Surgical instrument and surgical robot including same

Abstract

The present invention relates to surgical instruments, and in particular to surgical instruments that can be attached to a robotic arm or manually actuated for use in laparoscopic or various surgical procedures.

Description

[Technical field]

[0001] The present invention relates to surgical instruments and surgical robots including the same, and more particularly to surgical instruments that can be attached to a robotic arm or manually operated for use in laparoscopic surgery or various other surgeries, and surgical robots including the same. [Background technology]

[0002] In medicine, surgery refers to the cutting, incision, or manipulation of skin, mucous membranes, or other tissues using medical instruments to treat illnesses. In particular, open surgery, in which the skin at the surgical site is incised to open the area and internal organs are treated, remodeled, or removed, can cause problems such as bleeding, side effects, pain to the patient, and scars.

[0003] Therefore, recently, surgery in which only medical instruments such as a laparoscope, surgical instruments, and a microsurgical microscope are inserted through a certain hole formed in the skin, or surgery using a robot, has been attracting attention as an alternative.

[0004] Here, a surgical robot is a robot that can replace the surgical procedures performed by surgeons. Such a surgical robot has the advantage of being able to perform more accurate and precise movements than a human and being able to perform remote surgery.

[0005] Currently, surgical robots being developed around the world include bone surgery robots, laparoscopic surgery robots, stereotactic surgery robots, etc. Here, laparoscopic surgery robots are robots that perform minimally invasive surgery using laparoscopes and small surgical tools.

[0006] Laparoscopic surgery is a cutting-edge surgical technique in which surgery is performed after making one or more small holes in the abdomen and inserting a laparoscope, an endoscope that allows doctors to see inside the abdomen, and is a field that is expected to see great developments in the future. Recent laparoscopes are equipped with computer chips, which allow doctors to obtain clearer and more magnified images than can be seen with the naked eye, and have developed to the point where any surgery can be performed by using specially designed laparoscopic surgical instruments while viewing the screen through a monitor.

[0007] Furthermore, while the scope of surgery is almost the same as that of open surgery, laparoscopic surgery has the advantages of fewer complications than open surgery, allowing treatment to begin much sooner after surgery, and being superior in maintaining the physical strength and immune function of the surgical patient. For this reason, laparoscopic surgery is gradually becoming recognized as the standard surgery for colon cancer treatment in the United States and Europe.

[0008] On the other hand, a surgical robot is generally composed of a master robot and a surgical robot. When a surgeon operates a control lever (e.g., a handle) provided on the master robot, a surgical tool coupled to the robot arm of the surgical robot or held by the robot arm is operated to perform surgery. Summary of the Invention [Problem to be solved by the invention]

[0009] The present invention aims to provide a multi-joint surgical device that can be attached to a robot arm or manually operated for use in laparoscopic surgery or various other surgeries, in which the movement of the jaw wire that occurs during pitch movement is compensated for, and pitch movement and yaw movement / actuation movement are performed independently and smoothly. [Means for solving the problem]

[0010] According to an embodiment of the present invention, there is provided an end tool including at least one jaw and an end tool jaw pulley coupled to the jaw and rotatable together with the jaw around a first axis, the end tool being formed to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moving with the rotation of the end tool jaw pulley; a connection part extending in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; and a driver coupled to the other end of the connection part and controlling the pitch rotation and the yaw rotation of the end tool, the driver comprising: a driver jaw pulley rotatable around a second axis, around which at least a portion of the jaw wire is wound; and a driver jaw rotation axis rotatable around a third axis different from the second axis, relatively movable while maintaining a preset interval with respect to a center of the driver jaw pulley, revolving around the center of the driver jaw pulley and coupled to the jaw wire, The surgical instrument is characterized in that the jaw wires move due to rotation of the drive unit jaw rotation shaft, thereby rotating the end tool jaw pulley and the jaws, the two jaw wires wound out from the drive unit jaw pulley are wound sequentially around the drive unit jaw pulley, the drive unit jaw rotation shaft, and the drive unit jaw pulley, and then extend toward the end tool, and when the drive unit jaw rotation shaft moves relative to the drive unit jaw pulley, the overall length of the jaw wires in the drive unit is changed, causing the end tool to rotate by the pitch.

[0011] In one embodiment of the present invention, the drive unit further includes a drive unit pitch pulley disposed adjacent to the drive unit jaw pulley and formed to be rotatable around the second shaft, and the drive unit jaw rotation shaft is formed to be movable relatively to the drive unit pitch pulley, and is formed such that when the drive unit pitch pulley rotates, the relative position of the drive unit jaw rotation shaft with respect to the second shaft changes.

[0012] In one embodiment of the present invention, a relative distance between a rotation center of the driving part pitch pulley and a rotation center of the driving part jaw rotation shaft is maintained constant.

[0013] In one embodiment of the present invention, when the drive unit pitch pulley rotates, the drive unit jaw rotation shaft moves in conjunction with the drive unit pitch pulley.

[0014] In one embodiment of the present invention, when the drive unit pitch pulley rotates around the second axis, the drive unit jaw rotation axis moves relative to the drive unit pitch pulley, thereby changing the overall length of the jaw wire in the drive unit.

[0015] In one embodiment of the present invention, the overall length of the jaw wire in the end tool is also changed by changing the overall length of the jaw wire in the drive part by rotating the drive part pitch pulley.

