around rotation axis 1141, an actuation motion is performed.

[0400] Here, the first jaw 1101 and the pulley 1111 may be formed of separate members and coupled to each other, or the first jaw 1101 and the pulley 1111 may be formed as a single body. Similarly, the second jaw 1102 and the pulley 1121 may be formed of separate members and coupled to each other, or the second jaw 1102 and the pulley 1121 may be formed as a single body.

[0401] Here, a groove 1111a around which the first wire 1301 / 1305 is wound from the pulley 1111 serving as the first jaw pulley and a groove 1121a around which the second wire 1302 / 1306 is wound from the pulley 1121 serving as the second jaw pulley are disposed adjacent to each other. Therefore, the wire 1301 / 1305 serving as the first jaw wire and the wires 1302 and 1306 serving as the second jaw wire are disposed adjacent to each other in the Z-axis direction, and there may be no space between the first jaw wire and the second jaw wire where a separate structure is interposed.

[0402] Pulley 1112 functions as a first jaw assist pulley and pulley 1122 functions as a second jaw assist pulley, and these two components may be collectively referred to as the jaw assist pulleys.

[0403] In detail, the pulley 1112 and the pulley 1122, which are jaw auxiliary pulleys, may be additionally provided on one side of the pulley 1111 and the pulley 1121. In other words, the pulley 1112, which is a jaw auxiliary pulley, may be disposed between the pulley 1111 and the pulley 1113 / pulley 1114. Also, the pulley 1122, which is a jaw auxiliary pulley, may be disposed between the pulley 1121 and the pulley 1123 / pulley 1124. The pulley 1112 and the pulley 1122 may be formed to be rotatable independently of each other about the rotation shaft 1142. Here, in the drawing, the pulley 1112 and the pulley 1122 are formed to rotate about one rotation shaft 1142, but it goes without saying that the pulley 1112 and the pulley 1122 may be formed to be rotatable about a different shaft. Such an auxiliary pulley will be described in more detail later.

[0404] Pulley 1113 and pulley 1114 function as a first jaw pitch main pulley, and pulley 1123 and pulley 1124 function as a second jaw pitch main pulley, and these two components may be collectively referred to as pitch main pulleys.

[0405] Pulleys 1115 and 1116 function as first jaw pitch sub-pulleys, and pulleys 1125 and 1126 function as second jaw pitch sub-pulleys, and these two components may be collectively referred to as pitch sub-pulleys.

[0406] On the other hand, the present invention is characterized in that pitch redundant pulleys 1118 and 1128 are further disposed between pulleys 1112 and 1122, which are jaw auxiliary pulleys, and pulleys 1113, 1114, 1123 and 1124, which are pitch main pulleys.

[0407] Pulley 1118 functions as a first jaw pitch extra pulley and pulley 1128 functions as a second jaw pitch extra pulley, and these two components may be collectively referred to as pitch extra pulleys.

[0408] Also, a rotation shaft 1145 functioning as a pitch extra rotation shaft may be further provided, and the rotation shaft 1145 may be inserted through the end tool hub 1106. Here, the rotation shaft 1145 may be formed substantially parallel to the rotation shaft 1143 which is the pitch main rotation shaft and the rotation shaft 1144 which is the pitch sub rotation shaft. In this case, the rotation shaft 1145 is disposed between the rotation shaft 1142 which is the 2nd pin and the rotation shaft 1143 which is the 3rd pin, and therefore, in terms of its position, it may also be referred to as the 2.5th pin.

[0409] Such pitch extra pulleys can serve to change the retraction / retraction path of the jaw wire as it enters or exits the end tool from the proximal to the distal portion, as will be described in more detail below.

[0410] As a result, the rotating shaft 1141, the rotating shaft 1142, the rotating shaft 1145, the rotating shaft 1143, and the rotating shaft 1144 can be arranged in sequence while moving in the direction from the distal portion 1104 to the proximal portion 1105 of the end tool 1100.

[0411] In addition, pulleys related to the rotation of the first jaw 1101 from the distal portion 1104 toward the proximal portion 1105 of the end tool 1100, namely pulley 1111, pulley 1112, pulley 1118, pulley 1113 / pulley 1114, and pulley 1115 / pulley 1116, can be arranged in sequence.

[0412] In addition, pulleys related to the rotation of the second jaw 1102 from the distal part 1104 toward the proximal part 1105 of the end tool 1100, namely pulley 1121, pulley 1122, pulley 1128, pulley 1123 / pulley 1124, and pulley 1125 / pulley 1126, can be arranged in sequence.

[0413] The components involved in the rotation of pulley 1111 will be described below.

[0414] Pulley 1113 and pulley 1114 form a pair and function as a first jaw pitch main pulley. In other words, pulley 1113 and pulley 1114 function as main rotating pulleys for the pitch operation of first jaw 1101. Here, a wire 1301 which is a first jaw wire is wound around pulley 1113, and a wire 1305 which is a first jaw wire is wound around pulley 1114.

[0415] Pulley 1115 and pulley 1116 form a pair and function as a first jaw pitch sub pulley. In other words, pulley 1115 and pulley 1116 function as sub rotating pulleys for the pitch operation of first jaw 1101. Here, a wire 1301 which is the first jaw wire is wound around pulley 1115, and a wire 1305 which is the first jaw wire is wound around pulley 1116.

[0416] Pulley 1118 functions as a first jaw extra pulley. That is, pulley 1117 and pulley 1118 function as extra rotating pulleys for the pitch motion of first jaw 1101. Here, a wire 1305 which is a first jaw wire is wound around pulley 1118.

[0417] Here, a pulley 1118 is disposed on one side of the pulleys 1111 and 1112. Here, the pulley 1118 is formed to be rotatable around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1113 and 1114 are disposed on one side of the pulley 1118 so as to face each other. Here, the pulleys 1113 and 1114 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, pulleys 1115 and 1116 are disposed on one side of the pulleys 1113 and 1114 so as to face each other. Here, the pulleys 1115 and 1116 are formed to be rotatable independently of each other around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1118, pulley 1113, pulley 1114, pulley 1115 and pulley 1116 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0418] Wire 1301, which is a first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 1115, pulley 1113, and pulley 1111. Wire 1305, which is connected to wire 1301 by fastening member 1323, is wound in sequence so that at least a portion of it contacts pulley 1111, pulley 1112, pulley 1118, pulley 1114, and pulley 1116.

