Surgical Instruments

Abstract

The present invention relates to surgical instruments, and more particularly to surgical instruments that can be operated manually or automatically for use in laparoscopic surgery or various other surgical procedures, and that include a locking device that can be locked and / or unlocked against at least one of the movements.

Description

[Technical field]

[0001] The present invention relates to surgical instruments, and more particularly to surgical instruments that can be manually or automatically operated for use in laparoscopic or various surgical procedures, and that include a locking device that can be locked and / or unlocked against at least any movement. [Background technology]

[0002] In medicine, surgery refers to the use of medical instruments to remove, incise, or manipulate skin, mucous membranes, or other tissues to treat illness. In particular, open surgery, in which the skin at the surgical site is incised and the organs inside are treated, reshaped, or removed, can cause problems such as bleeding, side effects, pain to the patient, and scarring. 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 attracting attention as an alternative.

[0003] A surgical instrument is a tool for performing surgery on a surgical site by operating an end tool attached to one end of a shaft that passes through a hole made in the skin, either by a doctor using a specific drive unit or by a robot arm. The end tool attached to the surgical instrument performs rotation, gripping, cutting, etc., via a specific structure.

[0004] However, while performing surgery using such surgical instruments, there is a need for the surgical instruments to be maintained in a specific position, i.e., in a locked state, without the user having to apply force to the surgical instruments. For example, when a first surgical instrument is taking tissue from a patient and a doctor wants to use a second surgical instrument to suture the tissue, there is a need for the first surgical instrument to be in a locked state while taking the tissue from the patient.

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

[0006] The present invention aims to provide a manually or automatically operable surgical instrument for use in laparoscopic or various surgical procedures, the surgical instrument including a locking device that can be locked and / or unlocked for at least either operation. [Means for solving the problem]

[0007] One embodiment of the present invention provides a surgical instrument comprising: an end tool including one or more jaws and rotatable in two or more directions; an operation unit that controls the rotation of the end tool in the two or more directions; a power transmission unit including one or more jaw wires connected to the operation unit to transmit the rotation of the operation unit to the jaw; and a connection unit extending in a first direction (X-axis) and having one end to which the end tool is connected and the operation unit is connected to the other end to connect the operation unit and the end tool, wherein the operation unit includes a pitch operation unit that controls a pitch movement of the end tool; and a locking member that is formed to be fastened to the pitch operation unit and that locks or unlocks the pitch movement of the pitch operation unit depending on whether it is fastened to the pitch operation unit.

[0008] In the present invention, the locking member may include a locking body portion fixedly coupled to the pitch operating portion, and a locking portion formed to be fastenable to the locking body portion.

[0009] In the present invention, when the locking portion is in a first position, the locking portion is formed to be fastened to the locking body portion, restricting the movement of the locking body portion, and when the locking portion is in a second position, the locking portion is formed to be spaced a certain amount away from the locking body portion, allowing the locking body portion to rotate.

[0010] In the present invention, the lock body may be formed in a gear shape including a plurality of first fastening portions, and the lock portion may be formed in a hook shape capable of being fastened to the first fastening portions.

[0011] In the present invention, the locking device may further include a lock control section that controls a position of the locking section so that the locking section is located at either the first position or the second position.

[0012] In the present invention, the lock control unit is formed to be capable of linear reciprocating motion relative to the lock main body, and the lock control unit can pressurize the lock unit while moving in any direction, thereby moving the lock unit in a direction away from the lock main body.

[0013] In the present invention, the width of the lock control portion may increase along the one direction.

[0014] In the present invention, while the lock control portion moves in the one direction, the lock control portion can pressurize the lock portion in a direction in which the lock portion moves away from the lock main body portion.

[0015] In the present invention, a first elastic member is interposed between the lock control portion and the lock main body portion, and a predetermined elastic force can be applied to the lock control portion so that the lock portion is positioned at either the first position or the second position.

[0016] In the present invention, the pitch operation unit is axially coupled to the connecting portion, and the locking member can control whether or not the pitch operation unit rotates relative to the connecting portion.

[0017] Another embodiment of the present invention provides a surgical instrument including an end tool including one or more jaws and rotatable in two or more directions; an operation unit controlling the rotation of the end tool in the two or more directions; a power transmission unit including one or more jaw wires connected to the operation unit to transmit the rotation of the operation unit to the jaw; and a connection unit extending in a first direction (X-axis) and having one end to which the end tool is connected and the operation unit is connected to the other end to connect the operation unit and the end tool, the operation unit including a yaw operation unit controlling a yaw movement of the end tool, and a locking member formed to be fastened to the yaw operation unit and locking or unlocking the yaw movement of the yaw operation unit depending on whether the operation unit is fastened to the yaw operation unit.

[0018] In the present invention, the lock member may include a lock main body portion fixedly coupled to the yaw operation portion, and a lock portion formed to be fastenable to the lock main body portion.

[0019] In the present invention, when the locking portion is in a first position, the locking portion is formed to be fastened to the locking body portion, restricting the movement of the locking body portion, and when the locking portion is in a second position, the locking portion is formed to be spaced a certain amount away from the locking body portion, allowing the locking body portion to rotate.

[0020] In the present invention, the lock body may be formed in a gear shape including a plurality of first fastening portions, and the lock portion may be formed in a hook shape capable of being fastened to the first fastening portions.

[0021] In the present invention, the locking device may further include a lock control section that controls a position of the locking section so that the locking section is located at either the first position or the second position.

[0022] In the present invention, the lock control unit is formed to be capable of linear reciprocating motion relative to the lock main body, and the lock control unit can pressurize the lock unit while moving in any direction, thereby moving the lock unit in a direction away from the lock main body.

[0023] In the present invention, the width of the lock control portion may increase along the one direction.

[0024] In the present invention, while the lock control portion moves in the one direction, the lock control portion can pressurize the lock portion in a direction in which the lock portion moves away from the lock main body portion.

[0025] In the present invention, a first elastic member is interposed between the lock control portion and the lock main body portion, and a predetermined elastic force can be applied to the lock control portion so that the lock portion is positioned at either the first position or the second position.

[0026] In the present invention, the yaw operation unit is axially coupled to the connecting unit, and the locking member can control whether the yaw operation unit rotates relative to the connecting unit.

[0027] Other aspects, features, and advantages beyond those discussed above will become apparent from the following drawings, claims, and detailed description of the invention. Effect of the Invention

[0028] According to the present invention, it is possible to lock and / or unlock at least any of the operations, thereby improving convenience for the surgeon and achieving the effects of improving the accuracy, reliability, speed, etc. of surgery. [Brief description of the drawings]

[0029] [Figure 1] FIG. 1a is a conceptual diagram of pitch motion of a conventional surgical instrument. FIG. 1b is a conceptual diagram of yaw motion of a conventional surgical instrument. FIG. 1c is a conceptual diagram of pitch motion of another conventional surgical instrument. FIG. 1d is a conceptual diagram of yaw motion of another conventional surgical instrument. FIG. 1e is a conceptual diagram of pitch motion of a surgical instrument according to the present invention. FIG. 1f is a conceptual diagram of yaw motion of a surgical instrument according to the present invention. [Diagram 2] 1 is a perspective view showing a surgical instrument according to a first embodiment of the present invention; [Diagram 3] FIG. 3 is a side view of the surgical instrument of FIG. 2. [Figure 4] FIG. 3 is a perspective view showing an end tool of the surgical instrument of FIG. 2. [Diagram 5] FIG. 3 is a perspective view showing an end tool of the surgical instrument of FIG. 2. [Figure 6]FIG. 5 is an enlarged perspective view showing an end tool hub of the surgical instrument of FIG. 4. [Figure 7] FIG. 3 is a plan view showing an end tool of the surgical instrument of FIG. 2. [Figure 8] FIG. 3 is a plan view showing an end tool of the surgical instrument of FIG. 2. [Figure 9] 3 is a perspective view showing an operation part of the surgical instrument of FIG. 2. [Figure 10] 3 is a perspective view showing an operation part of the surgical instrument of FIG. 2. [Figure 11] 3 is a diagram simply illustrating the configuration of pulleys and wires that configure the joints of the surgical instrument shown in FIG. 2. [Figure 12] 3 is a perspective view showing a locked state of the surgical instrument shown in FIG. 2. FIG. [Figure 13] 3 is a perspective view showing an unlocked state of the surgical instrument shown in FIG. 2. FIG. [Figure 14] 13 is an assembled perspective view of the locking device of the surgical instrument shown in FIG. 12. [Figure 15] 13 is an exploded perspective view of a locking device of the surgical instrument shown in FIG. 12. [Figure 16] 15 is a plan view showing a locked state of the locking device of the surgical instrument shown in FIG. 14. [Figure 17] 15 is a plan view showing a locked state of the locking device of the surgical instrument shown in FIG. 14. [Figure 18] 15 is a plan view showing an unlocked state of the locking device of the surgical instrument shown in FIG. 14. [Figure 19] 15 is a plan view showing an unlocked state of the locking device of the surgical instrument shown in FIG. 14. [Figure 20] 3 is an exploded perspective view of a locking device of the surgical instrument shown in FIG. 2. [Figure 21] 3 is a perspective view showing a locked state of a lever portion of the surgical instrument shown in FIG. 2. FIG. [Figure 22]3 is a perspective view showing an unlocked state of a lever portion of the surgical instrument shown in FIG. 2. FIG. [Figure 23] 3 is a perspective view showing a pitch operation of the surgical instrument shown in FIG. 2. [Figure 24] 3 is a perspective view showing a pitch operation of the surgical instrument shown in FIG. 2. [Diagram 25] 3 is a perspective view showing a yaw movement of the surgical instrument shown in FIG. 2. [Figure 26] 3 is a perspective view showing a yaw movement of the surgical instrument shown in FIG. 2. [Figure 27] FIG. 13 is a plan view showing a locked state of a locking device according to another embodiment of the present invention. [Figure 28] FIG. 13 is a plan view showing an unlocked state of a locking device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] Since the present invention can be modified in various ways and can have various embodiments, a specific embodiment is shown in the drawings and will be described in detail. However, this is not intended to limit the present invention to the specific embodiment, and it should be understood that the present invention includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if a detailed description of related publicly known technology is deemed to obscure the gist of the present invention, the detailed description will be omitted.

[0031] 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.

[0032] 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, the terms "include" or "have" are intended to 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.

[0033] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components are given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0034] Furthermore, in describing various embodiments of the present invention, it should be understood that each embodiment should not be interpreted or implemented independently, but that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments that are described separately.

[0035] The surgical instrument according to the present invention is characterized in that when the operating part is rotated in a certain direction for at least one of the pitch, yaw, and actuation movements, the end tool intuitively rotates in the same direction as the operating direction of the operating part.

[0036] FIG. 1A is a conceptual diagram of pitch motion of a conventional surgical instrument, and FIG. 1B is a conceptual diagram of yaw motion.

[0037] 1A, when performing a pitch operation of a conventional surgical instrument, the end tool 120a is formed forward of the rotation center 121a of the end tool, and the operating unit 110a is formed rearward of the rotation center 111a of the operating unit, and when the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating unit 110a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. On the other hand, referring to FIG. 1B, when performing a yaw operation of a conventional surgical instrument, the end tool 120a is formed forward of the rotation center 121a of the end tool, and the operating unit 110a is formed rearward of the rotation center 111a of the operating unit, and when the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating unit 110a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. In this case, from the viewpoint of the left-right direction of the user, when the user moves the operation unit 110a to the left, the end tool 120a moves to the right, and when the user moves the operation unit 110a to the right, the end tool 120a moves to the left. As a result, the user's operation direction and the movement direction of the end tool are reversed, which may cause an error on the part of the user, and there has been a problem that the user's operation is not easy.

[0038] FIG. 1C is a conceptual diagram of pitch motion of another conventional surgical instrument, and FIG. 1D is a conceptual diagram of yaw motion.

[0039] Referring to FIG. 1C, some of the conventional surgical instruments are formed in a mirror symmetrical form, and in performing a pitch operation, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation unit 110b is formed behind the rotation center 111b of the operation unit. In this state, when the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operation unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the viewpoint of the rotation direction of the operation unit and the end tool, the rotation direction in which the user rotates the operation unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there is a problem that the user may be confused about the operation direction, and the joint operation is not intuitive, which may cause mistakes. Also, referring to FIG. 1D, when performing a yaw operation, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation unit 110b is formed behind the rotation center 111b of the operation unit. When the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operation unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the viewpoint of the rotation direction of the operation unit and the end tool, the rotation direction in which the user rotates the operation unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there is a problem that the user may be confused about the operation direction, and the operation of the joint is not intuitive and may cause mistakes. Thus, in the pitch or yaw operation of a user of a conventional surgical instrument, the operation direction of the user and the movement direction of the end tool do not match each other in either the viewpoint of the rotation direction or the viewpoint of the left and right direction. This is because the joint configuration of the endotool and the operating part are different from each other in the joint configuration of the conventional surgical instruments, that is, the endotool is formed forward of the rotation center of the endotool, whereas the operating part is formed rearward of the rotation center of the operating part.In order to solve such a problem, the surgical instrument according to an embodiment of the present invention shown in Figures 1E and 1F is characterized in that the endotool 120c is formed forward of the rotation center 121c of the endotool, and the operating unit 110c is also formed forward of the rotation center 111c of the operating unit, so that the operation of the operating unit 110c and the endotool 120c intuitively coincide with each other. In other words, unlike the existing example in which the operating unit approaches the user's side with respect to the user's joint (i.e., moves away from the endotool) as shown in Figures 1A, 1B, 1C, and 1D, the surgical instrument according to an embodiment of the present invention shown in Figures 1E and 1F is formed so that at least a part of the operating unit approaches the endotool (rather than the user's joint) based on the user's joint at a certain moment or more during the operation process.