[0016] In one embodiment of the present invention, even if the overall length of the jaw wire in the driving part is changed by rotation of the driving part pitch pulley, the overall length of the jaw wire is maintained constant.

[0017] In one embodiment of the present invention, the end tool jaw pitch pulley further includes an end tool jaw pitch main pulley formed adjacent to the end tool jaw pulley and rotatable around a fourth axis different from the first axis, and an end tool jaw pitch sub pulley formed adjacent to the end tool jaw pitch main pulley and rotatable around a fifth axis different from the first axis.

[0018] In one embodiment of the present invention, when the end tool pitch rotates, the two jaw wires that are unwound from the end tool jaw pulley and pass through the end tool jaw pitch main pulley and the end tool jaw pitch sub pulley move simultaneously in the same direction.

[0019] In one embodiment of the present invention, the two jaw wires wound out from the end tool jaw pulley are arranged on the same side of a plane perpendicular to the first axis and including the fourth axis.

[0020] In one embodiment of the present invention, the jaws include a first jaw and a second jaw, the end tool jaw pulley includes an end tool first jaw pulley connected to the first jaw and an end tool second jaw pulley connected to the second jaw, and the jaw wire includes a first jaw wire connected to the end tool first jaw pulley and a second jaw wire connected to the end tool second jaw pulley.

[0021] In one embodiment of the present invention, based on a plane perpendicular to the first axis and including the fourth axis, the two first jaw wires wound out from the end tool first jaw pulley are arranged on one side of the plane, and the two second jaw wires wound out from the end tool second jaw pulley are arranged on the other side of the plane.

[0022] In one embodiment of the present invention, the jaw wire is formed to contact the end tool jaw pulley, the end tool jaw pitch main pulley and the end tool jaw pitch sub pulley in sequence.

[0023] In one embodiment of the present invention, the rotary tool further includes an end tool pitch pulley arranged adjacent to the end tool jaw pulley and rotatable around the fourth axis or the fifth axis, and pitch wires coupled to the end tool pitch pulley and the drive unit pitch pulley, respectively, to connect the end tool pitch pulley and the drive unit pitch pulley.

[0024] In one embodiment of the present invention, the rotation amount of the drive pitch pulley and the rotation amount of the end tool pitch pulley are substantially the same.

[0025] In one embodiment of the present invention, when the drive unit pitch pulley rotates by a first angle, the drive unit jaw rotation shaft revolves by the first angle, and when the drive unit pitch pulley rotates by the first angle, the end tool pitch pulley and the end tool jaw pitch main pulley rotate by a second angle.

[0026] In one embodiment of the present invention, the end tool further includes at least one drive unit sub-intermediate pulley arranged adjacent to the drive unit jaw pulley for transmitting the jaw wire from the end tool to the drive unit jaw pulley, and the jaw wire passes through the drive unit sub-intermediate pulley, the drive unit jaw pulley, and the drive unit jaw rotation shaft in this order.

[0027] In one embodiment of the present invention, when the drive unit pitch pulley rotates, the drive unit jaw rotation shaft rotates together, thereby changing the path length of the jaw wire from the entry point into the drive unit sub-intermediate pulley, through the drive unit jaw pulley, to the exit point from the drive unit jaw rotation shaft.

[0028] In one embodiment of the present invention, when the drive unit pitch pulley rotates, the path length of the jaw wire, which connects the end tool jaw pulley and the drive unit jaw rotation shaft, is changed from the position where the jaw wire first contacts the drive unit jaw pulley to the position where the jaw wire last contacts the drive unit jaw pulley.

[0029] In one embodiment of the present invention, the driving jaw pulley is formed to be rotatable about the second shaft, and the driving jaw rotation shaft is formed to be revolvable about the second shaft.

[0030] In one embodiment of the present invention, when the driver pitch pulley rotates about the second shaft, the driver jaw rotation shaft connected to the driver pitch pulley revolves about the second shaft, thereby changing the overall length of the jaw wire in the driver.

[0031] In one embodiment of the present invention, when the driving part pitch pulley rotates around the second shaft, the driving part jaw rotation shaft rotates around the second shaft while maintaining a certain distance from the second shaft in a state where the driving part jaw rotation shaft is spaced apart from the second shaft to a certain extent.

[0032] In one embodiment of the present invention, the rotary machine further includes a base plate formed to rotate together with the driving part pitch pulley around the second axis, and the driving part jaw rotation axis is formed on the base plate.

[0033] In one embodiment of the present invention, the base plate is formed with two or more holes, and a drive jaw rotation shaft is disposed in at least one of the holes.

[0034] In one embodiment of the present invention, the base plate rigidly connects the driver pitch pulley and the driver jaw rotation shaft, and when the driver pitch pulley rotates about the second shaft, the driver jaw rotation shaft revolves about the second shaft.

[0035] In one embodiment of the present invention, when the drive jaw rotation shaft revolves around the second shaft, the length of the jaw wire wound around the drive jaw pulley is changed.

[0036] In one embodiment of the present invention, even if the jaw pulley of the driving part rotates, the total length of the jaw wire in the driving part is maintained constant.

[0037] In one embodiment of the present invention, the jaw wire is coupled to the end tool jaw pulley and the drive part jaw pulley, respectively, to form a closed loop as a whole.