[0419] In other words, the first jaw wires, wire 1301 and wire 1305, are wound sequentially so as to be in at least partial contact with pulley 1115, pulley 1113, pulley 1111, pulley 1112, pulley 1118, pulley 1114 and pulley 1116, and wire 1301 and wire 1305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0420] Therefore, when wire 1301 is pulled toward the side of arrow 1301 in Fig. 77, fastening member 1323 to which wire 1301 is connected and pulley 1111 connected thereto rotate in the direction of arrow L in Fig. 77. Conversely, when wire 1305 is pulled toward the side of arrow 1305 in Fig. 77, fastening member 1323 to which wire 1305 is connected and pulley 1111 connected thereto rotate in the direction of arrow R in Fig. 77.

[0421] Next, components related to the rotation of pulley 1121 will be described.

[0422] Pulley 1123 and pulley 1124 form a pair and function as a second jaw pitch main pulley. In other words, pulley 1123 and pulley 1124 function as main rotating pulleys for the pitch operation of second jaw 1102. Here, a wire 1306 which is the second jaw wire is wound around pulley 1123, and a wire 1302 which is the second jaw wire is wound around pulley 1124.

[0423] Pulley 1125 and pulley 1126 form a pair and function as a second jaw pitch sub pulley. In other words, pulley 1125 and pulley 1126 function as sub rotating pulleys for the pitch operation of second jaw 1102. Here, a wire 1306 which is a second jaw wire is wound around pulley 1125, and a wire 1302 which is a second jaw wire is wound around pulley 1126.

[0424] The pulley 1128 functions as a second jaw pitch extra pulley, i.e., the pulley 1128 functions as an extra rotation pulley for the pitch motion of the second jaw 1102. Here, the pulley 1128 is wound with a wire 1302 which is the second jaw wire.

[0425] Here, a pulley 1128 is disposed on one side of the pulleys 1121 and 1122. Here, the pulley 1128 is formed to be rotatable around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1123 and 1124 are disposed on one side of the pulley 1128 so as to face each other. Here, the pulleys 1123 and 1124 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, pulleys 1125 and 1126 are disposed on one side of the pulleys 1123 and 1124 so as to face each other. Here, the pulleys 1125 and 1126 are formed to be rotatable independently of each other around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1128, pulley 1123, pulley 1124, pulley 1125 and pulley 1126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0426] The wire 1306, which is the second jaw wire, is wound in sequence so that at least a portion of the wire contacts the pulley 1125, the pulley 1123, and the pulley 1121. The wire 1302 connected to the wire 1306 by the fastening member 1326 is wound in sequence so that at least a portion of the wire contacts the pulley 1121, the pulley 1122, the pulley 1128, the pulley 1124, and the pulley 1126.

[0427] In other words, the second jaw wires, wire 1306 and wire 1302, are wound sequentially so as to be in at least partial contact with pulley 1125, pulley 1123, pulley 1121, pulley 1122, pulley 1128, pulley 1124 and pulley 1126, and wire 1306 and wire 1302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0428] Therefore, when wire 1306 is pulled in the direction of arrow 1306 in Fig. 77, fastening member 1326 to which wire 1306 is connected and pulley 1121 connected thereto rotate in the direction of arrow R in Fig. 77. Conversely, when wire 1302 is pulled in the direction of arrow 302 in Fig. 77, fastening member 1326 to which wire 1302 is connected and pulley 1121 connected thereto rotate in the direction of arrow L in Fig. 77.

[0429] Here, the present invention is characterized in that two jaw wires wound around one jaw pulley are wound around a pitch main pulley in opposite directions to each other, thereby facilitating control of the pitch movement.

[0430] Specifically, if the +Z axis direction is defined as the upper side and the -Z axis direction as the lower side based on a plane (i.e., the XY plane) passing between pulley 1111, which is the first jaw pulley, and pulley 1121, which is the second jaw pulley, then one of the two first jaw wires (e.g., wire 1301) can enter pulley 1113, which is the first jaw pitch main pulley, from below the XY plane, and the other (e.g., wire 1305) can exit pulley 1114, which is the first jaw pitch main pulley, above the XY plane. In other words, this can be expressed as a structure in which the jaw wires enter from the lower side of the first jaw pitch main pulley and exit from the upper side. (The second jaw wire enters from the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0431] In other words, wire 1301, which is one of the first jaw wires, contacts the upper side of pulley 1115, the lower side of pulley 1113, in that order, and then contacts pulley 1111. Next, wire 1305, which is the other of the first jaw wires, is wound around pulleys 1111 and 1112, and then contacts the lower side of pulley 1118, the upper side of pulley 1114, and the lower side of pulley 1116, in that order, and then exits into connecting portion 400. As a result, the first jaw wire exits connecting portion 400, enters the lower side of pulley 1113, passes through each pulley, passes the upper side of pulley 1114, and then re-enters connecting portion 400.

[0432] Similarly, wire 1306, which is one of the second jaw wires, contacts the underside of pulley 1125, the upper side of pulley 1123, in that order, and then contacts pulley 121. Next, wire 1302, which is the other of the second jaw wires, is wound around pulleys 1121 and 1122, and then contacts the upper side of pulley 1128, the lower side of pulley 1124, and the upper side of pulley 1126, in that order, and then exits into connecting portion 400. As a result, the second jaw wire exits connecting portion 400, enters the upper side of pulley 1123, passes through each pulley, passes through the underside of pulley 1124, and then re-enters connecting portion 400.

[0433] In other words, one of the two first jaw wires is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the other wire is wound around the first jaw pitch main pulley in the other direction while entering from the connecting portion 1400 toward the end tool 1100 side. That is, when viewed from Figures 79, 80, and 81, the wire 1301 is wound in the clockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the wire 1305 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 1100 side.

[0434] Similarly, it can be expressed that one of the two second jaw wires is wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the other wire is wound around the second jaw pitch main pulley in the other direction while entering from the connecting portion 1400 toward the end tool 1100 side. That is, when viewed from Figures 79, 80, and 81, the wire 1302 is wound in the clockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the wire 1306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 1100 side.

[0435] In this way, the end tool 1100 of the surgical instrument according to one embodiment of the present invention can obtain an effect of facilitating control of the pitch movement by winding two jaw wires wound around one jaw pulley in opposite directions around the pitch main pulley. That is, during the pitch movement, the first jaw pulley of the drive unit (see 211, 212 in FIG. 21) and the second jaw pulley of the drive unit (see 221, 222 in FIG. 21) rotate to wind and unwind the jaw wires, thereby providing a kind of compensation for the pitch movement, and an effect of enabling the pitch movement of the end tool 1100 to be performed.