[0040] To explain this separately, in the case of conventional surgical instruments as shown in Figures 1A, 1B, 1C, and 1D, the end tool is located forward of its own center of rotation, while the operating unit is formed rearward of its own center of rotation, and the operation of the operating unit, which moves the rearward while the front is fixed, moves the end tool, which moves forward while the rear is fixed, so that the structure is not intuitively consistent. As a result, there is a mismatch between the operation of the operating unit and the operation of the end tool in terms of the left-right direction or the rotation direction, which may confuse the user, making it difficult to intuitively and quickly operate the operating unit, and there is a possibility of making an error. In contrast, in the surgical instrument according to one embodiment of the present invention, since both the end tool and the operating unit move based on a rotation center formed at the rear, it can be said that the operations are intuitively consistent with each other in terms of structure. To explain this separately, just as the moving part of the end tool moves based on a rotation center formed at the rear, the moving part of the operating unit also moves based on the rotation center formed at the rear, so that it can be said that the operations are intuitively consistent with each other in terms of structure. This allows the user to intuitively and quickly steer the end tool direction, and has the advantage of significantly reducing the possibility of mistakes being made. A specific mechanism that enables such a function will be described below.

[0041] <Surgical Instruments>

[0042] FIG. 2 is a perspective view showing a surgical instrument according to a first embodiment of the present invention. FIG. 3 is a side view of the surgical instrument of FIG. 2. FIG. 4 is a perspective view showing an end tool of the surgical instrument of FIG. 2. FIG. 5 is a perspective view showing an end tool of the surgical instrument of FIG. 2. FIG. 6 is an enlarged perspective view showing an end tool hub of the surgical instrument of FIG. 4. FIG. 7 is a plan view showing an end tool of the surgical instrument of FIG. 2. FIG. 8 is a plan view showing an end tool of the surgical instrument of FIG. 2. FIG. 9 is a perspective view showing an operating part of the surgical instrument of FIG. 2. FIG. 10 is a perspective view showing an operating part of the surgical instrument of FIG. 2. FIG. 11 is a simplified view showing only the configuration of pulleys and wires that constitute the joints of the surgical instrument shown in FIG. 2.

[0043] First, referring to FIGS. 2 and 3, a surgical instrument 10 according to a first embodiment of the present invention includes an end tool 100, an operating section 200, a power transmission section 300, and a connecting section 400. As shown in FIG.

[0044] Here, the connecting part 400 may be formed in a hollow shaft shape, and one or more wires and electric cables may be housed therein. The operating part 200 is connected to one end of the connecting part 400, and the end tool 100 is connected to the other end, and the connecting part 400 may play a role of connecting the operating part 200 and the end tool 100. Here, the connecting part 400 of the surgical instrument 10 according to the first embodiment of the present invention is characterized in that it includes a straight part 401 and a bent part 402, and the straight part 401 is formed on the side where the end tool 100 is connected, and the bent part 402 is formed on the side where the operating part 200 is connected. As a result of the end of the connecting part 400 on the operating part 200 side being bent, the pitch operating part 201, the yaw operating part 202, and the actuation operating part 203 are formed on an extension line of the end tool 100 or adjacent to the extension line. In other words, at least a part of the pitch operation unit 201 and the yaw operation unit 202 is accommodated in a recess formed by the bent portion 402. Due to such a shape of the bent portion 402, the shapes and operations of the operation unit 200 and the end tool 100 can be more intuitively consistent.

[0045] Meanwhile, the plane on which the bent portion 402 is formed may be a pitch plane, i.e., a plane substantially the same as the XZ plane in Fig. 2. In this way, the bent portion 402 is formed on a plane substantially the same as the XZ plane, so that interference between the operation parts can be reduced. Of course, for intuitive operation of the end tool and the operation part, configurations of other shapes besides the XZ plane are also possible.

[0046] Meanwhile, a connector 410 may be formed on the bent portion 402. The connector 410 may be connected to an external power source (not shown), or the connector 410 may be connected to the jaw 103 via electric wires 411 and 412, and may transmit electric energy supplied from the external power source (not shown) to the jaw 103.

[0047] The operating unit 200 is formed at one end of the connecting part 400 and is provided as an interface that can be directly operated by a doctor, for example, in the form of forceps, stick, lever, etc., and when the doctor operates it, the endotool 100 connected to the interface and inserted into the body of the surgical patient performs a predetermined operation to perform surgery. Here, in Fig. 2, the operating unit 200 is shown to be formed in the form of a handle that can be rotated with a finger inserted, but the idea of ​​the present invention is not limited thereto, and it can be said that various types of operating units that can be connected to the endotool 100 and operate the endotool 100 are possible.

[0048] The endotool 100 is formed at the other end of the continuous portion 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 103 for performing a gripping operation may be used as shown in FIG. 2. However, the idea of ​​the present invention is not limited thereto, and various devices for surgery may be used as the endotool 100. For example, a single-arm cautery may also be used as the endotool. Such an endotool 100 is connected to the operating unit 200 by the power transmission unit 300, and the driving force of the operating unit 200 is transmitted through the power transmission unit 300 to perform an operation required for surgery, such as gripping, cutting, and suturing.

[0049] Here, the end tool 100 of the surgical instrument 10 according to the first embodiment of the present invention is formed to be rotatable in at least one or more directions, for example, the end tool 100 may be formed to perform a pitch movement around the Y axis of FIG. 2, as well as a yaw movement and an actuation movement around the Z axis of FIG. 2.

[0050] Here, the pitch, yaw and actuation movements used in the present invention are defined as follows.

[0051] First, the pitch motion means a motion of the end tool 100 rotating up and down with respect to the extending direction of the connecting part 400 (X-axis direction in FIG. 2), that is, a motion of rotating around the Y-axis in FIG. 2. In other words, it means a motion of the end tool 100 formed by extending from the connecting part 400 in the extending direction of the connecting part 400 (X-axis direction in FIG. 2) rotating up and down with respect to the connecting part 400 around the Y-axis.

[0052] Next, the yaw motion means a motion of the end tool 100 rotating left and right with respect to the extending direction of the connecting part 400 (X-axis direction in FIG. 2), i.e., a motion of rotating around the Z-axis in FIG. 2. In other words, it means a motion of the end tool 100 formed by extending from the connecting part 400 in the extending direction of the connecting part 400 (X-axis direction in FIG. 2) rotating left and right around the Z-axis with respect to the connecting part 400. In other words, it means a motion of two jaws 103 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0053] Meanwhile, the actuation operation refers to the operation in which the end tool 100 rotates around the same rotation axis as the yaw operation, but the two jaws 103 rotate in opposite directions to each other, closing and opening the jaws. That is, it refers to the movement in which the two jaws 103 formed on the end tool 100 rotate in opposite directions to each other around the Z axis.

[0054] The power transmission unit 300 connects the operation unit 200 and the end tool 100 and serves to transmit the driving force of the operation unit 200 to the end tool 100, and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0055] The end tool 100, the operating section 200, the power transmission section 300, and the like of the surgical instrument 10 shown in FIG. 2 will be described in detail below.

[0056] (Intuitive Drive) In the following, the intuitive operation of the surgical instrument 10 of the present invention will be described.

[0057] First, while holding the first handle 204 in the palm of the hand, the user can rotate the first handle 204 about the Y-axis (i.e., the rotation axis 246) to perform a pitch movement, and rotate the first handle 204 about the Z-axis (i.e., the rotation axis 243) to perform a yaw movement. In addition, the user can operate the actuation operation unit 203 with the thumb and index finger inserted into the first actuation extension 252 and / or the second actuation extension 257, which are finger hole rings formed at one end of the actuation operation unit 203, to perform an actuation movement.

[0058] Here, the surgical instrument 10 according to the first embodiment of the present invention is characterized in that when the operating unit 200 is rotated in a certain direction relative to the connecting unit 400, the end tool 100 rotates in the intuitively same direction as the operating direction of the operating unit 200. In other words, when the first handle 204 of the operating unit 200 is rotated in a certain direction, the end tool 100 also rotates in the intuitively same direction as the one direction to perform a pitch motion or a yaw motion. Here, the intuitively same direction may be added to mean that the moving direction of the finger of the user holding the operating unit 200 and the moving direction of the tip of the end tool 100 are substantially the same direction. Of course, the same direction here does not have to be a direction that completely coincides on the three-dimensional coordinate system, and may be understood to be the sameness to the extent that, for example, when the user's finger moves left, the tip of the end tool 100 also moves left, and when the user's finger moves down, the tip of the end tool 100 also moves down.

[0059] For this reason, the surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operating part 200 and the endotool 100 are formed in the same direction based on a plane perpendicular to the extension axis (X-axis) of the connecting part 400. That is, when viewed based on the YZ plane in FIG. 2, the operating part 200 is formed extending in the +X-axis direction, and at the same time, the endotool 100 is also formed extending in the +X-axis direction. In other words, the forming direction of the endotool 100 at one end of the connecting part 400 and the forming direction of the operating part 200 at the other end of the connecting part 400 may be said to be the same direction based on the YZ plane. In other words, the operating part 200 may be said to be formed in a direction away from the torso of the user who holds it, that is, in the direction in which the endotool 100 is formed. That is, the first handle 204, the first actuation operation unit 251, the second actuation operation unit 256, etc., which are gripped and moved by the user for the actuation operation, yaw operation, and pitch operation, are formed so that the moving parts for performing each operation extend in the +X-axis direction from the rotation center of each joint for that operation. This allows the operation unit 200 to be configured in the same way as the moving parts of the end tool 100 are formed so that they extend in the +X-axis direction from the rotation center of each joint for that operation, and as described with reference to Fig. 1, the user's operation direction and the operation direction of the end tool coincide with each other in both the rotation direction and the left-right direction, and as a result, the same operation can be intuitively performed.

[0060] Specifically, in the case of conventional surgical instruments, the direction in which the user operates the operating part and the actual operating direction of the end tool are different and do not intuitively match, making it difficult for the surgeon to operate intuitively, taking a long time to become skilled at moving the end tool in the desired direction, and in some cases causing malfunctions that could cause damage to the patient.

[0061] In order to solve such problems, the surgical instrument 10 according to the first embodiment of the present invention is designed so that the operation direction of the operating unit 200 and the operating direction of the end tool 100 are intuitively the same direction. For this reason, the operating unit 200 is characterized in that, like the end tool 100, the parts that actually move for the actuation movement, yaw movement, and pitch movement are formed to extend in the +X-axis direction from the rotation center of the joint corresponding to each movement.

[0062] The end tool 100, the operating section 200, the power transmission section 300, etc. of the surgical instrument 10 in FIG. 2 will be described in more detail below.

[0063] (Power transmission section) The power transmission section 300 of the surgical instrument 10 of FIG. 2 will be described in more detail below.

[0064] 2 to 11, a power transmission portion 300 of a surgical instrument 10 according to an embodiment of the present invention may include a wire 301, a wire 302, a wire 303, a wire 304, a wire 305, and a wire 306.

[0065] Here, the wire 301 and the wire 305 form a pair and can serve as a first jaw wire. The wire 302 and the wire 306 form a pair and can serve as a second jaw wire. Here, a component including the wires 301 and 305 which are the first jaw wires and the wires 302 and 306 which are the second jaw wires can be called a jaw wire. And the wires 303 and 304 form a pair and can serve as a pitch wire.

[0066] Furthermore, the power transmission unit 300 of the surgical instrument 10 according to an embodiment of the present invention may include fastening members 321, 322, 323, 324, 326, and 327 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 or a tube shape as necessary.

[0067] Here, on the end tool 100 side, fastening member 321 and fastening member 322 can function as pitch wire-end tool fastening members, fastening member 323 can function as a first jaw wire-end tool fastening member, and fastening member 326 can function as a second jaw wire-end tool fastening member.

[0068] Also, on the operating unit 200 side, the fastening member 324 can serve as a first jaw wire-operating unit fastening member, and the fastening member 327 can serve as a second jaw wire-operating unit fastening member. Although not shown in the drawings, a pitch wire-operating unit fastening member may be further formed on the operating unit 200 side.

[0069] The connection relationship between the wire, the fastening member, and each pulley will be described in detail below.