[0038] In one embodiment of the present invention, the yaw rotation is an action of the end tool jaw pulley rotating about the first axis, and the pitch rotation is an action of the end tool jaw pulley revolving about a fourth axis different from the first axis.

[0039] According to an embodiment of the present invention, there is provided a surgical instrument including one or more robot arm units that are operated by a handle operation by a surgeon, and a surgical instrument coupled to the robot arm unit, the surgical instrument including: an end tool including one or more jaws and an end tool jaw pulley coupled to the jaw and formed to be rotatable together with the jaw around a first axis, and formed to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moved by the rotation of the end tool jaw pulley; a connection part formed to extend in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; and a drive part coupled to the other end of the connection part and configured to control the pitch rotation and yaw rotation of the end tool, the drive part being a drive unit jaw pulley formed to be rotatable about a second axis and around which at least a portion of the jaw wire is wound; and a drive unit jaw rotation shaft formed to be rotatable about a third axis different from the second axis and movable relatively while maintaining a preset interval with a center of the drive unit jaw pulley, revolving around the center of the drive unit jaw pulley and coupled to the jaw wire, wherein the jaw wire moves due to the rotation of the drive unit jaw rotation shaft, thereby rotating the end tool jaw pulley and the jaw, and the two jaw wires unwound from the drive unit jaw pulley are wound sequentially around the drive unit jaw pulley, the drive unit jaw rotation shaft, and the drive unit jaw pulley, and then extend toward the end tool, and when the drive unit jaw rotation shaft moves relative to the drive unit jaw pulley, the overall length of the jaw wire in the drive unit is changed, thereby causing the end tool to rotate by the pitch. Effect of the Invention

[0040] According to the present invention, the movement of the jaw wire occurring during the pitch movement can be compensated for, so that the pitch movement and the yaw movement / actuation movement can be performed independently and smoothly. [Brief description of the drawings]

[0041] [Figure 1] 1 is a conceptual diagram showing a surgical robot system to which a surgical instrument according to one embodiment of the present invention is attached. [Diagram 2] FIG. 2 is a block diagram showing the internal configuration of the surgical robot system of FIG. 1. [Diagram 3] 2 is a perspective view showing a surgical robot of the surgical robot system of FIG. 1 and a surgical instrument attached thereto. FIG. [Figure 4] FIG. 4 is a diagram showing a state in which an instrument case is removed from FIG. 3. [Diagram 5] 4 is a diagram showing a state in which surgical instruments are removed from the surgical robot of FIG. 3. [Figure 6] 1 is a perspective view showing a surgical instrument according to an embodiment of the present invention; [Figure 7] FIG. 7 is a perspective view of an end tool of the surgical instrument of FIG. 6. [Figure 8] FIG. 7 is a perspective view of an end tool of the surgical instrument of FIG. 6. [Figure 9] FIG. 7 is a plan view of an end tool of the surgical instrument of FIG. 6. [Figure 10] FIG. 7 is a plan view of an end tool of the surgical instrument of FIG. 6. [Figure 11] FIG. 1 is a diagram showing a neutral state in a conventional surgical instrument. [Figure 12] 12 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG. 11. FIG. [Figure 13] FIG. 12 is a conceptual diagram of pitch motion compensation for the surgical instrument of FIG. 11. [Figure 14] FIG. 7 is a conceptual diagram of pitch motion compensation for the surgical instrument of FIG. 6. [Figure 15] 7 is a perspective view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 16]7 is a perspective view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 17] 7 is a perspective view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 18] 7 is a perspective view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 19] 7 is a plan view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 20] 7 is a plan view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 21] 7 is a side view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 22] FIG. 16 is a bottom perspective view showing the drive unit of FIG. 15. [Diagram 23] 16 is a diagram partially illustrating a configuration relating to a first jaw in the drive unit in FIG. 15. FIG. [Figure 24] 16 is a diagram partially illustrating a configuration relating to a second jaw in the drive unit in FIG. 15. FIG. [Diagram 25] 7 is a plan view showing a drive unit of the surgical instrument of FIG. 6. FIG. [Figure 26] FIG. 26 shows an end tool of the surgical instrument in FIG. 25. [Figure 27] 27 is a diagram showing a drive unit and an end tool during pitch motion of the surgical instrument in FIG. 25 and FIG. 26. FIG. [Figure 28] 25 and 26 show the drive and end tool during pitching in the opposite direction to that of FIG. 27. [Figure 29] 7 is a plan view showing a drive unit and an end tool of the surgical instrument of FIG. 6. FIG. [Diagram 30] 7 is a diagram showing a drive unit and an end tool during yaw movement of the surgical instrument in FIG. 6. FIG. [Diagram 31] 1 is a perspective view showing a motor pack according to an embodiment of the present invention; [Diagram 32] 1 is a perspective view showing a motor pack according to an embodiment of the present invention; [Diagram 33]1 is a perspective view showing a motor pack according to an embodiment of the present invention; [Diagram 34] FIG. 32 is a bottom perspective view showing the motor pack of FIG. 31. [Diagram 35] FIG. 32 is a plan view showing the motor pack of FIG. 31. [Diagram 36] FIG. 32 is a diagram showing a state in which the signal in FIG. 31 is rotated by a pitch drive motor. [Figure 37] 32 is a diagram showing a state in which the second jaw is rotated by a second jaw drive motor in FIG. 31. FIG. [Figure 38] FIG. 32 is a diagram showing a state in which the jaw is rotated by the pitch drive motor and the second jaw drive motor in FIG. 31. [Figure 39] FIG. 13 is a perspective view showing a drive unit according to another embodiment of the present invention. [Diagram 40] FIG. 13 is a perspective view showing a drive unit according to another embodiment of the present invention. [Diagram 41] FIG. 13 is a plan view showing a drive unit according to another embodiment of the present invention. [Diagram 42] FIG. 13 is a bottom perspective view showing a drive unit according to another embodiment of the present invention. [Diagram 43] FIG. 13 is a perspective view showing a drive unit according to another embodiment of the present invention. [Diagram 44] FIG. 13 is a perspective view showing a drive unit according to another embodiment of the present invention. [Diagram 45] FIG. 13 is a plan view showing a drive unit according to another embodiment of the present invention. [Figure 46] FIG. 13 is a bottom perspective view showing a drive unit according to another embodiment of the present invention. [Figure 47] FIG. 11 is a perspective view showing a motor pack according to another embodiment of the present invention. [Figure 48] FIG. 11 is a perspective view showing a motor pack according to another embodiment of the present invention. [Figure 49] FIG. 11 is a perspective view showing a motor pack according to another embodiment of the present invention. [Figure 50] FIG. 11 is a perspective view showing a motor pack according to another embodiment of the present invention. [Figure 51]FIG. 11 is a perspective view showing a motor pack according to another embodiment of the present invention. [Figure 52] FIG. 11 is a plan view showing a motor pack according to another embodiment of the present invention. [Figure 53] FIG. 52 is a diagram showing the state in FIG. 51 rotated by a pitch drive motor. [Figure 54] 5A to 5C are enlarged views sequentially showing states rotated by a pitch drive motor. [Figure 55] 5A to 5C are enlarged views sequentially showing states rotated by a pitch drive motor. [Figure 56] 5A to 5C are enlarged views sequentially showing states rotated by a pitch drive motor. [Figure 57] FIG. 52 is a diagram showing a state in which the second jaw is rotated by a second jaw drive motor in FIG. 51. [Figure 58] FIG. 52 is a diagram showing a state in which the jaw is rotated by the pitch drive motor and the second jaw drive motor in FIG. 51. BEST MODE FOR CARRYING OUT THEINVENTION