[0436] <First Modification of the Second Embodiment>

[0437] The following describes an endotool 1100 of a surgical instrument according to a first modified embodiment of the second embodiment of the present invention. The endotool 100 of a surgical instrument according to the first modified embodiment of the second embodiment of the present invention is characteristically different from the endotool of a surgical instrument according to the second embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the second embodiment.

[0438] Figures 82 and 83 are perspective views showing an end tool of a surgical instrument according to a first variation of the second embodiment of the present invention. Figures 84 and 85 are plan views of the end tool of Figure 82. Figures 86, 87 and 88 are side views of the end tool of Figure 82. Figures 89 and 90 are plan views of the end tool of Figure 82.

[0439] 82 to 90, an end tool 1100 according to a first modified example of a second embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or a component including the first jaw 1101 and the second jaw 1102, may be referred to as a jaw 1103.

[0440] Additionally, the end tool 1100 according to the first variation of the second embodiment of the present invention may include an end tool hub 1106 and a pitch hub 1107 .

[0441] Furthermore, the end tool 1100 of the first modified form of the second embodiment of the present invention may include a rotating shaft 1141, a rotating shaft 1142, a rotating shaft 1145, a rotating shaft 1143, and a rotating shaft 1144. As described above, the rotating shafts 1141, 1142, and 1145 may be inserted through the end tool hub 1106, and the rotating shafts 1143 and 1144 may be inserted through the pitch hub 1107.

[0442] In this modified embodiment, the end tool hub 1106, pitch hub 1107, and each rotation axis 1141, 1142, 1143, 1144, and 1145 are substantially the same as the end tool hub 1106, pitch hub 1107, and each rotation axis described in Figure 73 of the second embodiment, etc., so detailed description thereof will be omitted here.

[0443] Meanwhile, the end tool 1100 may include pulleys 1111, 1112, 1113, 1114, 1115, and 1118 for rotational movement of the first jaw 1101. The end tool 1100 may also include pulleys 1121, 1122, 1123, 1124, 1125, and 1128 for rotational movement of the second jaw 1102.

[0444] Here, an end tool 1100 of a surgical instrument according to a first modified example of the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0445] In detail, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention shown in Figure 73, etc., has a pair of pulleys, pulley 1115 and pulley 1116, as a first jaw pitch sub-pulley, and a pair of pulleys, pulley 1125 and pulley 1126, as a second jaw pitch sub-pulley.

[0446] In contrast, the end tool 1100 of the surgical instrument relating to the first variant of the second embodiment of the present invention is differentiated from the second embodiment of the present invention shown in FIG. 73, etc. in that it has a single pulley, pulley 1115, as the first jaw pitch sub-pulley and a single pulley, pulley 1125, as the second jaw pitch sub-pulley.

[0447] As a result, pulleys related to the rotation of the first jaw 1101, namely pulley 1111, pulley 1112, pulley 1118, pulley 1113 / pulley 1114, and pulley 1115, can be arranged sequentially while moving from the distal part 1104 to the proximal part 1105 of the end tool 1100.

[0448] In addition, pulleys related to the rotation of the second jaw 1102 from the distal portion 1104 toward the proximal portion 1105 of the end tool 1100, namely pulley 1121, pulley 1122, pulley 1128, pulley 1123 / pulley 1124, and pulley 1125, can be arranged in sequence.

[0449] Here, pulleys 1116 and 1126 of the end tool 1100 of the second embodiment of the present invention shown in Figure 73, etc. are not pulleys around which a wire is wound, but pulleys that graze in a straight line, making it possible to omit the pulleys as in this modified embodiment.

[0450] In other words, the second embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas the first variant of the second embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in one row.

[0451] Here, a pulley 1118 is disposed on one side of the pulleys 1111 and 1112. Here, the pulley 1118 is formed to be rotatable around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1113 and 1114 are disposed on one side of the pulleys 1117 and 1118 to face each other. Here, the pulleys 1113 and 1114 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, a pulley 1115 is disposed on one side of each of the pulleys 1113 and 1114. Here, the pulley 1115 is formed to be rotatable around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1118, pulley 1113, pulley 1114 and pulley 1115 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0452] Wire 1301, which is a first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 1115, pulley 1113, and pulley 1111. Wire 1305, which is connected to wire 1301 by fastening member 1323, is wound in sequence so that at least a portion of it contacts pulley 1111, pulley 1112, pulley 1118, and pulley 1114.

[0453] In other words, the first jaw wires, wire 1301 and wire 1305, are wound sequentially so as to be in at least partial contact with pulley 1115, pulley 1113, pulley 1111, pulley 1112, pulley 1118 and pulley 1114, and wire 1301 and wire 1305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0454] Meanwhile, a pulley 1128 is disposed on one side of the pulleys 1121 and 1122. Here, the pulley 1128 is formed to be rotatable around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1123 and 1124 are disposed on one side of the pulley 1128 to face each other. Here, the pulleys 1123 and 1124 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, a pulley 1125 is disposed on one side of each of the pulleys 1123 and 1124. Here, the pulley 1125 is formed to be rotatable around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1128, pulley 1123, pulley 1124, pulley 1125 and pulley 1126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0455] The wire 1306, which is the second jaw wire, is wound in sequence so that at least a portion of the wire contacts the pulley 1125, the pulley 1123, and the pulley 1121. The wire 1302 connected to the wire 1306 by the fastening member 1326 is wound in sequence so that at least a portion of the wire contacts the pulley 1121, the pulley 1122, the pulley 1128, and the pulley 1124.

[0456] In other words, the second jaw wires, wire 1306 and wire 1302, are wound sequentially so as to be in at least partial contact with pulley 1125, pulley 1123, pulley 1121, pulley 1122, pulley 1128 and pulley 1124, and wire 1306 and wire 1302 are formed so as to be able to move along the pulleys while rotating them.

[0457] As a result, in the second embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas in the first variant of the second embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in a single row, thereby reducing the number of parts and simplifying the manufacturing process.

[0458] <Third embodiment of the end tool of the surgical instrument>

[0459] The following describes an endotool 2100 of a surgical instrument according to the third embodiment of the present invention. The endotool 2100 of a surgical instrument according to the third embodiment of the present invention is characterized by a different arrangement of jaw pulleys and jaw wires compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 5, etc.). The configuration that has changed compared to the first embodiment will be described in detail later.