[0070] First, the first jaw wire, wire 301 and wire 305, may be one single wire. A fastening member 323, which is a first jaw wire-end tool fastening member, is fitted to the midpoint of the first jaw wire, which is a single wire, and the fastening member 323 is crimped and fixed, and then both strands of the first jaw wire with the fastening member 323 at the center may be called wire 301 and wire 305, respectively.

[0071] Alternatively, the first jaw wires 301 and 305 may be formed of separate wires, and the wires 301 and 305 may be connected by a fastening member 323 .

[0072] Then, by connecting this fastening member 323 to the pulley 111, the wire 301 and the wire 305 can be fixedly connected to the pulley 111. As a result, the wire 301 and the wire 305 can be pulled and unwound, thereby allowing the pulley 111 to rotate.

[0073] Meanwhile, a first jaw wire-operating portion fastening member 324 may be coupled to the ends of the wire 301 and the wire 305 opposite to the portion where the fastening member 323 is fastened.

[0074] In addition, by connecting the first jaw wire operation unit fastening member 324 to the pulley 210 in this manner, the wire 301 and the wire 305 can be fixedly connected to the pulley 210. As a result, when the pulley 210 is rotated by a motor or by human power, the wire 301 and the wire 305 are pulled and unwound, so that the pulley 111 of the end tool 100 can rotate.

[0075] Similarly, wire 302 and wire 306, which are second jaw wires, are respectively coupled to fastener 326, which is a second jaw wire-end tool fastener, and second jaw wire-operating portion fastener 327. Fastener 326 is coupled to pulley 121, and second jaw wire-operating portion fastener 327 is coupled to pulley 220. As a result, when pulley 220 is rotated by a motor or by human power, wires 302 and 306 are pulled and unwound, thereby allowing pulley 121 of end tool 100 to rotate.

[0076] Similarly, wire 303 and wire 304, which are pitch wires, are coupled to fastening member 321, which is a pitch wire-end tool fastening member, and a pitch wire operating section fastening member (not shown), respectively. Fastening member 321 is coupled to pulley 131, and pitch wire operating section fastening member (not shown) is coupled to pulley 231. As a result, when pulley 231 is rotated by a motor or by human power, wires 303 and 304 are pulled and unwound, thereby allowing pulley 131 of end tool 100 to rotate.

[0077] (End Tool) In the following, the endotool 100 of the surgical instrument 10 of FIG. 2 will be described in more detail.

[0078] 4 and 5 are perspective views showing the end tool of the surgical instrument of FIG. 2, FIG. 6 is an enlarged perspective view showing the end tool hub of the surgical instrument of FIG. 4, and FIGS. 7 and 8 are plan views showing the end tool of the surgical instrument of FIG. 2.

[0079] Here, Fig. 4 shows a state in which the end tool hub 180 and the pitch hub 107 are joined, Fig. 5 shows a state in which the end tool hub 180 and the pitch hub 107 have been removed, Fig. 7 is a view mainly showing the wires, and Fig. 8 is a view mainly showing the pulleys.

[0080] 4 to 8, an end tool 100 according to a first embodiment of the present invention has 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.

[0081] The end tool 100 may also include pulleys 111, 113, 114, 115, and 116 associated with the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 123, 124, 125, and 126 associated with the rotational movement of the second jaw 102.

[0082] Here, although the figures show opposing pulleys formed parallel to one another, the concept of the present invention is not limited thereto, and each pulley may be formed in a variety of positions and sizes suited to the configuration of the end tool.

[0083] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107 .

[0084] The end tool hub 180 has a rotating shaft 141 (described later) 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 may be housed inside the end tool hub 180. Here, one embodiment of the present invention is characterized in 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 may function as a kind of auxiliary pulley to change the path of the wires, and the guide portion 183 of the end tool hub 180 that serves as an auxiliary pulley will be described in more detail later.

[0085] 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. 4, the pulley 131 may be formed integrally 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 about the rotation axis 143 to perform a pitch motion.

[0086] 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 with respect to the pitch hub 107 around the rotation shaft 143.

[0087] 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, pulley 116, pulley 125, and pulley 126 axially coupled to rotation shaft 144 therein.

[0088] Furthermore, the end tool 100 according to the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141 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.

[0089] The rotating shafts 141, 143, and 144 can be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100. Thus, starting from the distal end 104, the rotating shaft 141 may be called the first pin, the rotating shaft 143 the third pin, and the rotating shaft 144 the fourth pin. Furthermore, the guide portion 183 of the end tool hub 180 arranged between the rotating shafts 141 and 143 can serve as the second pin.

[0090] Here, the rotation shaft 141 can function as an end tool jaw pulley rotation shaft, the rotation shaft 143 can function as an end tool pitch rotation shaft, and the rotation shaft 144 can function as an end tool pitch auxiliary rotation shaft of the end tool 100. Also, the guide portion 183 of the end tool hub 180 can function as an end tool jaw auxiliary pulley rotation shaft.

[0091] Each such rotating shaft 141, 143, 144 may receive one or more pulleys, which are described in more detail below.

[0092] Pulley 111 functions as an end tool first jaw pulley and pulley 121 functions as an end tool second jaw pulley. Pulley 111 may be referred to as the first jaw pulley and pulley 121 may be referred to as the second jaw pulley, and these two components may be collectively referred to as the end tool jaw pulleys.

[0093] Pulleys 111 and 121, which are end tool jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 141, which is an end tool jaw pulley rotation axis. Here, in the drawing, 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 and actuation operations of the end tool 100 are performed according to the rotation of the pulleys 111 and 121. In other words, when pulley 111 and pulley 121 rotate in the same direction around rotation shaft 141, a yaw operation is performed, and when pulley 111 and pulley 121 rotate in opposite directions around rotation shaft 141, an actuation operation is performed.

[0094] 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 single 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 single body.

[0095] The guide portion 183 of the end tool hub 180 is formed on one side of the pulley 111 and the pulley 121, which are end tool jaw pulleys, and can serve as an end tool jaw auxiliary pulley. Specifically, the guide portion 183 of the end tool hub 180 can be located on one side of the pulley 111 and the pulley 121. The guide portion 183 of the end tool hub 180 will be described in more detail later.

[0096] Pulleys 113 and 114 function as an end tool first jaw pitch main pulley, and pulleys 123 and 124 function as an end tool second jaw pitch main pulley, and these two components may be collectively referred to as the end tool jaw pitch main pulleys.

[0097] Pulleys 115 and 116 function as an end tool first jaw pitch sub-pulley, and pulleys 125 and 126 function as an end tool second jaw pitch sub-pulley, and these two components may be collectively referred to as end tool jaw pitch sub-pulleys.

[0098] The components involved in the rotation of pulley 111 will be described below.

[0099] Pulley 113 and pulley 114 function as end tool first jaw pitch main pulleys. In other words, they function as main rotating pulleys 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.

[0100] Pulley 115 and pulley 116 function as end tool first jaw pitch sub pulleys. That is, they function as sub rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 which is the first jaw wire is wound around pulley 115, and a wire 305 which is the first jaw wire is wound around pulley 116.

[0101] Here, pulleys 113 and 114 are disposed on one side of pulley 111 so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other about a rotation axis 143 which is an end tool pitch rotation axis. In addition, pulleys 115 and 116 are disposed on one side of pulleys 113 and 114 so as to face each other. Here, pulleys 115 and 116 are formed to be rotatable independently of each other about a rotation axis 144 which is an end tool pitch auxiliary rotation axis. Here, in the drawing, pulleys 113, 115, 114, and 116 are all shown to be rotatable about 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.

[0102] Wire 301, which is the first jaw wire, is wound around pulley 115, pulley 113, and pulley 111 in sequence so as to be in at least partial contact with each other. Wire 305, which is connected to wire 301 by fastening member 323, is wound around pulley 111, guide portion 183, pulley 114, and pulley 116 in sequence so as to be in at least partial contact with each other.

[0103] 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, guide portion 183, pulley 114, and pulley 116 so that at least a portion of them contact pulley 115, pulley 113, pulley 111, guide portion 183, pulley 114, and pulley 116, and wire 301 and wire 305 are formed so that they can move along the pulleys while rotating the pulleys.

[0104] Therefore, when wire 301 is pulled in the direction of arrow 301 in Fig. 7, fastening member 323 to which wire 301 is connected and pulley 111 connected thereto rotate in the direction of arrow L in Fig. 7. Conversely, when wire 305 is pulled in the direction of arrow 305 in Fig. 7, fastening member 323 to which wire 305 is connected and pulley 111 connected thereto rotate in the direction of arrow R in Fig. 7.

[0105] Next, components related to the rotation of pulley 121 will be described.

[0106] Pulley 123 and pulley 124 function as end tool second jaw pitch main pulleys. In other words, they function as main rotating pulleys 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.

[0107] Pulley 125 and pulley 126 function as end tool second jaw sub pulleys. That is, they function as sub rotating pulleys for the pitch motion of second jaw 102. Here, a wire 306 which is the second jaw wire is wound around pulley 125, and a wire 302 which is the second jaw wire is wound around pulley 126.

[0108] Pulleys 123 and 124 are disposed on one side of pulley 121 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 the end tool pitch rotation axis. In addition, pulleys 125 and 126 are disposed on one side of pulley 123 and pulley 124 so as to face each other. Here, pulley 125 and pulley J15, pulley 123, and pulley J25 are formed to be rotatable independently of each other around rotation axis 144, which is the end tool pitch auxiliary rotation axis. Here, in the figure, pulley 123, pulley 125, pulley 124, and pulley 126 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 can be formed in various directions as appropriate for the configuration.

[0109] The wire 306, which is the second jaw wire, is wound around the pulley 125, the pulley 123, and the pulley 121 in order so that at least a portion of the wire is in contact with the pulley 125, the pulley 123, and the pulley 121. The wire 302 connected to the wire 306 by the fastening member 326 is wound around the pulley 121, the guide portion 183, the pulley 124, and the pulley 126 in order so that at least a portion of the wire is in contact with the pulley 125, the pulley 123, and the pulley 121.

[0110] Explaining this from another perspective, wire 306, which is the second jaw wire, and wire 302 are wound sequentially around pulley 125, pulley 123, pulley 121, guide portion 183, pulley 124, and pulley 126 so that at least a portion of them are in contact with each other, and wire 306 and wire 302 are formed so that they can move along the pulleys while rotating the pulleys.

[0111] Therefore, when wire 306 is pulled in the direction of arrow 306 in Fig. 7, fastening member 322 to which wire 306 is connected and pulley 121 connected thereto rotate in the direction of arrow R in Fig. 7. Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 7, fastening member 326 to which wire 302 is connected and pulley 121 connected thereto rotate in the direction of arrow L in Fig. 7.

[0112] 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.

[0113] The end tool hub 180 includes a pair of jaw pulley coupling portions 181 , 182 , a guide portion 183 , a guide groove 184 , and a pitch pulley portion 185 .

[0114] Specifically, 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.

[0115] The pair of jaw pulley coupling parts 181, 182 are connected by a guide part 183. That is, the pair of parallel jaw pulley coupling parts 181, 182 are coupled by a guide part 183 formed in a direction approximately perpendicular thereto, and the pair of jaw pulley coupling parts 181, 182 and the guide part 183 form an approximately U-shape, within which the pulleys 111 and 121 are housed.

[0116] From another perspective, this may be considered as a pair of jaw pulley coupling portions 181, 182 extending in the X-axis direction from both ends of a guide portion 183 formed long in the Z-axis direction.

[0117] Here, guide portion 183 may be formed in a cylindrical shape with a semicircular cross section. This semicircular portion may be disposed so as to protrude toward pulley 111 and pulley 121. From another perspective, this may 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 may 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 may be expressed as guide portion 183 having an area adjacent to jaw pulley coupling portions 181, 182 curved so that its cross section has a predetermined curvature.

[0118] 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, here, the guide portion 183 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 guide portion 183 similarly performs some of the functions of a pulley that guides the path of the wire by having the wire wound around it.

[0119] Here, in the figure, the guide portion 183 is shown to be 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 the cross section may be formed to have a predetermined curvature such as an ellipse or a parabola, or the corners of a polygonal prism may be rounded to some extent, and the guide portion 183 may be formed in various shapes and sizes suitable for guiding the paths of the wires 305 and 302.

[0120] Here, in the guide portion 183, a guide groove 184 for better guiding the paths of the wires 305 and 302 may be further formed in a portion that contacts the wires 305 and 302. The guide groove 184 may be formed in a groove shape that is recessed to a certain extent from the protruding surface of the guide portion 183.

[0121] Here, although the figure shows guide groove 184 being formed on the entire arcuate surface of guide portion 183, the concept of the present invention is not limited to this, and guide groove 184 may be formed on only a portion of the arcuate surface of guide portion 183 if necessary.

[0122] 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.

[0123] 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 some of the functions of a pulley 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 rotation shaft 143 is inserted.

[0124] On the other hand, although not shown in the figure, the pitch pulley portion and the pitch pulley may be formed of separate members and then coupled together, and the rotating shaft 143 may be formed to pass through the pitch pulley portion and the pulley.