[0042] The present invention can be modified in various ways and can have various embodiments, and a specific embodiment will be illustrated in the drawings and described in detail. However, it is not intended to limit the present invention to the specific embodiment, and it should be understood that it includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may hinder the gist of the present invention, the detailed description will be omitted.

[0043] 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.

[0044] The terms used in this application are merely used to describe certain embodiments and are not intended to limit the present invention. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this application, terms such as "include" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0045] Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0046] Furthermore, in describing various embodiments of the present invention, it is not necessary to interpret or implement each embodiment independently, and it should be understood that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described separately.

[0047] Fig. 1 is a conceptual diagram showing a surgical robot system to which a surgical instrument according to an embodiment of the present invention is attached. Fig. 2 is a block diagram showing the internal configuration of the surgical robot system of Fig. 1. Fig. 3 is a perspective view showing a surgical robot of the surgical robot system of Fig. 1 and a surgical instrument attached thereto.

[0048] With reference to FIGS. 1 to 3, a surgical robot system 1 includes a master robot 10, a surgical robot 20, and surgical instruments 30.

[0049] The master robot 10 includes an operating member 10a and a display member 10b, and the surgical robot 20 includes one or more robot arm units 21, 22, .

[0050] In detail, the master robot 10 is provided with an operating member 10a so that the surgeon can hold and operate it with both hands. The operating member 10a can be realized with two or more handles as exemplified in Fig. 1, and an operation signal according to the surgeon's handle operation is transmitted to the surgical robot 20 via a wired or wireless communication network to control the robot arm units 21, 22, and 23. In other words, the surgeon can operate the handles to perform surgical operations such as positioning, rotation, and cutting of the robot arm units 21, 22, and 23.

[0051] For example, a surgeon can operate the robot arm units 21, 22, 23 using a handle-shaped operating lever. Such an operating lever can have various mechanical configurations depending on its operation method, and can be provided in various forms for operating the robot arm units 21, 22, 23 of the surgical robot 20 and / or other surgical devices, such as a master handle for operating the operation of the robot arm units 21, 22, 23, and various input tools such as a joystick, keypad, trackball, foot pedal, touch screen, etc., added to the master robot 10 for operating the functions of the entire system. Here, the operating member 10a is not limited to the shape of a handle, and can be applied without any restriction as long as it is a form that can control the operation of the robot arm units 21, 22, 23 via a network such as a wired or wireless communication network.

[0052] Alternatively, voice input or motion input can be applied for user input. That is, the laparoscope can move according to the direction of the line of sight when the user wears glasses or a head mounted display (HMD) with a sensor attached to the head. Alternatively, when the user issues a voice command such as "left", "right", "arm 1", "arm 2", etc., the laparoscope can recognize this and perform the operation.