[0460] 91, 92, 93 and 94 are perspective views showing an end tool of a surgical instrument according to a third embodiment of the present invention. Figs. 95 and 96 are plan views of the end tool of Fig. 91. Figs. 97, 98 and 99 are side views of the end tool of Fig. 91. Figs. 100 and 101 are plan views of the end tool of Fig. 91. Fig. 102 is a perspective view of an end tool hub of the end tool of Fig. 91, Fig. 103 is a front view of the end tool hub of the end tool of Fig. 91, and Fig. 104 is a side view of the end tool hub of the end tool of Fig. 91.

[0461] 91 to 104, a power transmission section 2300 of an end tool 2100 of a surgical instrument according to the third embodiment of the present invention can include a wire 2301, a wire 2302, a wire 2303, a wire 2304, a wire 2305, and a wire 2306. In this embodiment, the wires are substantially the same as the wires 301, 302, 303, 304, 305, and 306 described in FIG. 9 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0462] In addition, the power transmission unit 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention may include fastening members 2321, 2322, 2323, and 2326, which are coupled to each end of each wire in order to couple the wire with the pulley. Here, each fastening member may have various shapes such as a ball shape, a tube shape, etc., as necessary. In this embodiment, the fastening members are substantially the same as the fastening members 321, 322, 323, and 326 described in 59, etc., of the first embodiment, and therefore detailed description thereof will be omitted here.

[0463] (End Tool) The endotool 2100 of the surgical instrument of FIG. 91 will be described in more detail below.

[0464] 91 to 104, an end tool 2100 according to a third embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 2101 and a second jaw 2102. Here, each of the first jaw 2101 and the second jaw 2102, or a component including the first jaw 2101 and the second jaw 2102, may be referred to as a jaw 2103.

[0465] The end tool 2100 may also include pulleys 2111, 2112, 2113, 2114, 2115, and 2116 for rotational movement of the first jaw 2101. The end tool 2100 may also include pulleys 2121, 2122, 2123, 2124, 2125, and 2126 for rotational movement of the second jaw 2102. These pulleys are described in more detail below.

[0466] The end tool 2100 of the third embodiment of the present invention may also include an end tool hub 2180 and a pitch hub 2107. The end tool hub 2180 is described in more detail below.

[0467] Here, the end tool hub 2180 can accommodate at least a portion of the pulley 2111 and the pulley 2121 axially coupled to the rotation shaft 2141 therein. Also, the end tool hub 2180 can accommodate at least a portion of the pulley 2112 and the pulley 2122 axially coupled to the rotation shaft 2142 therein.

[0468] The pitch hub 2107 has a rotation shaft 2143 and a rotation shaft 2144 inserted therethrough, and can be axially coupled to the end tool hub 2180 and the pulley 21131 by the rotation shaft 2143. Therefore, the end tool hub 2180 and the pulley 2131 (formed integrally therewith) can be formed rotatable relative to the pitch hub 2107 around the rotation shaft 2143.

[0469] Furthermore, the pitch hub 2107 can accommodate at least a portion of the pulleys 2113, 2114, 2123, and 2124 axially coupled to the rotation shaft 2143 therein. The pitch hub 2107 can accommodate at least a portion of the pulleys 2115, 2116, 2125, and 2126 axially coupled to the rotation shaft 2144 therein.

[0470] Moreover, the end tool 2100 of the third embodiment of the present invention may include a rotation shaft 2141 , a rotation shaft 2142 , a rotation shaft 2143 and a rotation shaft 2144 .

[0471] The rotating shaft 2141, the rotating shaft 2142, the rotating shaft 2143, and the rotating shaft 2144 may be sequentially arranged in a direction from the distal end 2104 to the proximal end 2105 of the end tool 2100. Therefore, in order from the distal end 2104, the rotating shaft 2141 may be referred to as the first pin, the rotating shaft 2142 as the second pin, the rotating shaft 2143 as the third pin, and the rotating shaft 2144 as the fourth pin.

[0472] Here, the rotation axis 21141 functions as the jaw pulley rotation axis, the rotation axis 21142 is the jaw auxiliary pulley rotation axis and also functions as the pitch extra rotation axis, the rotation axis 2143 functions as the pitch main rotation axis, and the rotation axis 2144 functions as the pitch sub rotation axis of the end tool 2100.

[0473] The end tool hub 2180 of the third embodiment of the present invention will now be described in more detail, with particular emphasis on the axis of rotation 2142 of the end tool hub 2180 which serves as the jaw assist pulley axis of rotation.

[0474] 102 to 104, the end tool hub 2180 includes a first jaw pulley coupling portion 2181, a second jaw pulley coupling portion 2182, a rotating shaft 2142, a pitch pulley coupling portion 2185, and a guide portion 2186. The rotating shaft 2142 can include a first sub-shaft 2142a and a second sub-shaft 2142b.

[0475] In detail, the first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182 are formed to face each other, and accommodate the pulleys 2111, 2112, 2121, and 2122 therein. Further, a through hole is formed in each jaw pulley coupling portion 2181, 2182, and the rotating shaft 2141 passes through the jaw pulley coupling portions 2181, 2182 and the pulleys 2111 and 2121 to axially couple them.

[0476] The first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182 are connected by a guide portion 2186. In other words, the first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182, which are parallel to each other, are coupled by a guide portion 2186 formed in a direction approximately perpendicular thereto, and the first jaw pulley coupling portion 2181, the second jaw pulley coupling portion 2182, and the guide portion 2186 form an approximately U-shape, and the pulleys 2111, 2112, 2121, and 2122 are housed therein.

[0477] In other words, it can be considered that the first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182 are formed extending in the X-axis direction from both ends of the guide portion 2186 which is formed long in the Z-axis direction.

[0478] A first sub-shaft 2142a may be formed on an inner surface of the first jaw pulley coupling portion 2181, and a second sub-shaft 2142b may be formed on the second jaw pulley coupling portion 2182. In other words, the second rotation shaft 2142, which is the jaw auxiliary pulley rotation shaft, may be expressed as being divided into two, the first sub-shaft 2142a and the second sub-shaft 2142b.

[0479] Specifically, the first sub-shaft 2142a and the second sub-shaft 2142b may be formed with a certain degree of inclination, in other words, the first sub-shaft 2142a and the second sub-shaft 2142b may be formed obliquely, not parallel to any of the X-axis, Y-axis, and Z-axis.