[0125] The role and function of the guide portion 183 will be described in more detail below.

[0126] 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.

[0127] 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 maximum rotation angle of each pulley can be increased.

[0128] This enables an operation in which both jaws of the end tool 100 must be spread apart for actuation operation when both jaws are rotated in yaw 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 actuation operation is possible.

[0129] Furthermore, by forming the guide portion 183 on the existing end tool hub 180 without adding a separate structure such as an auxiliary pulley, it has the characteristic that the rotation range can be expanded without adding any additional parts or manufacturing processes.

[0130] In this way, there is no need to place a separate structure for expanding 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, thereby shortening the length of the end tool when performing a pitch movement, thereby making it easier to perform surgical movements in a narrow space.

[0131] This will be explained in more detail as follows.

[0132] 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 wire route 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 angles of the fastening members 323 and 326 that connect the wires to the pulleys are expanded.

[0133] 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 expanded.

[0134] Explaining this from another perspective, wire 301 and wire 305 wound around pulley 111 by guide unit 183 are disposed on one side of 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 of a plane perpendicular to the Y axis and passing through the X axis.

[0135] In other words, pulleys 113 and 114 are arranged on one side of a plane perpendicular to the Y axis and passing through the X axis, and pulleys 123 and 124 are arranged on the other side of a plane perpendicular to the Y axis and passing through the X axis.

[0136] 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 expanded 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 expanded by the guide portion 183.

[0137] Compared with a surgical instrument having a separate auxiliary pulley, the length of the end tool of the surgical instrument of this embodiment, which does not have an auxiliary pulley but has a guide portion 183 that can change the wire path on the inner wall of the end tool hub 180, can be shortened. As the length of the end tool is shortened in this manner, it becomes easier for the surgeon to operate the end tool when performing surgery in a narrow surgical space inside the human body, and side effects of surgery can be reduced.

[0138] According to the present invention, the rotation radius of the pulley 111 which is the first jaw pulley and the pulley 121 which is the second jaw pulley is increased, thereby obtaining the effect of expanding the yaw operation range in which normal opening and closing actuation operations can be performed.

[0139] The pitch movement of the present invention will be explained in more detail below.

[0140] On the other hand, when the wire 301 is pulled toward the arrow 301 in Fig. 7 and the wire 305 is pulled toward the arrow 305 in Fig. 7 at the same time (i.e., when both strands of the first jaw wire are pulled), the wire 301 and the wire 305 are wound around the pulley 113 and the pulley 114 that are rotatable around the rotation axis 143 that is the end tool pitch rotation axis, as shown in Fig. 5, so that the pulley 111 to which the wire 301 and the wire 305 are fixedly connected and the end tool hub 180 to which the pulley 111 is connected rotate together in the counterclockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 performs a pitch motion while rotating downward. At this time, the second jaw 102 and the wire 302 and the wire 306 fixedly connected thereto are wound around the pulley 123 and the pulley 124 that are rotatable around the rotation axis 143, so that the wire 302 and the wire 306 are unwound in the opposite direction to the wires 302 and 306, respectively.

[0141] Conversely, when the wire 302 is pulled toward the arrow 302 side in Fig. 7 and the wire 306 is pulled toward the arrow 306 side in Fig. 7, the wires 302 and 306 are wound around the pulleys 123 and 124 rotatable around the rotation axis 143, which is the end tool pitch rotation axis, as shown in Fig. 5, so that the pulley 121 to which the wires 302 and 306 are fixedly connected and the end tool hub 180 to which the pulley 121 is connected rotate together in the clockwise direction around the rotation axis 143 as a whole, resulting in the end tool 100 performing a pitch motion while rotating upward. At this time, the first jaw 101 and the wires 301 and 305 fixedly connected thereto are wound around the pulleys 113 and 114 rotatable around the rotation axis 143, so that the wires 302 and 306 move in the opposite direction to the wires 301 and 305, respectively.

[0142] Meanwhile, the endotool 100 of the surgical instrument 10 of the present invention may further include a pulley 131 which is an endotool pitch pulley, the operation unit 200 may further include pulleys 231 and 232 which are operation unit pitch pulleys, and the power transmission unit 300 may further include wires 303 and 304 which are pitch wires. Specifically, the pulley 131 of the endotool 100 may be rotatable around a rotation axis 143 which is an endotool pitch rotation axis, and may be formed integrally with the endotool hub 180 (or fixedly connected to the endotool hub 180). In addition, the wires 303 and 304 may play a role in connecting the pulley 131 of the endotool 100 to the pulleys 231 and 232 of the operation unit 200.

[0143] Therefore, when pulleys 231 and 232 of the operating unit 200 rotate, the rotation of pulleys 231 and 232 is transmitted to pulley 131 of the end tool 100 via wires 303 and 304, causing pulley 131 to rotate together, resulting in the end tool 100 performing a pitch motion while rotating.

[0144] That is, the surgical instrument 10 according to the first embodiment of the present invention has a pulley 131 of the end tool 100, pulleys 231 and 232 of the operating unit 200, and wires 303 and 304 of the power transmission unit 300 for transmitting power for the pitch movement, so that the driving force of the pitch movement of the operating unit 200 can be more completely transmitted to the end tool 100, thereby improving operational reliability.

[0145] Here, the diameters of pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys, may be equal to or different from the diameter of pulley 131, which is the end tool pitch pulley. In this case, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of the operation unit pitch pulley of operation unit 200, which will be described later, to the diameter of the operation unit pitch main pulley.

[0146] Figures 9 and 10 are perspective views showing an operation part of the surgical instrument of Figure 2. Figure 11 is a diagram simply showing only the configuration of pulleys and wires that configure the joints of the surgical instrument shown in Figure 2.

[0147] 2 to 11, the operating unit 200 of the surgical instrument 10 according to the first embodiment of the present invention includes a first handle 204 that can be held by a user, an actuation operating unit 203 that controls the actuation movement of the end tool 100, a yaw operating unit 202 that controls the yaw movement of the end tool 100, and a pitch operating unit 201 that controls the pitch movement of the end tool 100.

[0148] The operation unit 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217, and 218 related to the rotational motion of the first jaw 101. The operation unit 200 may also include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational motion of the second jaw 102. The operation unit 200 may also include pulleys 231, 232, 233, and 234 related to the pitch motion. The operation unit 200 may also include pulley 235, which is an intermediate pulley, disposed in the middle of the bent portion 402 of the connecting portion 400.

[0149] Here, although the figures show opposing pulleys formed parallel to each other, the concept of the present invention is not limited thereto, and it can be said that each pulley may be formed in various positions and sizes suited to the configuration of the operating portion.

[0150] Moreover, the operation unit 200 of the first embodiment of the present invention may include a rotation shaft 241, a rotation shaft 242, a rotation shaft 243, a rotation shaft 244, a rotation shaft 245, and a rotation shaft 246. Here, the rotation shaft 241 may function as an operation unit first jaw actuation rotation shaft, and the rotation shaft 242 may function as an operation unit second jaw actuation rotation shaft. Then, the rotation shaft 243 may function as an operation unit yaw main rotation shaft, and the rotation shaft 244 may function as an operation unit yaw sub rotation shaft. Then, the rotation shaft 245 may function as an operation unit pitch sub rotation shaft, and the rotation shaft 246 may function as an operation unit pitch main rotation shaft.

[0151] The rotating shaft 241 / the rotating shaft 242 , the rotating shaft 243 , the rotating shaft 244 , the rotating shaft 245 , and the rotating shaft 246 may be arranged in sequence from the distal end 205 to the proximal end 206 of the operating portion 200 .

[0152] Each such rotating shaft 241, 242, 243, 244, 245, and 246 may be fitted with one or more pulleys, which will be described in more detail below.

[0153] Pulley 210 functions as an operating portion first jaw actuation pulley, and pulley 220 functions as an operating portion second jaw actuation pulley, and these components may be collectively referred to as operating portion actuation pulleys.

[0154] Pulley 211 and pulley 212 function as an operation unit first jaw-yo main pulley, and pulley 221 and pulley 222 function as an operation unit second jaw-yo main pulley, and these components may be commonly referred to as an operation unit yaw main pulley.

[0155] Pulley 213 and pulley 214 function as an operating unit first jaw-yaw sub-pulley, and pulley 223 and pulley 224 function as an operating unit second jaw-yaw sub-pulley, and these components may be commonly referred to as operating unit yaw sub-pulleys.

[0156] Pulley 215 and pulley 216 function as an operating unit first jaw pitch sub pulley, and pulley 225 and pulley 226 function as an operating unit second jaw pitch sub pulley, and these components may be commonly referred to as operating unit pitch sub pulleys.

[0157] Pulley 217 and pulley 218 function as an operating unit first jaw pitch main pulley, and pulley 227 and pulley 228 function as an operating unit second jaw pitch main pulley, and these components may be commonly referred to as operating unit pitch main pulleys.

[0158] Pulley 231 and pulley 232 function as an operating section pitch wire main pulley, and pulley 233 and pulley 234 function as an operating section pitch wire sub pulley.

[0159] The above components can be classified from the viewpoint of the operation parts for each movement (pitch / yaw / actuation) as follows:

[0160] The pitch operation unit 201 that controls the pitch motion of the end tool 100 may include a pulley 215, a pulley 216, a pulley 217, a pulley 218, a pulley 225, a pulley 226, a pulley 227, a pulley 228, a pulley 231, a pulley 232, a pulley 234, and a pulley 235. The pitch operation unit 201 may also include a rotation shaft 245 and a rotation shaft 246. The pitch operation unit 201 may further include a pitch frame 208.

[0161] The yaw operation unit 202 that controls the yaw motion of the end tool 100 may include a pulley 211, a pulley 212, a pulley 213, a pulley 214, a pulley 221, a pulley 222, a pulley 223, and a pulley 224. The yaw operation unit 202 may also include a rotation shaft 243 and a rotation shaft 244. The yaw operation unit 202 may further include a yaw frame 207.

[0162] The actuation operation unit 203 that controls the actuation motion of the end tool 100 may include a pulley 210, a pulley 220, a rotating shaft 241, and a rotating shaft 242. The actuation operation unit 203 may further include a first actuation operation unit 251 and a second actuation operation unit 256.

[0163] Each of the components of the operation unit 200 will be described in more detail below.

[0164] The first handle 204 is formed so that it can be held by the user's hand, and in particular, may be formed so that the user can wrap the palm of his or her hand around the first handle 204. An actuation operation unit 203 and a yaw operation unit 202 are formed on the first handle 204, and a pitch operation unit 201 is formed on one side of the yaw operation unit 202. The other end of the pitch operation unit 201 is connected to a bent portion 402 of the connection unit 400.

[0165] The actuation operation unit 203 includes a first actuation operation unit 251 and a second actuation operation unit 256. The first actuation operation unit 251 includes a rotating shaft 241, a pulley 210, a first actuation extension unit 252, and a first actuation gear 253. The second actuation operation unit 256 includes a rotating shaft 242, a pulley 220, a second actuation extension unit 257, and a second actuation gear 258. Here, the ends of the first actuation extension unit 252 and the second actuation extension unit 257 are formed in a finger hole ring shape and can operate as a second handle.

[0166] Here, the rotation axis 241 and the rotation axis 242, which are the actuation rotation axes, may be formed to form a predetermined angle with the XY plane on which the connecting unit 400 is formed. For example, the rotation axis 241 and the rotation axis 242 may be formed in a direction parallel to the Z axis, and in this state, when the pitch operation unit 201 or the yaw operation unit 202 rotates, the coordinate system of the actuation operation unit 203 may change relatively. Of course, the idea of ​​the present invention is not limited thereto, and the rotation axis 241 and the rotation axis 242 may be formed in various directions to suit the hand structure of a user holding the actuation operation unit 203 according to an ergonomic design.

[0167] Meanwhile, the pulley 210, the first actuation extension 252, and the first actuation gear 253 may be fixedly coupled to each other and formed to be rotatable together around the rotation shaft 241. Here, the pulley 210 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

[0168] Similarly, pulley 220, second actuation extension 257, and second actuation gear 258 may be fixedly coupled to each other and formed to be rotatable together about rotation axis 242. Here, pulley 220 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

[0169] Here, the first actuation gear 253 and the second actuation gear 258 may be formed to mesh with each other and rotate together in the opposite direction when either side rotates.

[0170] The yaw operation unit 202 may include a rotating shaft 243, pulleys 211 and 212 which are the first jaw-yo main pulleys of the operation unit, pulleys 221 and 222 which are the second jaw-yo main pulleys of the operation unit, and a yaw frame 207. The yaw operation unit 202 may further include pulleys 213 and 214 which are the first jaw-yo sub pulleys of the operation unit formed on one side of the pulleys 211 and 212, and pulleys 223 and 224 which are the second jaw-yo sub pulleys of the operation unit formed on one side of the pulleys 221 and 222. Here, the pulleys 213 and 214 and the pulleys 223 and 224 may be coupled to a pitch frame 208 which will be described later.