[0053] The display member 10b of the master robot 10 displays an image of a video captured through a laparoscope, which will be described later. A predetermined virtual operation panel can be displayed on the display member 10b together with the video captured through the laparoscope, or can be displayed independently. Detailed description of the arrangement, configuration, etc. of such a virtual operation panel will be omitted.

[0054] Here, the display member 10b may be composed of one or more monitors, and each monitor may display information required during surgery individually. The number of monitors may be determined in various ways depending on the type and variety of information required to be displayed.

[0055] Meanwhile, the surgical robot 20 may include one or more robot arm units 21, 22, 23. Here, each robot arm unit 21, 22, 23 may be provided in a modular form capable of operating independently of each other, and in this case, an algorithm for preventing collisions between each robot arm unit 21, 22, 23 may be applied to the surgical robot system 1.

[0056] In general, a robot arm refers to a device that has a function similar to a human arm and / or wrist and can attach a predetermined tool to the wrist. In this specification, the robot arm units 21, 22, and 23 can be defined as a concept that includes all of the components such as the upper arm, lower arm, wrist, and elbow, as well as a multi-joint surgical device connected to the wrist. Alternatively, they can be defined as a concept that includes only the components for driving the multi-joint surgical device, excluding the multi-joint surgical device connected to the wrist.

[0057] In this way, the robot arm units 21, 22, and 23 of the surgical robot 20 can be embodied to be driven with multiple degrees of freedom. The robot arm units 21, 22, and 23 can be configured to include, for example, a surgical instrument inserted into a surgical site of a patient, a yaw drive unit that rotates the surgical instrument in a yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in a pitch direction perpendicular to the rotation drive of the yaw drive unit, a transport drive unit that moves the surgical instrument in a longitudinal direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives an end effector at the tip of the surgical instrument to incise or cut the surgical lesion. However, the configuration of the robot arm units 21, 22, and 23 is not limited to this, and it should be understood that such an example does not limit the scope of the present invention. Here, a detailed description of the actual control process, such as the robot arm units 21, 22, and 23 rotating and moving in the corresponding direction by the surgeon operating the operating member 10a, will be omitted.

[0058] Here, surgical instruments 30 can be attached to two of the robot arm units 21, 22, 23, and a laparoscope can be attached to the remaining one. The surgeon can select the robot arm unit 21, 22, 23 that he / she wishes to control via the master robot 10. In this way, the surgeon can directly control a total of three or more surgical instruments via the master robot 10, so that the surgeon can accurately and freely control multiple instruments as intended without the need for a surgical assistant.

[0059] Meanwhile, one or more surgical robots 20 may be provided for operating on a patient, and a laparoscope for displaying an image of a surgical site via the display member 10b may be embodied in an independent surgical robot 20. Furthermore, as described above, the embodiments of the present invention may be generally used in surgeries using various surgical endoscopes other than a laparoscope (e.g., a thoracoscope, an arthroscope, a nasal scope, etc.).

[0060] Referring to FIG. 2, in one embodiment of the present invention, the master robot 10 may include a video input unit 11, a screen display unit 12, a user input unit 13, an operation signal generation unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0061] The video input unit 11 can receive videos captured by a camera provided on a laparoscope of the surgical robot 20 via a wired or wireless communication network.

[0062] The screen display unit 12 outputs an image corresponding to the image received through the image input unit 11 as visual information. In addition, when biological information of the patient is input, the screen display unit 12 can further output information corresponding to the biological information. In addition, the screen display unit 12 can further output image data related to the patient for the surgical site (e.g., X-ray image, CT image, MRI image, etc.). Here, the screen display unit 12 can be embodied in the form of a display member (see 10b in FIG. 1), etc., and an image processing process for outputting the received image as an image through the screen display unit 12 can be performed by the control unit 15.

[0063] 2, the image input unit and the screen display unit are shown as being included in the master robot 10, but are not limited thereto. That is, the display member may be provided as a separate member separated from the master robot 10. Alternatively, the display member may be provided as one component of the master robot 10. In other embodiments, multiple display members may be provided, one of which may be disposed adjacent to the master robot 10 and the others may be disposed at a distance from the master robot 10.

[0064] Here, the screen display unit 12 (i.e., the display member 10b in FIG. 1) may be provided as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image and allows the observer to feel three-dimensional dynamism and reality using the depth information. The surgical robot system 1 according to one embodiment of the present invention may provide a more realistic virtual environment to the user by providing the screen display unit 12 with a stereoscopic display device.

[0065] The user input unit 13 is a means for allowing a surgeon to operate the positions and functions of the robot arm units 21, 22, and 23 of the surgical robot 20. The user input unit 13 may be formed in the form of a handle-shaped operating member (see 10a in FIG. 1) as exemplified in FIG. 1, but the shape is not limited thereto and may be embodied in various shapes to achieve the same purpose. Also, for example, one part may be formed in a handle shape and another part in a different shape such as a clutch button, and a finger insertion tube or an insertion ring may be further formed to allow the surgeon's finger to be inserted and fixed to facilitate the operation of the surgical tool.

[0066] When the surgeon operates the user input unit 13 to move the positions of the robot arm units 21, 22, 23 or to operate a surgical operation, the operation signal generating unit 14 generates a corresponding operation signal and transmits it to the surgical robot 20 via the communication unit 18. The operation signal can be transmitted and received via a wired or wireless communication network.