[0480] A pulley 2112 may be coupled to the first sub-shaft 2142a, and a pulley 2122 may be coupled to the second sub-shaft 2142b. The pulley 2112 may function as a first jaw auxiliary pulley and a first pitch extra pulley at the same time. The pulley 2122 may function as a second jaw auxiliary pulley and a second pitch extra pulley at the same time. This will be described later.

[0481] Meanwhile, a pulley 2131 serving as an end tool pitch pulley may be formed at a pitch pulley coupling portion 2185 at one end of the end tool hub 2180. Here, the pulley 2131 may be formed integrally with the end tool hub 2180. That is, one end of the end tool hub 2180 may be formed in a disk or semicircular shape, and a groove around which a wire is wound may be formed on the outer circumferential surface thereof to form a kind of guide channel. Alternatively, the pulley 2131 may be formed of a member separate from the end tool hub 2180 and coupled to the end tool hub 2180. The above-mentioned wire 2303 and wire 2304 are coupled to the pulley 2131 serving as an end tool pitch pulley, and the pulley 2131 rotates around the rotation axis 2143 to perform a pitch operation.

[0482] Meanwhile, each of the rotating shafts 2141, 2142, 2143, 2144 may be fitted with one or more pulleys, which will be described in detail below.

[0483] Pulley 2111 functions as a first jaw pulley and pulley 2121 functions as a second jaw pulley, and these two components may be collectively referred to as the jaw pulleys.

[0484] The pulleys 2111 and 2121, which are jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 2141, which is a jaw pulley rotation axis. Here, in the drawing, the pulleys 2111 and 2121 are formed to rotate around one rotation axis 2141, but it goes without saying that each jaw pulley can be formed to be rotatable around a different axis. Here, a first jaw 2101 is fixedly connected to the pulley 2111 and rotates together with the pulley 2111, and a second jaw 2102 is fixedly connected to the pulley 2121 and rotates together with the pulley 2121. Yaw and actuation operations of the end tool 2100 are performed according to the rotation of the pulleys 2111 and 2121. That is, when pulley 2111 and pulley 2121 rotate in the same direction around rotation axis 2141, a yaw motion is performed, and when pulley 2111 and pulley 2121 rotate in opposite directions around rotation axis 2141, an actuation motion is performed.

[0485] Here, the first jaw 2101 and the pulley 2111 may be formed of separate members and coupled to each other, or the first jaw 2101 and the pulley 2111 may be formed as a single body. Similarly, the second jaw 2102 and the pulley 2121 may be formed of separate members and coupled to each other, or the second jaw 2102 and the pulley 2121 may be formed as a single body.

[0486] Pulley 2112 functions as a first jaw assist pulley and pulley 2122 functions as a second jaw assist pulley, and these two components may be collectively referred to as the jaw assist pulleys. At the same time, pulley 2112 may function as a first pitch extra pulley and pulley 2122 may function as a second pitch extra pulley.

[0487] In detail, the pulleys 2112 and 2122, which are jaw assist pulleys, may be additionally provided on one side of the pulleys 2111 and 2121. In other words, the pulley 2112, which is the jaw assist pulley, may be disposed between the pulley 2111 and the pulleys 2113 / 2114. In addition, the pulley 2122, which is the jaw assist pulley, may be disposed between the pulley 2121 and the pulleys 2123 / 2124. The pulley 2112 may be formed to rotate around a first sub-shaft 2142a of the rotation shaft 2142, and the pulley 2122 may be formed to be rotatable around a second sub-shaft 2142b of the rotation shaft 2142.

[0488] Pulley 2113 and pulley 2114 function as first jaw pitch main pulleys, and pulley 2123 and pulley 2124 function as second jaw pitch main pulleys, and these two components may be collectively referred to as pitch main pulleys.

[0489] Pulley 2115 and pulley 2116 function as first jaw pitch sub-pulleys, and pulley 2125 and pulley 2126 function as second jaw pitch sub-pulleys, and these two components may be collectively referred to as pitch sub-pulleys.

[0490] As a result, the rotating shaft 2141, the rotating shaft 2142, the rotating shaft 2143, and the rotating shaft 2144 can be arranged in sequence while moving in the direction from the distal portion 2104 to the proximal portion 2105 of the end tool 2100.

[0491] In addition, pulleys related to the rotation of the first jaw 2101, namely pulley 2111, pulley 2112, pulley 2113 / pulley 2114, and pulley 2115 / pulley 2116, can be arranged in sequence from the distal portion 2104 toward the proximal portion 2105 of the end tool 2100.

[0492] In addition, pulleys related to the rotation of the second jaw 2102 from the distal portion 2104 toward the proximal portion 2105 of the end tool 2100, namely pulley 2121, pulley 2122, pulley 2123 / pulley 2124, and pulley 2125 / pulley 2126, can be arranged in sequence.

[0493] Pulley 2112 and pulley 2122 are described in more detail below.

[0494] First, the pulley 2112 may function as a first jaw auxiliary pulley, and the pulley 2122 may function as a second jaw auxiliary pulley. The pulley 2112 and the pulley 2122 may play a role in expanding the rotation angle of each of the first jaw 2101 and the second jaw 2102 by contacting the wire 2305, which is the first jaw wire, and the wire 2302, which is the second jaw wire, to a certain extent and changing the arrangement path of the wire 2305 and the wire 2302. It can be said that the role of such a jaw auxiliary pulley is similar to that described in the first embodiment of the present invention.

[0495] At the same time, pulley 2112 can function as a first pitch extra pulley and pulley 2122 can function as a second pitch extra pulley. Such pitch extra pulleys can serve to change the retraction / retraction path of the jawwire entering or exiting the end tool from the proximal to the distal portion.

[0496] Here, the plane passing between pulley 2111, which is the first jaw pulley, and pulley 2121, which is the second jaw pulley, (i.e., the XY plane) is defined as the first plane, and based on the first plane, the +Z axis direction is defined as the upper side, and the -Z axis direction is defined as the lower side.

[0497] The wire 2305, which is the first jaw wire, is located above the first plane when passing through pulley 2114, which is the first jaw pitch main pulley, and its path is changed as it passes through pulley 2112, which is the first pitch extra pulley, so that it is located below the first plane when it passes through pulley 2111, which is the first jaw pulley.

[0498] Here, the first sub-shaft 2142a and the pulley 2112 coupled thereto are formed at an incline with respect to the first plane, and serve to guide the path of the wire 2305 so that the wire 2305, which is located above the first plane when it contacts the pulley 2114, is located below the first plane when it contacts the pulley 2111.