[0171] Here, in the drawings, the yaw operation unit 202 includes pulleys 211 and 212 and pulleys 221 and 222, and the pulleys 211 and 212 and the pulleys 221 and 222 are shown as being formed to face each other and equipped with two pulleys that can rotate independently, but the idea of ​​the present invention is not limited to this. In other words, one or more pulleys having the same or different diameters may be provided according to the configuration of the yaw operation unit 202.

[0172] Specifically, a rotation shaft 243 that is an operation unit yaw main rotation shaft is formed on one side of the actuation operation unit 203 on the first handle 204. At this time, the first handle 204 is formed to be rotatable about the rotation shaft 243.

[0173] Here, the rotation axis 243 may be formed to form a predetermined angle with the XY plane on which the connecting unit 400 is formed. For example, the rotation axis 243 may be formed in a direction parallel to the Z axis, and when the pitch operation unit 201 rotates in this state, the coordinate system of the rotation axis 243 may relatively change as described above. Of course, the idea of ​​the present invention is not limited thereto, and the rotation axis 243 may be formed in various directions to suit the hand structure of a user holding the operation unit 200 according to an ergonomic design.

[0174] Meanwhile, pulleys 211 and 212 and pulleys 221 and 222 are coupled to a rotating shaft 243 so as to be rotatable about the rotating shaft 243. A wire 301 or 305 serving as a first jaw wire may be wound around pulleys 211 and 212, and a wire 302 or 306 serving as a second jaw wire may be wound around pulleys 221 and 222. In this case, pulleys 211 and 212 and pulleys 221 and 222 may be formed to face each other and may be composed of two pulleys that can rotate independently. Therefore, the wire to be wound and the wire to be unwound can be wound around separate pulleys, respectively, and can operate without interfering with each other.

[0175] The yaw frame 207 rigidly connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, allowing the first handle 204, the yaw operation unit 202, and the actuation operation unit 203 to yaw rotate as a unit around the rotation shaft 243.

[0176] The pitch operation unit 201 may include a rotating shaft 246, pulleys 217 and 218 which are the first jaw pitch main pulleys of the operation unit, pulleys 227 and 228 which are the second jaw pitch main pulleys of the operation unit, and a pitch frame 208. The pitch operation unit 201 may further include a rotating shaft 245, pulleys 215 and 216 which are the first jaw pitch sub pulleys of the operation unit formed on one side of the pulleys 217 and 218, and pulleys 225 and 226 which are the second jaw pitch sub pulleys of the operation unit formed on one side of the pulleys 227 and 228. The pitch operation unit 201 may be connected to a bent portion 402 of the connection unit 400 via the rotating shaft 246.

[0177] Specifically, the pitch frame 208 serves as a base frame of the pitch operation unit 201, and one end of the pitch frame 208 is rotatably coupled to a rotation shaft 243. That is, the yaw frame 207 is formed to be rotatable about the rotation shaft 243 relative to the pitch frame 208.

[0178] As described above, the yaw frame 207 connects the first handle 204, the rotation shaft 243, the rotation shaft 241, and the rotation shaft 242, and the yaw frame 207 is axially coupled to the pitch frame 208. Therefore, when the pitch frame 208 pitches around the rotation shaft 246, the yaw frame 207 connected to the pitch frame 208, the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243 all rotate around the pitch. That is, when the pitch operation unit 201 rotates around the rotation shaft 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201. In other words, when the user pitches the first handle 204 around the rotation shaft 246, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 move together.

[0179] Pulleys 217 and 218 , and pulleys 227 and 228 are coupled to a rotation axis 246 of pitch frame 208 so as to be rotatable about the rotation axis 246 .

[0180] Here, pulley 217 and pulley 218 may be formed to face each other and to be independently rotatable. Thus, the wire to be wound and the wire to be unwound may be wound around separate pulleys, respectively, and may operate without interfering with each other. Similarly, pulley 227 and pulley 228 may be formed to face each other and to be independently rotatable. Thus, the wire to be wound and the wire to be unwound may be wound around separate pulleys, respectively, and may operate without interfering with each other.

[0181] Next, the operation of wire 303 and wire 304, which are pitch wires, is as follows.

[0182] In the end tool 100, a pulley 131 which is an end tool pitch pulley is fixedly connected to the end tool hub 180, and in the operation unit 200, pulleys 231 and 232 which are operation unit pitch pulleys are fixedly connected to the pitch frame 208. These pulleys are connected to each other by wires 303 and 304 which are pitch wires, so that the pitch operation of the end tool 100 can be more easily performed in response to the pitch operation of the operation unit 200. Here, the wire 303 is fixedly connected to the pitch frame 208 via the pulleys 231 and 233, and the wire 304 is fixedly connected to the pitch frame 208 via the pulleys 232 and 234. In other words, the pitch rotation of the operating unit 200 causes the pitch frame 208 and the pulleys 231 and 232 to rotate together around the rotation axis 246, resulting in the wires 303 and 304 also moving, making it possible to transmit additional pitch rotation power in addition to the pitch movement of the end tool caused by the jaw wires, wires 301, 302, 305, and 306.

[0183] The connection relationships between the first handle 204 and the pitch operation unit 201, the yaw operation unit 202, and the actuation operation unit 203 can be summarized as follows. Rotation shafts 241 and 242, and rotation shafts 243, 244, 245, and 246 may be formed on the first handle 204. In this case, since the rotation shafts 241 and 242 are formed directly on the first handle 204, the first handle 204 may be directly connected to the actuation operation unit 203. On the other hand, since the rotation shaft 243 is formed directly on the first handle 204, the first handle 204 may be directly connected to the yaw operation unit 202. Meanwhile, since the pitch operation unit 201 is formed on one side of the yaw operation unit 202 so as to be connected to the yaw operation unit 202, the pitch operation unit 201 may not be directly connected to the first handle 204, and the pitch operation unit 201 and the first handle 204 may be formed so as to be indirectly connected via the yaw operation unit 202.

[0184] Continuing to refer to the drawings, in the surgical instrument 10 according to the first embodiment of the present invention, the pitch operation part 201 and the end tool 100 may be formed on the same or parallel axis (X-axis). That is, the rotation axis 246 of the pitch operation part 201 is formed at one end of the bent part 402 of the connecting part 400, and the end tool 100 is formed at the other end of the connecting part 400.

[0185] One or more intermediate pulleys 235 for changing or guiding the path of the wire may be disposed in the middle of the connecting portion 400, particularly in the bent portion 402. By guiding the path of the wire by winding at least a part of the wire around such intermediate pulleys 235, the wire may be disposed along the bent shape of the bent portion 402.

[0186] Here, in the figure, the connecting part 400 is shown to have a bent part 402 and be curved to have a predetermined curvature, but the idea of ​​the present invention is not limited thereto, and the connecting part 400 may be formed in a straight line or bent one or more times as necessary, and even in such a case, it can be said that the pitch operation part 201 and the end tool 100 are formed on substantially the same or parallel axes. Also, in Fig. 3, the pitch operation part 201 and the end tool 100 are shown to be formed on axes parallel to the X-axis, but the idea of ​​the present invention is not limited thereto, and the pitch operation part 201 and the end tool 100 may be formed on different axes.

[0187] (actuation movement, yaw movement, pitch movement) The actuation operation, yaw operation, and pitch operation in this embodiment will be described below.

[0188] First, the actuation operation is as follows.

[0189] When a user rotates the actuation extensions 252, 257 using one or both fingers while inserting the index finger into the finger hole ring formed in the first actuation extension 252 and the thumb into the finger hole ring formed in the second actuation extension 257, the pulley 210 and the first actuation gear 253 fixedly connected to the first actuation extension 252 rotate around the rotation axis 241, and the pulley 220 and the second actuation gear 258 fixedly connected to the second actuation extension 257 rotate around the rotation axis 242. At this time, the pulleys 210 and 220 rotate in opposite directions, and therefore the wires 301 and 305, one end of which is fixedly connected to the pulley 210 and wound around it, and the wires 302 and 306, one end of which is fixedly connected to the pulley 220 and wound around it, also move in opposite directions. Such a rotational force is transmitted to the end tool 100 via the power transmission unit 300, and the two jaws 103 of the end tool 100 perform an actuation operation.

[0190] Here, the actuation operation means an operation of opening and closing the jaws 101, 102 while the two jaws 101, 102 rotate in opposite directions, as described above. That is, when the actuation extensions 252, 257 of the actuation operating unit 203 are rotated in a direction toward each other, the first jaw 101 rotates counterclockwise and the second jaw 102 rotates clockwise, closing the end tool 100. Conversely, when the actuation extensions 252, 257 of the actuation operating unit 203 are rotated in a direction away from each other, the first jaw 121 rotates clockwise and the second jaw 122 rotates counterclockwise, opening the end tool 100.

[0191] In this embodiment, for the above-mentioned actuation operation, the second handle is provided with the first actuation extension 252 and the second actuation extension 257, and can be gripped and operated with two fingers. However, the configuration of the actuation operation unit 203 for the actuation operation of opening and closing the two jaws of the end tool 100 from each other is different from that described above, and other modified examples are also possible, such as a configuration in which two actuation pulleys (pulley 210, pulley 220) operate in opposite directions from each other in one actuation rotating unit.

[0192] Next, the yaw motion is as follows:

[0193] When a user rotates the first handle 204 about the rotation axis 243 while gripping the first handle 204, the actuation operation unit 203 and the yaw operation unit 202 rotate in yaw about the rotation axis 243. That is, when the pulley 210 of the first actuation operation unit 251 to which the wires 301 and 305 are fixedly coupled rotates about the rotation axis 243, the wires 301 and 305 wound around the pulleys 211 and 212 move. Similarly, when the pulley 220 of the second actuation operation unit 256 to which the wires 302 and 306 are fixedly coupled rotates about the rotation axis 243, the wires 302 and 306 wound around the pulleys 221 and 222 move. At this time, the wire 301 and the wire 305 connected to the first jaw 101 and the wire 302 and the wire 306 connected to the second jaw 102 are wound around the pulleys 211, 212, 221, and 222 so that the first jaw 101 and the second jaw 102 rotate in the same direction during yaw rotation. Then, such a rotational force is transmitted to the end tool 100 via the power transmission unit 300, and the two jaws 103 of the end tool 100 perform a yaw operation in which they rotate in the same direction.

[0194] At this time, the yaw frame 207 connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, so that the first handle 204, the yaw operation unit 202, and the actuation operation unit 203 rotate together around the rotation shaft 243.

[0195] Next, the pitch operation is as follows:

[0196] When a user rotates first handle 204 about rotation axis 246 while gripping first handle 204, actuation operation unit 203, yaw operation unit 202, and pitch operation unit 201 rotate in pitch about rotation axis 246. That is, when pulley 210 of first actuation operation unit 251 to which wires 301 and 305 are fixedly coupled rotates about rotation axis 246, wires 301 and 305 wound around pulleys 217 and 218 move. Similarly, when pulley 220 of second actuation operation unit 256 to which wires 302 and 306 are fixedly coupled rotates about rotation axis 246, wires 302 and 306 wound around pulleys 227 and 228 move. 5, the wires 301 and 305 which are the first jaw wires move in the same direction, and the wires 302 and 306 which are the second jaw wires move in the same direction, so that the first jaw 101 and the second jaw 102 can pitch rotate, and the wires 301, 305, 302, and 306 which are the jaw wires are wound around the pulleys 217, 218, 227, and 228 which are the operation unit pitch main pulleys. Then, such a rotational force is transmitted to the end tool 100 via the power transmission unit 300, and the two jaws 103 of the end tool 100 perform the pitch movement.

[0197] At this time, the pitch frame 208 is connected to the yaw frame 207, and the yaw frame 207 connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, so that when the pitch frame 208 rotates about the rotation shaft 246, the yaw frame 207 connected to the pitch frame 208, the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243 all rotate together. In other words, when the pitch operation unit 201 rotates about the rotation shaft 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201.

[0198] In summary, the surgical instrument 10 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around this pulley, and a rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation part causes the movement of each wire, thereby inducing a desired operation of the end tool 100. Furthermore, an auxiliary pulley may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound multiple times around one pulley.

[0199] Fig. 11 is a diagram simply illustrating only the configuration of pulleys and wires that configure the joints of the surgical instrument 10 according to the embodiment of the present invention shown in Fig. 2. In Fig. 43, an intermediate pulley for changing the path of the wire regardless of the joint movement is omitted.

[0200] Referring to FIG. 11, the operating unit 200 may include a pulley 210, a pulley 211, a pulley 212, a pulley 213, a pulley 214, a pulley 215, a pulley 216, a pulley 217, and a pulley 218 related to the rotational movement of the first jaw 101.

[0201] The operating unit 200 may also include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational motion of the second jaw 102. (Since the arrangement and configuration of each pulley in the operating unit 200 are fundamentally the same as the arrangement and configuration of each pulley in the end tool 100, some of the specific notations of the reference symbols in the drawings will be omitted.)