[0067] The control unit 15 is a kind of central processing unit and controls the operation of each component so as to execute the above-mentioned functions. For example, the control unit 15 may execute a function of converting a video inputted through the video input unit 11 into an image to be displayed on the screen display unit 12.

[0068] The memory 16 can perform a function of temporarily or permanently storing data processed by the control unit 15. Here, the memory 16 can include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto.

[0069] The storage unit 17 can store data received from the surgical robot 20. The storage unit 17 can also store various input data (for example, patient data, equipment data, surgery data, etc.).

[0070] The communication unit 18 provides a communication interface required for transmitting and receiving the video data transmitted from the surgical robot 20 and the control data transmitted from the master robot 10 in cooperation with the communication network 60 .

[0071] The surgical robot 20 includes a plurality of robot arm unit controllers 21a, 22a, and 23a. The robot arm unit controller 21a includes a robot arm controller 26, an instrument controller 27, and a communication unit 29. The robot arm unit controller 21a may further include a rail controller 28.

[0072] The robot arm control unit 26 can play a role in receiving the operation signal generated by the operation signal generating unit 14 of the master robot 10, and controlling the robot arm units 21, 22, and 23 to operate in response to this operation signal.

[0073] The instrument control unit 27 can play a role of receiving an operation signal generated by the operation signal generating unit 14 of the master robot 10 and controlling the surgical instruments 30 to operate in response to this operation signal.

[0074] The communication unit 29 provides a communication interface required for transmitting and receiving the video data transmitted from the surgical robot 20 and the control data transmitted from the master robot 10 in cooperation with the communication network 60 .

[0075] Meanwhile, the communication network 60 serves to connect the master robot 10 and the surgical robot 20. That is, the communication network 60 refers to a communication network that provides a connection path so that the master robot 10 and the surgical robot 20 can transmit and receive data to each other after they are connected. The communication network 60 can include, for example, wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MaNs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), and wireless networks such as wireless LANs, CDMA, Bluetooth, and satellite communications, but the scope of the present invention is not limited thereto.

[0076] Fig. 3 is a perspective view showing the surgical robot and the surgical instruments attached thereto of the surgical robot system of Fig. 1. Fig. 4 is a view showing a state in which an instrument case is removed from Fig. 3. Fig. 5 is a view showing a state in which the surgical instruments are removed from the surgical robot of Fig. 3.

[0077] A surgical instrument 30, which will be described later, may be connected and installed to the robot arm units 21, 22, and 23. Referring to Fig. 3, an instrument case 40 may cover the surgical instrument 30 and be connected to the robot arm unit 21. The instrument case 40 covers one side of the surgical instrument 30 that is exposed to the outside, thereby preventing external foreign objects from reaching the surgical instrument 30 and preventing the surgical instrument 30 from being damaged by an external impact.

[0078] Referring to FIG. 3, only one robot arm unit 21 of the robot arm units 21, 22, 23 is shown coupled with a surgical instrument 30, but this is not limited thereto, and as described above, two of the robot arm units 21, 22, 23 can be attached with surgical instruments 30 and one can be attached with a laparoscope.

[0079] 3 to 5, the motor pack 500 is connectable to the surgical instrument 30, and can be coupled to the surgical robot 20, specifically, the robot arm unit 21, and fixed in position.

[0080] The instrument case 40 may be connected to one side of the surgical instrument 30, and the motor pack 500 may be connected and coupled to the other side opposite thereto. The motor pack 500 is supplied with power from an external source to generate power, and may transmit the power generated by the motor pack 500 to the surgical instrument 30, thereby enabling the surgical instrument 30 to perform pitch, yaw, actuation, and roll motions.

[0081] (Articulated surgical device)

[0082] FIG. 6 is a perspective view showing a surgical instrument according to an embodiment of the present invention. FIGS. 7 and 8 are perspective views of an end tool of the surgical instrument of FIG. 6. FIGS. 9 and 10 are plan views of the end tool of the surgical instrument of FIG. 6. FIG. 11 is a view showing a neutral state in a conventional surgical instrument. FIG. 12 is a view showing a case where pitch compensation is performed in the surgical instrument of FIG. 11. FIG. 13 is a conceptual diagram of pitch motion compensation of the surgical instrument of FIG. 11. FIG. 14 is a conceptual diagram of pitch motion compensation of the surgical instrument of FIG. 6. FIGS. 15 to 18 are perspective views showing a drive unit of the surgical instrument of FIG. 6. FIGS. 19 and 20 are plan views showing the drive unit of the surgical instrument of FIG. 6. FIG. 21 is a side view showing the drive unit of the surgical instrument of FIG. 6. FIG. 22 is a bottom perspective view showing the drive unit of FIG. 15. Fig. 23 is a view partially showing a configuration related to a first jaw in the driving unit of Fig. 15. Fig. 24 is a view partially showing a configuration related to a second jaw in the driving unit of Fig. 15. First, referring to Fig. 6, a surgical instrument 30 according to a first embodiment of the present invention includes an end tool 100, a driving unit 200, and a power transmission unit 300, and the power transmission unit 300 may include a connection unit 310.

[0083] Here, the connection part 310 is formed in a hollow shaft shape and can accommodate one or more wires (described later) therein, and has one end connected to the driving part 200 and the other end connected to the end tool 100, thereby serving to connect the driving part 200 and the end tool 100.