[0499] That is, as shown in Fig. 103, the first sub-shaft 2142a and the pulley 2112 coupled thereto may be formed to be inclined to a certain degree on the YZ plane. At the same time, as shown in Fig. 104, the first sub-shaft 2142a and the pulley 2112 coupled thereto may be formed to be inclined to a certain degree on the XZ plane.

[0500] Similarly, the second jaw wire, wire 2302, is located below the first plane when passing through pulley 2124, the second jaw pitch main pulley, and its route is changed as it passes through pulley 2122, the second pitch extra pulley, so that it is located above the first plane when it passes through pulley 2121, the second jaw pulley.

[0501] Here, the second sub-shaft 2142b and the pulley 2122 coupled thereto are formed at an incline with respect to the first plane, and serve to guide the path of the wire 2302 so that the wire 2302, which is located below the first plane when it contacts the pulley 2124, is located above the first plane when it contacts the pulley 2121.

[0502] That is, as shown in Fig. 103, the second sub-shaft 2142b and the pulley 2122 coupled thereto may be formed to be inclined to a certain degree on the YZ plane, and at the same time, as shown in Fig. 104, the second sub-shaft 2142b and the pulley 2122 coupled thereto may be formed to be inclined to a certain degree on the XZ plane.

[0503] The components involved in the rotation of pulley 2111 will be described below.

[0504] Pulley 2113 and pulley 2114 form a pair and function as a first jaw pitch main pulley. In other words, pulley 2113 and pulley 2114 function as main rotating pulleys for the pitch operation of first jaw 2101. Here, a wire 2301 which is a first jaw wire is wound around pulley 2113, and a wire 2305 which is a first jaw wire is wound around pulley 2114.

[0505] Pulley 2115 and pulley 2116 form a pair and function as a first jaw pitch sub pulley. That is, pulley 2115 and pulley 2116 function as sub rotating pulleys for the pitch operation of first jaw 2101. Here, a wire 2301 which is a first jaw wire is wound around pulley 2115, and a wire 2305 which is a first jaw wire is wound around pulley 2116.

[0506] Here, pulleys 2113 and 2114 are disposed on one side of pulleys 2111 and 2112 so as to face each other. Here, pulleys 2113 and 2114 are formed to be rotatable independently of each other about a rotation axis 2143 which is a pitch main rotation axis. In addition, pulleys 2115 and 2116 are disposed on one side of pulleys 2113 and 2114 so as to face each other. Here, pulleys 2115 and 2116 are formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, in the drawing, pulleys 2113, 2114, 2115, and 2116 are all formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, although the drawing shows that pulleys 2113, 2114, 2115, and 2116 are all formed to be rotatable about the Y-axis direction, the idea 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.

[0507] The wire 2301, which is the first jaw wire, is wound in sequence so that at least a portion of the wire contacts the pulley 2115, the pulley 2113, and the pulley 2111. The wire 2305, which is connected to the wire 2301 by the fastening member 2323, is wound in sequence so that at least a portion of the wire contacts the pulley 2111, the pulley 2112, the pulley 2114, and the pulley 2116.

[0508] In other words, the first jaw wires, wire 2301 and wire 2305, are wound sequentially so as to be in at least partial contact with pulley 2115, pulley 2113, pulley 2111, pulley 2112, pulley 2114 and pulley 2116, and wire 2301 and wire 2305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0509] Therefore, when wire 2301 is pulled in the direction of arrow 2301 in Fig. 100, fastening member 2323 to which wire 2301 is connected and pulley 2111 connected thereto rotate in the direction of arrow L in Fig. 100. Conversely, when wire 2305 is pulled in the direction of arrow 2305 in Fig. 100, fastening member 2323 to which wire 2305 is connected and pulley 2111 connected thereto rotate in the direction of arrow R in Fig. 100.

[0510] Next, components related to the rotation of pulley 2121 will be described.

[0511] Pulley 2123 and pulley 2124 form a pair and function as a second jaw pitch main pulley. In other words, pulley 2123 and pulley 2124 function as main rotating pulleys for the pitch operation of second jaw 2102. Here, a wire 2306 which is a second jaw wire is wound around pulley 2123, and a wire 2302 which is a second jaw wire is wound around pulley 2124.

[0512] Pulley 2125 and pulley 2126 form a pair and function as a second jaw pitch sub pulley. In other words, pulley 2125 and pulley 2126 function as sub rotating pulleys for the pitch operation of second jaw 2102. Here, a wire 2306 which is a second jaw wire is wound around pulley 2125, and a wire 2302 which is a second jaw wire is wound around pulley 2126.

[0513] Here, pulleys 2123 and 2124 are disposed on one side of pulleys 2121 and 2122 so as to face each other. Here, pulleys 2123 and 2124 are formed to be rotatable independently of each other about a rotation axis 2143 which is a pitch main rotation axis. In addition, pulleys 2125 and 2126 are disposed on one side of pulleys 2123 and 2124 so as to face each other. Here, pulleys 2125 and 2126 are formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, in the drawing, pulleys 2123, 2124, 2125, and 2126 are all formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, although the drawing shows that pulleys 2123, 2124, 2125, and 2126 are all formed to be rotatable about the Y-axis direction, the idea 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.

[0514] The wire 2306, which is the second jaw wire, is wound around the pulley 2125, the pulley 2123, and the pulley 2121 in sequence so that at least a portion of the wire contacts the pulley 2125, the pulley 2123, and the pulley 2121. The wire 2302 connected to the wire 2306 by the fastening member 2326 is wound around the pulley 2121, the pulley 2122, the pulley 2124, and the pulley 1126 in sequence so that at least a portion of the wire contacts the pulley 2125, the pulley 2123, and the pulley 1126.

[0515] In other words, the second jaw wires, wire 2306 and wire 2302, are wound sequentially so as to be in at least partial contact with pulley 2125, pulley 2123, pulley 2121, pulley 2122, pulley 2124 and pulley 2116, and wire 2306 and wire 2302 are formed so as to be able to move along the pulleys while rotating them.

[0516] Therefore, when wire 2306 is pulled in the direction of arrow 2306 in Fig. 100, fastening member 2326 to which wire 2306 is connected and pulley 2121 connected thereto rotate in the direction of arrow R in Fig. 100. Conversely, when wire 2302 is pulled in the direction of arrow 2302 in Fig. 100, fastening member 2326 to which wire 2302 is connected and pulley 2121 connected thereto rotate in the direction of arrow L in Fig. 100.