[0202] Pulleys 211 and 212, and pulleys 221 and 222 may be formed to be rotatable independently of each other about the same axis, ie, rotation axis 243. In this case, pulleys 211 and 212, and pulleys 221 and 222 may be formed to face each other and to be formed of two pulleys formed to be rotatable independently of each other.

[0203] Pulleys 213 and 214, and pulleys 223 and 224 may be formed to be rotatable independently of each other around the same axis, ie, rotation axis 244. In this case, pulleys 213 and 214 may be formed to face each other and be formed of two pulleys formed to be rotatable independently of each other, and in this case, the two pulleys may be formed to have different diameters from each other. Similarly, pulleys 223 and 224 may be formed to face each other and be formed of two pulleys formed to be rotatable independently of each other, and in this case, the two pulleys may be formed to have different diameters from each other.

[0204] Pulleys 215 and 216, and pulleys 225 and 226 may be formed to be rotatable independently of each other about the same axis, ie, rotation axis 245. In this case, pulleys 215 and 216 may be formed to have different diameters. Also, pulleys 225 and 226 may be formed to have different diameters.

[0205] Pulleys 217 and 218, and pulleys 227 and 228 may be formed to be rotatable independently of each other about the same axis, ie, rotation axis 246.

[0206] The wire 301 passes through pulleys 217, 215, 213, and 211 of the operation unit 200 in this order, is wound around the pulley 210, and is then coupled to the pulley 210 by a fastening member 324. On the other hand, the wire 305 passes through pulleys 218, 216, 214, and 212 of the operation unit 200 in this order, and is then coupled to the pulley 210 by a fastening member 324. Therefore, when the pulley 210 rotates, the wires 301 and 305 are wound around or unwound from the pulley 210 accordingly, causing the first jaw 101 to rotate.

[0207] The wire 306 passes through pulleys 227, 225, 223, and 221 of the operating unit 200 in this order, is wound around the pulley 220, and is then coupled to the pulley 220 by a fastening member 327. On the other hand, the wire 302 passes through pulleys 228, 226, 224, and 222 of the operating unit 200 in this order, and is then coupled to the pulley 220 by a fastening member 327. Therefore, when the pulley 220 rotates, the wires 302 and 306 are wound or unwound around the pulley 220 accordingly, and the second jaw 102 rotates.

[0208] Therefore, the actuation operation, yaw operation, and pitch operation can be performed independently of each other.

[0209] As explained with reference to FIG. 1, the actuation operation unit 203, yaw operation unit 202, and pitch operation unit 201 are configured similarly to the joint configuration of the end tool, with their rotation axes located behind each operation unit, allowing the user to intuitively perform the same operations.

[0210] In particular, the surgical instrument 10 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and a rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes the movement of each wire, thereby inducing a desired operation of the end tool 100. Furthermore, an auxiliary pulley may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around one pulley multiple times, the wires wound around the pulleys do not come into contact with each other, and a safe path is formed between the wire wound around the pulley and the wire unwound, thereby improving the safety and efficiency of power transmission of the wire.

[0211] On the other hand, as described above, the yaw operation unit 202 and the actuation operation unit 203 are formed directly on the first handle 204. Therefore, when the first handle 204 rotates around the rotation axis 246, the yaw operation unit 202 and the actuation operation unit 203 also rotate together with the first handle 204. As a result, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 is not fixed, but continues to change relatively with the rotation of the first handle 204. That is, in FIG. 2 and the like, the yaw operation unit 202 and the actuation operation unit 203 are shown as being parallel to the Z axis. However, when the first handle 204 rotates, the yaw operation unit 202 and the actuation operation unit 203 are no longer parallel to the Z axis. That is, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 changes in response to the rotation of the first handle 204. However, for convenience of explanation in this specification, unless otherwise specified, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 has been described based on the state in which the first handle 204 is positioned perpendicular to the connection unit 400, as shown in Figure 2.

[0212] (Locking device) In the following, the locking devices 260, 270 of the surgical instrument 10 according to one embodiment of the present invention will be described in more detail.

[0213] FIG. 12 is a perspective view showing the locked state of the surgical instrument shown in FIG. 2, and FIG. 13 is a perspective view showing the unlocked state of the surgical instrument shown in FIG. 2. FIG. 14 is an assembled perspective view of the locking device of the surgical instrument shown in FIG. 12, and FIG. 15 is an exploded perspective view of the locking device of the surgical instrument shown in FIG. 12. FIGS. 16 and 17 are plan views showing the locked state of the locking device of the surgical instrument shown in FIG. 14. FIGS. 18 and 19 are plan views showing the unlocked state of the locking device of the surgical instrument shown in FIG. 14. Here, FIGS. 16 and 18 are views in which the elastic member is omitted. FIG. 20 is an exploded perspective view of the locking device of the surgical instrument shown in FIG. 2. FIG. 21 is a perspective view showing the locked state of the lever part of the surgical instrument shown in FIG. 2, and FIG. 22 is a perspective view showing the unlocked state of the lever part of the surgical instrument shown in FIG. 2. For the sake of convenience, some components are omitted in some of the drawings.

[0214] 12 to 22, the surgical instrument 10 according to an embodiment of the present invention includes a locking device 260 responsible for locking / unlocking the pitch movement, and a locking device 270 responsible for locking / unlocking the yaw movement. In the present invention, a user can control the locking devices 260 and 270 via a lock operation unit 280 to control the relative movement between the coupling unit 400, the pitch operation unit 201, and the yaw operation unit 202.

[0215] As described above, the pitch movement of the operation unit 200 in the present invention means the relative rotation of the pitch operation unit 201 with respect to the connecting unit 400, more specifically, the relative rotation of the yaw frame 207 with respect to the bending unit 402. Here, the pitch operation unit 201 including the yaw frame 207, the yaw operation unit 202 connected to the yaw frame 207, the actuation operation unit 203, and the first handle 204 perform the pitch movement while rotating together about the rotation shaft 246. Here, when the movement of the pitch operation unit 201 is restricted by the lock member 270, the pitch movement of the end tool (see 100 in FIG. 2 etc.) is also restricted.

[0216] As described above, the yaw operation of the operation unit 200 in the present invention means the relative rotation of the yaw operation unit 202 with respect to the pitch operation unit 201, more specifically, the relative rotation of the yaw frame 207 with respect to the yaw frame 207. Here, the yaw operation unit 202 including the yaw frame 207, and the first handle 204 and actuation operation unit 203 coupled to the yaw frame 207 perform the yaw operation while rotating together around the rotation shaft 243. Here, when the movement of the yaw operation unit 202 is restricted by the lock member 260, the yaw movement of the end tool (see 100 in FIG. 2, etc.) is also restricted.

[0217] The locking device 260, which is responsible for locking / unlocking the pitch movement, will be described in more detail below.

[0218] The locking device 260 may include a lock body 261, a locking portion 263, and a lock control portion 265. The locking device 260 serves to lock or unlock the pitch operation of the pitch operation portion 202.

[0219] First, although not shown in detail in the drawings, the lock body 261 can be fixedly coupled to the bent portion 402 of the connecting portion 400. Therefore, the lock body 261 can rotate together with the bent portion 402 of the connecting portion 400.

[0220] One end of the bent portion 402 and the lock main body portion 261 are axially coupled to the yaw frame 207 by the rotation shaft 246. Therefore, the yaw frame 207 is formed rotatable with respect to the bent portion 402 (and the lock main body portion 261).

[0221] On the other hand, a lock portion 263 can be coupled to the yaw frame 207 .

[0222] In other words, the lock main body 261 is fixedly coupled to the bent portion 402 of the connecting portion 400, and the lock portion 263 is coupled to the yaw frame 207. Therefore, when the lock portion 263 is fastened to the lock main body 261, the yaw frame 207 cannot rotate relative to the bent portion 402 and the lock main body 261, and a locked state is established. When the lock portion 263 is separated from the lock main body 261, the yaw frame 207 becomes rotatable relative to the bent portion 402 and the lock main body 261, and an unlocked state is established. This will be described in more detail as follows.

[0223] Specifically, the lock body 261 is fixedly coupled to the bent portion 402 of the connecting portion 400. Here, the lock body 261 may be formed in a roughly disk shape, with a plurality of gear-shaped first fastening portions 261a formed on its outer circumferential surface, so that the lock body 261 is formed in a gear shape as a whole. The lock body 261 is fixedly coupled to one end of the bent portion 402 of the connecting portion 400, and therefore, when the rotation of the lock body 261 is restricted by the lock portion 263 and the lock control portion 265, the rotation of the connecting portion 400 fixedly coupled to the lock body 261 is restricted, and the pitch movement is locked.

[0224] The lock portion 263 is coupled to the yaw frame 207. Specifically, the lock portion 263 is rotatably and axially coupled to the yaw frame 207. Here, the lock portion 263 is formed so as to be separable from and / or fastened to the first fastening portion 261a of the lock main body portion 261. The lock portion 263 may include a rod-shaped main body portion 263a formed so as to be rotatable about a lock rotation shaft 267 fixedly coupled to the yaw frame 207, a second fastening portion 263b formed at one end of the main body portion 263a and formed into a shape to fit with the first fastening portion 261a, and a contact portion 263c that comes into contact with a lock control portion 265 described later.

[0225] Here, the second fastening portion 263b is formed in a hook shape, and may be formed to be fitted with at least one of the gears of the first fastening portion 261a.

[0226] Here, the second fastening portion 263b may include a first surface 263b1 and a second surface 263b2, the first surface 263b1 being formed to have a gradual inclination at a predetermined angle, and the second surface 263b2 being formed to be close to vertical. Similarly, the first fastening portion 261a of the lock body portion 261 may include a first surface 261a1 and a second surface 261a2, the first surface 261a1 being formed to have a gradual inclination at a predetermined angle, and the second surface 261a2 being formed to be close to vertical. In this case, the inclined first surface 263b1 of the second fastening portion 263b and the inclined first surface 261a1 of the first fastening portion 261a may be disposed to face each other (i.e., to abut).

[0227] The lock control section 265 is formed to be movable relative to the lock main body section 261 and the lock section 263, and controls whether or not the lock main body section 261 and the lock section 263 are fastened / separated depending on the position of the lock control section 265.

[0228] The lock control unit 265 may include a main body part 265a, a guide part 265b, and a pressure part 265c. Specifically, the main body part 265a of the lock control unit 265 may be formed in a rod shape and may be formed to be able to perform reciprocating linear motion with respect to the lock main body part 261. The main body part 265a of the lock control unit 265 may be formed with a guide part 265b for guiding the moving path. The guide part 265b is formed in a long and narrow hole shape, and one or more guide pins 266 fixedly coupled to the yaw frame 207 may be engaged with the guide part 265b. The lock control unit 265 may perform reciprocating linear motion with respect to the lock main body part 261 by the guide part 265b and the guide pin 266. Here, in the figure, the guide portion 265b is shown to be hole-shaped and the guide pin 266 is shown to be pin-shaped, but the idea of ​​the present invention is not limited to this, and various types of guide portions for guiding the linear motion of the lock control portion 265 can be configured, such as a protrusion being formed in the lock control portion 265 and a guide groove being formed in the lock main body portion 261, the yaw frame 207, etc.

[0229] The pressure portions 265c may be formed to protrude to a certain extent from both sides of the lock control portion 265 and to contact the contact portions 263c of the lock portion 263. Here, the pressure portions 265c may be formed to gradually protrude toward the distal portion 205 of the operation portion 200 and may be formed in a roughly arrow shape.

[0230] In the figure, the pressure applying portion 265c is formed in a hole shape, the contact portion 263c of the lock portion 263 is fitted into this hole-shaped pressure applying portion 265c, and the contact portion 263c is shown to be pressed by the inner edge surface of the pressure applying portion 265c. However, the idea of ​​the present invention is not limited to this, and as shown in Figures 27 to 28, the pressure applying portion (see 565c in Figure 27) as a whole can be formed to protrude from the main body portion (see 565a in Figure 27), and the contact portion (563c in Figure 27) can be pressed by the outer circumferential surface of the pressure applying portion (565c in Figure 27).

[0231] In either form, the pressure portion 265c may be formed to be inclined to a certain degree with respect to the guide pin 266 or the guide portion 265b, which is the central axis of movement. That is, it may be expressed as being formed so that the width gradually increases in one direction along the guide pin 266. In other words, it can be expressed as the width of the lock control portion increasing along one direction, which is the movement direction of the lock control portion 265. Therefore, when the lock control portion 265 moves in one direction, the pressure portion 265c of the lock control portion 265 presses and pushes out the contact portion 263c of the lock portion 263, and the lock portion 263 can be separated from the lock main body portion 261.

[0232] In other words, in the same state as in Fig. 16, as the lock control section 265 moves in the direction of arrow A1 in Fig. 18, the lock section 263 can rotate in the direction of arrow A2 in Fig. 18 while pushing out the contact section 263c of the lock section 263. As the lock section 263 rotates in the direction of arrow A2 in this manner, the second fastening section 263b of the lock section 263 moves away from the first fastening section 261a of the lock main body section 261, thereby entering an unlocked state.