[0084] The driving unit 200 is formed at one end of the connection unit 310, and provides an interface that can be coupled to a robot arm unit (see 21 in FIG. 1, etc.). Therefore, when the master robot (see 10 in FIG. 1) is operated by a user, the motor pack (500) of the robot arm unit (see 21 in FIG. 1, etc.) is operated so that the end tool 100 of the surgical instrument 30 can execute the corresponding operation, and the driving force of the motor pack (500) is transmitted to the end tool 100 via the driving unit 200. In other words, the driving unit 200 itself can be described as an interface that connects the surgical instrument 30 and the surgical robot 20.

[0085] The endotool 100 is formed at the other end of the connection part 310 and is inserted into a surgical site to perform an operation required for surgery. As an example of such an endotool 100, a pair of jaws 101, 102 for performing a gripping operation can be used as shown in FIG. 5. However, the idea of ​​the present invention is not limited thereto, and various devices for surgery can be used as the endotool 100. For example, a one-arm cauterization configuration can also be used as the endotool. Such an endotool 100 is connected to the drive unit 200 by the power transmission unit 300, and the drive force of the drive unit 200 is transmitted to the endotool 100 via the power transmission unit 300, thereby performing an operation required for surgery such as gripping, cutting, and suturing.

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

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

[0088] First, the pitch motion means a motion of the end tool 100 rotating in an up-down direction with respect to the extension direction of the connection part 310 (X-axis direction in FIG. 4), i.e., a motion of rotating around the Y-axis in FIG. 4. In other words, it means a motion of the end tool 100 formed by extending from the connection part 310 in the extension direction of the connection part 310 (X-axis direction in FIG. 4) rotating up-down around the Y-axis with respect to the connection part 310.

[0089] Next, the yaw motion means a motion of the end tool 100 rotating left and right with respect to the extension direction of the connection part 310 (X-axis direction in FIG. 4), i.e., a motion of rotating around the Z-axis in FIG. 4. In other words, it means a motion of the end tool 100 formed extending from the connection part 310 in the extension direction of the connection part 310 (X-axis direction in FIG. 4) rotating left and right around the Z-axis with respect to the connection part 310. In other words, it means a motion of two jaws 101 and 102 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0090] Meanwhile, the actuation movement refers to the movement in which the end tool 100 rotates around the same rotation axis as the yaw movement, but the two jaws 101 and 102 rotate in opposite directions to each other, thereby contracting or opening the jaws. In other words, it refers to the movement in which the two jaws 101 and 102 formed on the end tool 100 rotate in opposite directions to each other around the Z axis.

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

[0092] The power transmission unit 300 connects the driving unit 200 and the end tool 100 and serves to transmit the driving force of the driving unit 200 to the end tool 100, and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0093] The end tool 100, the driving unit 200, the power transmission unit 300, and the like of the surgical instrument 30 in FIG. 6 will be described in further detail below.

[0094] (Power transmission section)

[0095] The power transmission section 300 of the surgical instrument 30 of FIG. 6 will be described in more detail below.

[0096] 7 to 24, a power transmission portion 300 of a surgical instrument 30 according to one embodiment of the present invention can include a wire 301, a wire 302, a wire 303, a wire 304, a wire 305, and a wire 306.

[0097] Here, the wire 301 and the wire 305 can function as a pair to serve as a first jaw wire. The wire 302 and the wire 306 can function as a pair to 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 referred to as a jaw wire. Also, the wires 303 and 304 can function as a pair to serve as a pitch wire.

[0098] Here, in the drawings, a pair of wires is shown as being associated with the rotational movement of the first jaw 101 and a pair of wires is shown as being associated with the rotational movement of the second jaw 102, but the idea of ​​the present invention is not limited thereto. For example, a pair of wires may be associated with yaw movement and a pair of wires may be associated with actuation movement.

[0099] In addition, the power transmission unit 300 of the surgical instrument 30 according to an embodiment of the present invention may include fastening members 321, 326, etc., which are coupled to each end of each wire in order to couple the wire to the pulley. Here, each fastening member may have various shapes such as a ball shape, a tube shape, etc., as necessary.

[0100] Here, fastening member 321, which is a pitch wire fastening member, is coupled to the end of wire 303 and wire 304, which are pitch wires, on the end tool 100 side, and can function as a pitch wire end tool fastening member. Meanwhile, although not shown in the figure, a pitch wire drive unit fastening member (not shown) can be coupled to the end of wire 303 and wire 304, which are pitch wires, on the drive unit 200 side.

[0101] Meanwhile, fastening member 326, which is a second jaw wire fastening member, is coupled to the end of wire 302 and wire 306, which are the second jaw wires, on the side of end tool 100, and can function as a second jaw wire end tool fastening member. Meanwhile, although not shown in the figure, a second jaw wire drive unit fastening member (not shown) can be coupled to the end of wire 302 and wire 306, which are the second jaw wires, on the side of drive unit 200.

[0102] Meanwhile, although not shown in the figures, a fastening member (not shown) having the same shape as fastening member 326 is coupled to the end of wire 301 and wire 305, which are the first jaw wires, on the side of end tool 100, and can function as a first jaw wire end tool fastening member. Meanwhile, although not shown in the figures, a first jaw wire driving part fastening member (not shown) can be coupled to the end of wire 301 and wire 305, which are the first jaw wires, on the side of drive part 200.