[0517] Here, the present invention is characterized in that two jaw wires wound around one jaw pulley are wound around a pitch main pulley in opposite directions to each other, thereby facilitating control of the pitch movement.

[0518] Specifically, if the +Z axis direction is defined as the upper side and the -Z axis direction as the lower side based on a plane (i.e., the XY plane) passing between pulley 2111, which is the first jaw pulley, and pulley 2121, which is the second jaw pulley, one of the two first jaw wires (e.g., wire 2301) can enter pulley 2113, which is the first jaw pitch main pulley, from the lower side of the XY plane, and the other (e.g., wire 2305) can exit pulley 2114, which is the first jaw pitch main pulley, on the upper side of the XY plane. In other words, it can be expressed as a structure in which the first jaw wire enters from the lower side of the first jaw pitch main pulley and exits from the upper side. (The second jaw wire enters from the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0519] In other words, the wire 2301, which is one of the first jaw wires, contacts the upper side of the pulley 2115 and the lower side of the pulley 2113 in this order, and then contacts the pulley 2111. Then, the other wire 2305, which is the first jaw wire, is wound around the pulleys 2111 and 2112, and then contacts the upper side of the pulley 2114 and the lower side of the pulley 2116 in this order, and then exits into the connecting part 400. As a result, the first jaw wire exits the connecting part 2400, enters the lower side of the pulley 2113, passes through each pulley, passes the upper side of the pulley 2114, and then re-enters the connecting part 400.

[0520] Similarly, wire 2306, which is one of the second jaw wires, contacts the underside of pulley 2125, the upper side of pulley 2123, in that order, and then contacts pulley 2121. Next, wire 2302, which is the other of the second jaw wires, is wound around pulleys 2121 and 2122, contacts the underside of pulley 2124, the upper side of pulley 2126, in that order, and then exits into connecting portion 400. As a result, the second jaw wire exits connecting portion 400, enters the upper side of pulley 2123, passes through each pulley, passes through the underside of pulley 2124, and then re-enters connecting portion 2400.

[0521] In other words, one of the two first jaw wires is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the other wire is wound around the first jaw pitch main pulley in the other direction while entering from the connecting portion 2400 toward the end tool 2100 side. That is, when viewed from Figures 97, 98, and 99, the wire 2301 is wound in the clockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the wire 2305 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 2100 side.

[0522] Similarly, it can be expressed that one of the two second jaw wires is wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the other wire is wound around the second jaw pitch main pulley in the other direction while entering from the connecting portion 2400 toward the end tool 2100 side. That is, when viewed from Figures 97, 98, and 99, the wire 2302 is wound in the clockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the wire 2306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 2100 side.

[0523] In this way, the end tool 2100 of the surgical instrument according to one embodiment of the present invention can obtain an effect of facilitating control of the pitch movement by winding two jaw wires wound around one jaw pulley in opposite directions around the pitch main pulley. That is, during the pitch movement, the first jaw pulley of the drive unit (see 211, 212 in FIG. 21) and the second jaw pulley of the drive unit (see 221, 222 in FIG. 21) rotate to wind and unwind the jaw wires, thereby providing a kind of compensation for the pitch movement, and an effect of enabling the pitch movement of the end tool 2100 to be performed.

[0524] Thus, the present invention has been described with reference to one embodiment shown in the drawings, but this is merely illustrative, and those skilled in the art will appreciate that various modifications and changes to the embodiment are possible from this. Therefore, the true technical scope of the present invention should be determined by the technical ideas of the appended claims. [Industrial Applicability]

[0525] The present invention relates to an endotool for a surgical instrument, and in particular, can be used for an endotool provided on a surgical instrument that is mounted on a robotic arm or manually actuable for use in laparoscopic or a variety of different surgical procedures.

Claims

1. An end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and configured to be rotatable together with the jaws about a first axis, and configured to enable at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moving in response to rotation of the end tool jaw pulley; a connecting portion formed to extend in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; a drive unit coupled to the other end of the coupling unit and controlling the pitch rotation and the yaw rotation of the end tool; The drive unit is a drive jaw pulley rotatably formed around a second axis and coupled to the jaw wire; a drive unit pitch pulley disposed adjacent to the drive unit jaw pulley and formed to be rotatable around a third axis different from the second axis, 2. A surgical instrument comprising: a drive jaw pulley that is adapted to rotate when the drive pitch pulley rotates due to pitch rotation of the end tool;

2. 2. The surgical instrument according to claim 1, wherein the relative positions of said drive section pitch pulley and said drive section jaw pulley are kept constant.

3. 3. The surgical instrument of claim 2, wherein when the drive section pitch pulley rotates about the third axis, the length of the jaw wire within the drive section is changed while the drive section jaw pulley rotates about the second axis.

4. Changing the length of the jaw wire within the drive section by rotating the drive section jaw pulley 4. The surgical instrument of claim 3, wherein the length of the jaw wire within the end tool is also changed.

5. Even if the length of the jaw wire in the drive section is changed by the rotation of the drive section jaw pulley, 4. The surgical instrument of claim 3, wherein the overall length of the jaw wire is kept constant.

6. The jaws include a first jaw and a second jaw formed to face the first jaw, The end tool jaw pulley includes a first jaw pulley coupled to the first jaw and formed to be rotatable around the first axis, and a second jaw pulley coupled to the second jaw and formed to be rotatable around an axis substantially the same as or parallel to the first axis and formed to face the first jaw pulley, the jaw wire includes a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley, 2. The surgical instrument of claim 1, wherein the drive section jaw pulley includes a drive section first jaw pulley coupled to the first jaw wire to move the first jaw wire and a drive section second jaw pulley coupled to the second jaw wire to move the second jaw wire.

7. The end tool comprises: a pair of first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable about a fourth axis that forms a predetermined angle with the first axis; a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis substantially the same as or parallel to the fourth axis; a first jaw pitch extra pulley disposed between the first jaw pulley and the pair of first jaw pitch main pulleys and formed to be rotatable about a fifth axis; a second jaw pitch extra pulley disposed between the second jaw pulley and the pair of second jaw pitch main pulleys and formed to be rotatable around a sixth axis; the first jaw wire is wound around at least a portion of the pair of first jaw pitch main pulleys; 7. The surgical instrument according to claim 6, wherein the second jaw wire is wound around at least a portion of the pair of second jaw pitch main pulleys.