[0233] Conversely, in the same state as in Fig. 18, when the lock control section 265 moves in the opposite direction of the arrow A1 in Fig. 18, the lock section 263 can rotate in the opposite direction of the arrow A2 in Fig. 18. As the lock section 263 rotates in the opposite direction of the arrow A2 in this way, the second fastening section 263b of the lock section 263 comes into contact with and is fastened to the first fastening section 261a of the lock main body section 261, thereby entering a locked state.

[0234] Here, the lock control unit 265 is coupled to a first lock wire 291, which will be described later, and the first lock wire 291 moves as the first lock lever unit 281 rotates, allowing the lock control unit 265 to move in one direction.

[0235] Meanwhile, an elastic member 268 may be further formed between the lock unit 263 and the lock control unit 265. As an example, the elastic member 268 may be formed in the form of a coil spring, one side of which may be coupled to the lock control unit 265 and the other side of which may be fixedly coupled to the yaw frame 207. In this case, the elastic member 268 may be formed as a tension spring, and may apply a predetermined elastic force so that the lock control unit 265 moves in the direction opposite to the arrow A1 in FIG.

[0236] 16 due to the elastic force provided by the elastic member 268. In this state, the force applied by the lock control unit 265 to the lock portion 263 is minimal, and in this state, the lock main body 261 and the lock portion 263 are fastened to each other, resulting in a locked state. In other words, it can be said that the elastic member 268 basically applies a force to the lock portion 263 to bring it into the locked state.

[0237] On the other hand, when lock operation unit 280, which will be described later, is actuated and first lock wire 291 pulls lock control unit 265 in the direction of arrow A1 in Fig. 18, lock member 260 goes into the same state as in Fig. 18. In this state, lock control unit 265 pushes out lock unit 263 to the maximum extent, and lock unit 263 is separated as far as possible from lock main body 261. In this state, lock main body 261 and lock unit 263 are not in contact / fastened, resulting in an unlocked state.

[0238] On the other hand, even in this state, elastic member 268 applies an elastic force in the direction opposite to arrow A1, and therefore, when the force pulling first lock wire 291 is removed, the elastic force of elastic member 268 returns lock control section 265 to the position in FIG. 16, and therefore locking device 260 enters the locked state again.

[0239] The locking device 270, which is responsible for locking / unlocking the yaw movement, will be described in more detail below.

[0240] The lock device 270 may include a lock body 271, a lock unit 273, and a lock control unit 275. The lock device 270 serves to lock or unlock the yaw operation of the yaw operation unit 202.

[0241] First, although not shown in detail in the drawings, the lock body 271 can be fixedly coupled to the pitch frame 208. Therefore, the lock body 271 can rotate together with the pitch frame 208.

[0242] The lock main body 271 is axially coupled to the yaw frame 207 by a rotation shaft 243. Therefore, the yaw frame 207 is formed rotatable with respect to the pitch frame 208.

[0243] On the other hand, a lock portion 273 can be coupled to the yaw frame 207 .

[0244] In other words, the lock main body 271 is fixedly coupled to the pitch frame 208, and the lock portion 273 is coupled to the yaw frame 207. Therefore, when the lock portion 273 is fastened to the lock main body 271, the yaw frame 207 cannot rotate relative to the pitch frame 208 and is in a locked state. When the lock portion 273 is separated from the lock main body 271, the yaw frame 207 becomes rotatable relative to the pitch frame 208 and is in an unlocked state. This will be described in more detail as follows.

[0245] Specifically, the lock main body 271 is fixedly coupled to the pitch frame 208. Here, the lock main body 271 may be formed in a roughly disk shape, with a plurality of gear-shaped first fastening portions 271a formed on its outer circumferential surface, so that the lock main body 271 is formed in a gear shape as a whole. The lock main body 271 is fixedly coupled to the pitch frame 208, and therefore, when the rotation of the lock main body 271 is restricted by the lock portion 273 and the lock control portion 275, the rotation of the pitch frame 208 fixedly coupled to the lock main body 271 is restricted, and the yaw movement is locked.

[0246] The lock portion 273 is coupled to the yaw frame 207. Specifically, the lock portion 273 is rotatably and axially coupled to the yaw frame 207. Here, the lock portion 273 is formed so as to be separable from and / or fastened to a first fastening portion 271a of the lock main body portion 271. The lock portion 273 may include a rod-shaped main body portion 273a formed so as to be rotatable about a lock rotation shaft 277 fixedly coupled to the yaw frame 207, a second fastening portion 273b formed at one end of the main body portion 273a and formed into a shape to fit with the first fastening portion 271a, and a contact portion 273c that comes into contact with a lock control portion 275 described later.

[0247] Here, the second fastening portion 273b is formed in a hook shape, and may be formed to be fitted with at least one of the gears of the first fastening portion 271a.

[0248] Here, the second fastening portion 273b may include a first surface 273b1 and a second surface 273b2, the first surface 273b1 being formed to have a gradual inclination at a predetermined angle, and the second surface 273b2 being formed to be close to vertical. Similarly, the first fastening portion 271a of the lock body portion 271 may also include a first surface 271a1 and a second surface 271a2, the first surface 271a1 being formed to have a gradual inclination at a predetermined angle, and the second surface 271a2 being formed to be close to vertical. At this time, the inclined first surface 273b1 of the second fastening portion 273b and the inclined first surface 271a1 of the first fastening portion 271a may be disposed to face each other (i.e., to abut).

[0249] The lock control section 275 is formed to be movable relative to the lock main body section 271 and the lock section 273, and controls whether or not the lock main body section 271 and the lock section 273 are fastened / separated depending on the position of the lock control section 275.

[0250] The lock control unit 275 may include a main body 275a, a guide portion 275b, and a pressure portion 275c. In detail, the main body 275a of the lock control unit 275 may be formed in a rod shape and may be formed to be able to perform reciprocating linear motion with respect to the lock main body 271. The main body 275a of the lock control unit 275 may be formed with a guide portion 275b for guiding the movement path. The guide portion 275b is formed in a long and narrow hole shape, and one or more guide pins 276 fixedly coupled to the yaw frame 207 may be engaged with the guide portion 275b. The lock control unit 275 may perform reciprocating linear motion with respect to the lock main body 271 by the guide portion 275b and the guide pin 276. Here, in the figure, the guide portion 275b is shown to be hole-shaped and the guide pin 276 is shown to be pin-shaped, but the idea of ​​the present invention is not limited to this, and various types of guide portions for guiding the linear motion of the lock control portion 275 can be configured, such as a protrusion being formed in the lock control portion 275 and a guide groove being formed in the lock main body portion 271, the yaw frame 207, etc.

[0251] The pressure portions 275c may be formed to protrude to a certain extent from both sides of the lock control portion 275 and to contact the contact portions 273c of the lock portion 273. Here, the pressure portions 275c may be formed to gradually protrude toward the distal portion 205 of the operation portion 200 and may be formed in a roughly arrow shape.

[0252] In the figure, the pressure applying portion 275c is formed in a hole shape, the contact portion 273c of the lock portion 273 is fitted into this hole-shaped pressure applying portion 275c, and the contact portion 273c is shown to be pressed by the inner edge surface of the pressure applying portion 275c. However, the idea of ​​the present invention is not limited to this, and as shown in Figures 27 to 28, the pressure applying portion (see 565c in Figure 27) is formed as a whole protruding from the main body portion (see 565a in Figure 27), and the contact portion (563c in Figure 27) can be pressed by the outer circumferential surface of the pressure applying portion (565c in Figure 27).

[0253] In either form, the pressure portion 275c may be formed to be inclined to a certain degree with respect to the guide pin 276 or the guide portion 275b, which is the central axis of movement. In other words, it may be expressed as being formed so that the width gradually increases in one direction along the guide pin 276. Therefore, when the lock control portion 275 moves in one direction, the pressure portion 275c of the lock control portion 275 presses and pushes out the contact portion 273c of the lock portion 273, so that the lock portion 273 can be separated from the lock main body portion 271.

[0254] Here, the lock control section 275 is coupled to a second lock wire 292, which will be described later, and as the first lock lever section 281 rotates, the second lock wire 292 moves, allowing the lock control section 275 to move in one direction.

[0255] Meanwhile, an elastic member 278 may be further formed between the lock portion 273 and the lock control portion 275. As an example, the elastic member 278 may be formed in the form of a coil spring, one side of which may be coupled to the lock control portion 275 and the other side of which may be fixedly coupled to the yaw frame 207. In this case, the elastic member 278 may be formed as a tension spring, and may apply a predetermined elastic force so that the lock control portion 275 moves in one direction.

[0256] The operation of the locking member 270 is basically similar to that of the locking member 260, so a detailed description of the operation of the locking member 270 will be omitted.

[0257] The lock operation unit 280 will be described in more detail below.

[0258] The lock operation portion 280 may include a first lock lever portion 281, a second lock lever portion 282, a first lock wire 291, and a second lock wire 292. The lock operation portion 280 may further include a lock wire holder 295.

[0259] In the present invention, the relative rotational movement between the pitch operation unit 201, the yaw operation unit 202, and the bending unit 402 is controlled by moving the first lock wire 291 and the second lock wire 292 through the operation of the lock operation unit 280, but the concept of the present invention is not limited to this, and various modifications are possible, such as control of relative linear movement using a slide method or a button method.

[0260] In this specification, the lock wire refers to a first lock wire 291 and a second lock wire 292.

[0261] First, the lock operation unit 280 is at least partially accommodated within the first handle 204 and can play a role in controlling the locking and unlocking operations of the locking devices 260 and 270. Here, the first handle 204 has a hollow portion formed therein and can provide a movement path for the first lock wire 291, the second lock wire 292, etc.

[0262] A first end of a first lock lever portion 281 is rotatably coupled to an end of the first handle 204. That is, the first lock lever portion 281 is formed to be rotatable relative to the first handle 204 about a rotation axis L1. An elastic member 285 is interposed on the rotation axis L1 of the first lock lever portion 281, and can provide a predetermined elastic force so that the first lock lever portion 281 rotates clockwise relative to the first handle 204 as shown in FIG.

[0263] Meanwhile, a lock wire holder 295 is formed within the first lock lever portion 281 and is formed to be rotatable together with the first lock lever portion 281 about the rotation axis L1. The first lock wire 291 and the second lock wire 292 can be fixedly coupled to the lock wire holder 295. Therefore, when the first lock lever portion 281 rotates relative to the first handle 204 about the rotation axis L1, the lock wire holder 295 also rotates together with the first lock lever portion 281, thereby pulling or unwinding the first lock wire 291 and the second lock wire 292.

[0264] Meanwhile, a second lock lever portion 282 is rotatably connected to a second end portion of the first lock lever portion 281. Here, the second lock lever portion 282 may be detachably coupled to the first handle 204.

[0265] For this purpose, the second lock lever portion 282 may be formed in an "L" shape bent at approximately 90 degrees, and a hook portion 284 may be formed on one of both ends of the second lock lever portion 282 that is coupled to the first handle 204. A locking groove portion 204a is formed in the first handle 204 so that the hook portion 284 can be seated therein, and a locking jaw portion 204b that can lock the hook portion 284 may be formed protruding from one side of the locking groove portion 204a.

[0266] Here, an elastic member (not shown) is interposed on the rotation axis L2 of the second lock lever portion 282, and a predetermined elastic force can be provided so that the second lock lever portion 282 rotates clockwise relative to the first lock lever portion 281 as shown in FIG. 21.

[0267] First locking wire 291 may be formed such that one end is coupled to locking member 260 and the other end is coupled to locking wire holder 295. Second locking wire 292 may be formed such that one end is coupled to locking member 270 and the other end is coupled to locking wire holder 295.

[0268] The operation of the lock operation unit 280 will be described in more detail below.

[0269] FIG. 22 is a diagram showing the unlocked state.

[0270] In the unlocked state, the hook portion 284 of the second lock lever portion 282 is fastened to the locking jaw portion 204b of the first handle 204, and the second lock lever portion 282 and the first lock lever portion 281 connected thereto are tightly coupled to the first handle 204.

[0271] In this state, an elastic member (not shown) interposed on the rotation axis L2 of the second lock lever portion 282 provides a predetermined elastic force to rotate clockwise as shown in FIG. 21, so that the hook portion 284 of the second lock lever portion 282 remains fastened to the locking jaw portion 204b of the first handle 204.

[0272] In this manner, when the first lock lever portion 281 is fastened to the first handle 204, the user can rotate the first lock lever portion 281 around the rotation axis L1 of the first lock lever portion 281 as the center of rotation so as to move the first lock lever portion 281 away from the first handle 204. At this time, by the simple action of pressing a specific bent portion of the second lock lever portion 282 with a finger, the second lock lever portion 282 can be released from the first handle 204, and the first lock lever portion 281 can be separated from the first handle 204.

[0273] Specifically, by rotating the second lock lever portion 282 relative to the first lock lever portion 281 and releasing the hook portion 71 of the second lock lever portion 282 from the locking jaw portion 52, the elastic restoring force of the lever spring 65 connected to the first lock lever portion 281 causes the first lock lever portion 281 to be detached from the first handle 204, thereby allowing the first lock lever portion 281 to move away from the first handle 204.