8. proceeding from a proximal portion of the endotool towards a distal portion; Of the first jaw wires of both strands connected to the first jaw pulley, Either one of the first jaw wires is wound around the first jaw pitch main pulley in either a clockwise direction or a counterclockwise direction, 8. The surgical instrument according to claim 7, wherein the first jaw wire of the other strand is wound around the first jaw pitch main pulley in one direction, either clockwise or counterclockwise.

9. With respect to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, Of the first jaw wires of both strands connected to the first jaw pulley, Either one of the first jaw wires contacts an upper side of the first jaw pitch main pulley, 8. The surgical instrument of claim 7, wherein the first jaw wire of the other strand contacts an underside of the first jaw pitch main pulley.

10. The first jaw wire is proceeding from a proximal portion of the endotool towards a distal portion; 8. The surgical instrument according to claim 7, wherein said first jaw pitch main pulley and said first jaw pitch extra pulley are contacted in sequence.

11. With respect to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, One of the first jaw wires connected to the first jaw pulley contacts the lower side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley in sequence, The surgical instrument according to claim 10, characterized in that the first jaw wire of the other of the first jaw wires of both strands connected to the first jaw pulley sequentially contacts the upper side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley.

12. a first jaw auxiliary pulley formed between the first jaw pulley and the first jaw pitch extra pulley; 8. The surgical instrument of claim 7, further comprising a second jaw assist pulley formed between said second jaw pulley and said second jaw pitch extra pulley.

13. 13. The surgical instrument according to claim 12, wherein the first jaw wire is located on a common inscribed line of the first jaw pulley and the first jaw assist pulley, and a rotation angle of the first jaw pulley is expanded by the first jaw assist pulley.

14. one or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and rotatable about an axis substantially parallel to the fourth axis; 8. The surgical instrument according to claim 7, further comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable about an axis substantially parallel to the fourth axis.

15. 15. The surgical instrument of claim 14, wherein the first jaw pitch sub-pulley or the second jaw pitch sub-pulley includes only one pulley.

16. an end tool hub formed so that at least a portion of the first jaw and the second jaw can be accommodated therein; The surgical instrument according to claim 7 , further comprising a pitch hub axially coupled to the end tool hub and configured to be rotatable relative to the end tool hub.

17. The first jaw and the second jaw rotate about the first axis to perform a yaw motion; 17. The surgical instrument of claim 16, wherein the end tool hub rotates about the fourth axis to provide a pitch motion.

18. an end tool pitch pulley formed at a proximal end of the end tool hub; The surgical instrument of claim 16, further comprising a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

19. When the end tool pitch pulley is rotated by the pitch wire, 19. The surgical instrument of claim 18, wherein the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley changes as the entire end tool hub rotates together with the end tool pitch pulley.

20. 20. The surgical instrument of claim 19, wherein the first jaw wire is moved to a certain extent by an external force to compensate for a change in the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley when the end tool pitch pulley is rotated by the pitch wire.

21. 17. The surgical instrument of claim 16, wherein the first jaw pitch extra pulley or the second jaw pitch extra pulley is integrally formed with the end tool hub.

22. 8. The surgical instrument according to claim 7, wherein the fifth axis and the sixth axis are substantially parallel to the fourth axis.

23. 8. The surgical instrument according to claim 7, wherein the fifth axis and the sixth axis are formed at an angle with respect to the first axis and the fourth axis, respectively.

24. 8. The surgical instrument according to claim 7, wherein the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley are formed to be spaced apart from each other to a certain extent.

25. 8. The surgical instrument according to claim 7, wherein the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley are formed adjacent to each other.

26. 8. The surgical instrument of claim 7, wherein the first jaw pitch extra pulley or the second jaw pitch extra pulley includes only one pulley.

27. 2. The surgical instrument of claim 1, wherein when the drive section pitch pulley of the drive section rotates for pitch motion, the drive section first jaw pulley and the drive section second jaw pulley of the drive section rotate together to compensate for the pitch motion.

28. an end tool hub formed so that at least a portion of the first jaw and the second jaw can be accommodated therein; a pitch hub axially coupled to the end tool hub and configured to be rotatable relative to the end tool hub; A first pin that is inserted through the end tool hub and extends along a first direction; A second pin is inserted through the end tool hub, formed parallel to the first pin, and formed on one side of the first pin; a 2.5 pin that is inserted through the end tool hub and extends along a second direction that forms a predetermined angle with the first direction, and is formed on one side of the 2 pin; a No. 3 pin that is inserted through the end tool hub and the pitch hub, formed parallel to the No. 2.5 pin, and formed on one side of the No. 2.5 pin; a fourth pin that is inserted through the pitch hub and formed parallel to the third pin and on one side of the third pin; a first jaw auxiliary pulley formed on one side of the first jaw pulley and rotatable about the second pin; a second jaw auxiliary pulley formed on one side of the second jaw pulley and rotatable about the second pin; One or more first jaw pitch extra pulleys formed on one side of the first jaw auxiliary pulley and rotatable around the 2.5th pin; One or more second jaw pitch extra pulleys formed on one side of the second jaw auxiliary pulley and rotatable around the 2.5th pin; a pair of first jaw pitch main pulleys formed on one side of the first jaw pitch extra pulley and rotatable about the third pin; a pair of second jaw pitch main pulleys formed on one side of the second jaw pitch extra pulley and rotatable about the third pin; One or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and rotatable around the fourth pin; The surgical instrument according to claim 6, further comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable about the fourth pin.

29. an end tool hub formed so that at least a portion of the first jaw and the second jaw can be accommodated therein; a pitch hub axially coupled to the end tool hub and configured to be rotatable relative to the end tool hub; A first pin that is inserted through the end tool hub and extends along a first direction; a second pin that is inserted through the end tool hub and extends along a second direction that forms a predetermined angle with the first direction and is formed on one side of the first pin; a third pin that is inserted through the end tool hub and the pitch hub, extends along a third direction that forms a predetermined angle with the first direction and the second direction, and is formed on one side of the second pin; a fourth pin that is inserted through the pitch hub and formed parallel to the third pin and on one side of the third pin; a first jaw auxiliary pulley formed on one side of the first jaw pulley and rotatable about the second pin; a second jaw auxiliary pulley formed on one side of the second jaw pulley and rotatable about the second pin; a pair of first jaw pitch main pulleys formed on one side of the first jaw auxiliary pulley and rotatable about the third pin; a pair of second jaw pitch main pulleys formed on one side of the second jaw auxiliary pulley and rotatable about the third pin; One or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and rotatable around the fourth pin; The surgical instrument according to claim 6, further comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable about the fourth pin.

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