[0274] <Second embodiment>

[0275] FIG. 27 is a plan view showing a locking device according to another embodiment of the present invention in a locked state, and FIG. 28 is a plan view showing a locking device according to another embodiment of the present invention in an unlocked state.

[0276] 12, 27 and 28, the locking device 560 may include a lock body 561, a locking part 563, and a lock control part 565. The locking device 560 serves to lock or unlock the pitch (Yaw) operation of the pitch operation part 202.

[0277] First, although not shown in detail in the drawings, the lock body 561 can be fixedly coupled to the bent portion 402 of the connecting portion 400. Therefore, the lock body 561 can rotate together with the bent portion 402 of the connecting portion 400.

[0278] One end of the bent portion 402 and the lock main body portion 561 are axially coupled to the yaw frame 507 by the rotation shaft 546. Therefore, the yaw frame 507 is formed rotatable with respect to the bent portion 402 (and the lock main body portion 561).

[0279] Meanwhile, a locking portion 563 may be coupled to the yaw frame 507 .

[0280] In other words, the lock main body 561 is fixedly coupled to the bent portion 402 of the connecting portion 400, and the lock portion 563 is coupled to the yaw frame 507. Therefore, when the lock portion 563 is fastened to the lock main body 561, the yaw frame 507 cannot rotate relative to the bent portion 402 and the lock main body 561, and a locked state is established. When the lock portion 563 is separated from the lock main body 561, the yaw frame 507 becomes rotatable relative to the bent portion 402 and the lock main body 561, and an unlocked state is established. This will be described in more detail as follows.

[0281] Specifically, the lock body 561 is fixedly coupled to the bent portion 402 of the connecting portion 400. Here, the lock body 561 may be formed in a roughly disk shape, with a plurality of gear-shaped first fastening portions 561a formed on its outer circumferential surface, so that the lock body 561 is formed in a gear shape as a whole. The lock body 561 is fixedly coupled to one end of the bent portion 402 of the connecting portion 400, and therefore, when the rotation of the lock body 561 is restricted by the lock portion 563 and the lock control portion 565, the rotation of the connecting portion 400 fixedly coupled to the lock body 561 is restricted, and the pitch movement is locked.

[0282] The lock portion 563 is coupled to the yaw frame 507. Specifically, the lock portion 563 is rotatably and axially coupled to the yaw frame 507. Here, the lock portion 563 is formed so as to be separable from and / or fastened to a first fastening portion 561a of the lock main body portion 561. The lock portion 563 may include a rod-shaped main body portion 563a formed so as to be rotatable about a lock rotation shaft 567 fixedly coupled to the yaw frame 507, a second fastening portion 563b formed at one end of the main body portion 563a and formed to fit into the first fastening portion 561a, and a contact portion 563c that comes into contact with a lock control portion 565, which will be described later.

[0283] Here, the second fastening portion 563b is formed in a hook shape, and may be formed to be fitted with at least one of the gears of the first fastening portion 561a.

[0284] Here, the second fastening portion 563b may include a first surface 563b1 and a second surface 563b2, the first surface 563b1 being formed to have a gradual inclination at a predetermined angle, and the second surface 563b2 being formed to be close to vertical. Similarly, the first fastening portion 561a of the lock body portion 561 may also include a first surface 561a1 and a second surface 561a2, the first surface 561a1 being formed to have a gradual inclination at a predetermined angle, and the second surface 561a2 being formed to be close to vertical. At this time, the inclined first surface 563b1 of the second fastening portion 563b and the inclined first surface 561a1 of the first fastening portion 561a may be disposed to face each other (i.e., to abut).

[0285] The lock control section 565 is formed to be movable relative to the lock main body section 561 and the lock section 563, and controls whether or not the lock main body section 561 and the lock section 563 are fastened / separated depending on the position thereof.

[0286] The lock control unit 565 may include a main body part 565a, a guide part 565b, and a pressure part 565c. In detail, the main body part 565a of the lock control unit 565 may be formed in a rod shape and may be formed to be able to perform reciprocating linear motion with respect to the lock main body part 561. The main body part 565a of the lock control unit 565 may be formed with a guide part 565b for guiding the moving path. The guide part 565b is formed in a long and narrow hole shape, and one or more guide pins 566 fixedly coupled to the yaw frame 507 may be engaged with the guide part 565b. The lock control unit 565 may perform reciprocating linear motion with respect to the lock main body part 561 by the guide part 565b and the guide pin 566. Here, in the figure, guide portion 565b is shown to be hole-shaped, and guide pin 566 is shown to be pin-shaped, but the idea of ​​the present invention is not limited to this, and various types of guide portions for guiding the linear motion of lock control portion 565 can be configured, such as a protrusion being formed in lock control portion 565, and guide grooves being formed in lock main body portion 561, yaw frame 507, etc.

[0287] The pressure portion 565c may be formed so as to protrude to a certain extent from both side surfaces of the lock control portion 565 and to come into contact with the contact portion 563c of the lock portion 563. Here, the pressure portion 565c may be formed so as to gradually protrude toward the distal portion 505 of the operation portion 500 and may be formed roughly in an arrow shape. Here, the pressure portion 565c may be formed so as to protrude from the main body portion 565a as a whole, and the contact portion 563c may be pressed by the outer circumferential surface of the pressure portion 565c.

[0288] In either form, the pressure portion 565c may be formed to be inclined to a certain degree with respect to the guide pin 566 or the guide portion 565b, which is the central axis of movement. In other words, it may be expressed as being formed so that the width gradually increases in one direction along the guide pin 566. Therefore, when the lock control portion 565 moves in one direction, the pressure portion 565c of the lock control portion 565 presses and pushes out the contact portion 563c of the lock portion 563, so that the lock portion 563 can be separated from the lock main body portion 561.

[0289] Meanwhile, a first elastic member 568 may be further formed in the lock control portion 565. The first elastic member 568 may apply a predetermined elastic force so that the lock control portion 565 moves in the direction opposite to the arrow A3. Here, the first elastic member 568 may be formed of a compression spring.

[0290] Meanwhile, a second elastic member 569 may be further formed on the locking portion 563. The second elastic member 569 can apply a predetermined elastic force so that the pair of locking portions 563 rotate in a direction in which they converge to each other (i.e., in the opposite direction to the arrow A4). (For example, as shown in FIG. 27, an elastic force can be applied so that the left locking portion 563 rotates clockwise and the right locking portion 563 rotates counterclockwise.)

[0291] Therefore, it can be said that, without the intervention of the lock control section 565, the lock section 563 basically receives a force in a direction approaching the first fastening section 561a of the lock main body section 561. In other words, it can be seen that the second elastic member 569 basically receives a force to bring the lock section 563 into the locked state.

[0292] Here, the second elastic member 569 is formed of a compression spring and can apply a predetermined elastic force so as to rotate the lock portion 563 in a predetermined direction. Alternatively, the second elastic member 569 may be formed of a torsion spring.

[0293] 27 due to the elastic force provided by the first elastic member 568 and the second elastic member 569. In this state, the force applied by the lock control unit 565 to the lock unit 563 is minimal, and in this state, the lock main body 561 and the lock unit 563 are fastened to each other, resulting in a locked state. In other words, it can be said that the first elastic member 568 and the second elastic member 569 apply a force to the lock unit 563 to bring it into a locked state.

[0294] When the lock control section 565 is moved in the direction of the arrow A3 by an external force in this state, the lock control section 565 rotates the lock section 563 in the direction of the arrow A4 as it moves, and therefore the lock section 563 and the lock main body section 561 move away from each other and the lock is released.

[0295] 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 variations of the embodiment are possible. Therefore, the true technical scope of the present invention should be determined by the technical ideas of the appended claims. [Industrial Applicability]

[0296] The present invention relates to surgical instruments, and in particular to surgical instruments that can be manually or automatically actuated for use in laparoscopic or various surgical procedures, and that include a locking device that can be locked and / or unlocked against at least any movement.

Claims

1. an end tool including one or more jaws and configured to be rotatable in two or more directions; an operation unit for controlling rotation of the end tool in the two or more directions; A power transmission unit including one or more jaw wires connected to the operating unit to transmit rotation of the operating unit to the jaw; and A connecting portion is formed extending in a first direction (X-axis), one end of which is connected to the end tool, and the other end of which is connected to the operation portion, thereby connecting the operation portion and the end tool, The operation unit includes: A pitch operation unit for controlling the pitch operation of the end tool; and A surgical instrument comprising: a locking member formed to be fastened to the pitch operation portion, and locking or unlocking a pitch operation of the pitch operation portion depending on whether the locking member is fastened to the pitch operation portion.

2. The locking member is The surgical instrument according to claim 1 , further comprising: a lock body portion fixedly coupled to the pitch operation portion; and a lock portion formed to be fastenable with the lock body portion.

3. When the locking portion is in a first position, the locking portion is configured to be fastened to the locking body portion, and the movement of the locking body portion is restricted; 3. The surgical instrument according to claim 2, wherein when the locking portion is in the second position, the locking portion is formed so as to be spaced apart from the locking body to a certain extent, thereby enabling the locking body to rotate.

4. The lock body is formed in a gear shape including a plurality of first fastening portions, The surgical instrument according to claim 2 , wherein the locking portion is formed in a hook shape so as to be fastened to the first fastening portion.

5. The surgical instrument according to claim 3 , further comprising a lock control unit that controls a position of the lock portion so that the lock portion is located at either the first position or the second position.

6. The lock control portion is formed so as to be capable of linear reciprocating motion relative to the lock main body portion, 6. The surgical instrument according to claim 5, wherein the lock control section applies pressure to the lock section while moving in any direction, and moves the lock section in a direction in which the lock section moves away from the lock main body section.

7. In one direction which is the moving direction of the lock control unit, 7. The surgical instrument according to claim 6, wherein the width of the lock control portion increases along the one direction.

8. While the lock control unit moves in the one direction, 8. The surgical instrument according to claim 7, wherein the lock control portion presses the lock portion in a direction in which the lock portion moves away from the lock main body portion.

9. 6. The surgical instrument according to claim 5, wherein a first elastic member is interposed between the lock control portion and the lock main body portion, and applies a predetermined elastic force to the lock control portion so that the lock portion is located at either the first position or the second position.

10. 2. The surgical instrument according to claim 1, wherein the pitch operation portion is axially coupled to the connecting portion, and the locking member controls whether the pitch operation portion rotates relative to the connecting portion.

11. an end tool including one or more jaws and configured to be rotatable in two or more directions; an operation unit for controlling rotation of the end tool in the two or more directions; A power transmission unit including one or more jaw wires connected to the operating unit to transmit rotation of the operating unit to the jaw; and A connecting portion is formed extending in a first direction (X-axis), one end of which is connected to the end tool, and the other end of which is connected to the operation portion, thereby connecting the operation portion and the end tool, The operation unit includes: A yaw operation unit for controlling the yaw movement of the end tool; and A surgical instrument comprising: a locking member that is formed to be fastened to the yaw operation portion, and that locks or unlocks a yaw movement of the yaw operation portion depending on whether or not the locking member is fastened to the yaw operation portion.

12. The locking member is The surgical instrument according to claim 11 , comprising: a lock body portion fixedly coupled to the yaw operation portion; and a lock portion formed to be fastenable with the lock body portion.

13. When the locking portion is in a first position, the locking portion is configured to be fastened to the locking body portion, and the movement of the locking body portion is restricted; 13. The surgical instrument according to claim 12, wherein when the lock portion is in the second position, the lock portion is formed to be spaced apart from the lock main body to a certain extent, thereby allowing the lock main body to rotate.

14. The lock body is formed in a gear shape including a plurality of first fastening portions, The surgical instrument according to claim 12, wherein the locking portion is formed in a hook shape so as to be fastened to the first fastening portion.

15. The surgical instrument of claim 13 , further comprising a lock control that controls a position of the locking portion such that the locking portion remains in either the first position or the second position.

16. The lock control portion is formed so as to be capable of linear reciprocating motion relative to the lock main body portion, 16. The surgical instrument according to claim 15, wherein the lock control section applies pressure to the lock section while moving in any direction, and moves the lock section in a direction in which the lock section moves away from the lock main body section.

17. In one direction which is the moving direction of the lock control unit, 17. The surgical instrument of claim 16, wherein the width of the lock control portion increases along the one direction.

18. While the lock control unit moves in the one direction, The surgical instrument according to claim 17, wherein the lock control portion presses the lock portion in a direction in which the lock portion moves away from the lock main body portion.

19. 16. The surgical instrument according to claim 15, wherein a first elastic member is interposed between the lock control portion and the lock main body portion, and applies a predetermined elastic force to the lock control portion so that the lock portion is located at either the first position or the second position.

20. 12. The surgical instrument according to claim 11, wherein the yaw operation unit is axially coupled to a pitch operation unit, and the locking member controls whether the yaw operation unit rotates relative to the pitch operation unit.

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