[0103] Here, each fastening member is classified as being included in the power transmission unit 300, but the fastening members on the end tool 100 side can also be classified as being included in the end tool 100, and the fastening members on the drive unit 200 side can also be classified as being included in the drive unit 200.

[0104] The connection relationship between the wire, the fastening member and the pulley will be described in detail below.

[0105] First, the second jaw wires, wire 302 and wire 306, may be one single wire. A fastening member 326, which is a second jaw wire end tool fastening member, is fitted to the midpoint of the second jaw wire, which is a single wire, and the fastening member 326 is crimped and fixed, and then both strands of the second jaw wire with the fastening member 326 at the center may be referred to as wire 302 and wire 306, respectively.

[0106] Alternatively, the second jaw wires 302 and 306 may be formed of separate wires, and the wires 302 and 306 may be connected by the fastening member 326 .

[0107] Then, by connecting this fastening member 326 to the pulley 121, the wire 302 and the wire 306 can be fixedly connected to the pulley 121. This allows the pulley 121 to rotate depending on whether the wire 302 and the wire 306 are pulled or unwound.

[0108] Meanwhile, a second jaw wire driving part fastening member (not shown) may be coupled to the end of the wire 302 and the wire 306 opposite to the position where the fastening member 326 is fastened. That is, the end of the wire 302 and the wire 306 opposite to the position where the fastening member 326 is fastened may be fitted into the second jaw wire driving part fastening member (not shown) and the fastening member (not shown) may be crimped to fix the wire 302 and the wire 306 to the second jaw wire driving part fastening member (not shown).

[0109] In addition, a second jaw wire driving unit fastening member (not shown) connected to the wire 302 and the wire 306 is connected to the pulley 221 and the pulley 222, respectively, so that the wire 302 and the wire 306 can be fixedly connected to the pulley 221 and the pulley 222, respectively. As a result, when the pulley 221 and the pulley 222 are rotated by the motor pack (500) or manual power, the wire 302 and the wire 306 are pulled or unwound, so that the pulley 121 of the end tool 100 can rotate.

[0110] Here, the drive unit second jaw pulley includes two pulleys, pulley 221 and pulley 222, and therefore the second jaw wire drive fastening member can also include two fastening members. Alternatively, the drive unit second jaw pulley could include one pulley, and the second jaw wire drive fastening member could also include one fastening member, and wire 302 and wire 306 could be coupled to one fastening member and coupled to one drive unit second jaw pulley.

[0111] Similarly, the wire 301 and wire 305, which are the first jaw wire, are respectively coupled to a first jaw wire end tool fastening member (not shown) and a first jaw wire drive fastening member (not shown). The first jaw wire end tool fastening member (not shown) is coupled to the pulley 111, and the first jaw wire drive fastening member (not shown) is coupled to the pulley 211 and the pulley 212. As a result, when the pulley 211 and the pulley 212 are rotated by the motor pack (500) or human power, the wire 301 and the wire 305 are pulled or unwound, so that the pulley 111 of the end tool 100 can rotate.

[0112] Similarly, one end of wire 303 and wire 304, which are pitch wires, is connected to fastening member 321, which is a pitch wire end tool fastening member, and the other end of wire 303 and wire 304 is connected to a pitch wire drive fastening member (not shown). Fastening member 321 is connected to pulley 131, and the pitch wire drive fastening member (not shown) is connected to pulley 231. As a result, when pulley 231 is rotated by a motor pack (500) or human power, wire 303 and wire 304 are pulled or unwound, and pulley 131 of end tool 100 can rotate.

[0113] As a result, the wires 301 and 305, which are both strands of the first jaw wire, are coupled to the fastening member 323, which is the first jaw wire end tool fastening member, and the first jaw wire driving unit fastening member (not shown), and can be formed to form a closed loop as a whole. Similarly, the second jaw wire and the pitch wire can also be formed to form a closed loop, respectively.

[0114] (End Tool)

[0115] The endotool 100 of the surgical instrument 30 of FIG. 4 will now be described in more detail.

[0116] Figures 7 and 8 are perspective views of the endotool of the surgical instrument of Figure 6. Figures 9 and 10 are plan views of the endotool of the surgical instrument of Figure 6. Here, Figure 7 shows the end tool hub 106 and the pitch hub 107 in a coupled state, and Figure 8 shows the end tool hub 106 and the pitch hub 107 in a removed state.

[0117] 7 and 10, an end tool 100 according to a first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

[0118] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, and 116 for rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, and 126 for rotational movement of the second jaw 102.

[0119] Here, in the figure, one group of pulleys is shown as being related to the rotational motion of the first jaw 101, and one group of pulleys is shown as being related to the rotational motion of the second jaw 102, but the idea of ​​the present invention is not limited thereto. For example, one group of pulleys in the end tool may be related to yaw motion, and one group of pulleys may be related to actuation motion. Here, pulleys included in the end tool 100, including the above-mentioned pulleys, may be generally referred to as end tool pulleys.

[0120] Here, although the figures show opposing pulleys formed parallel to one another, the concept of the present invention is not limited thereto, and it will be appreciated that each pulley may be formed in a variety of positions and sizes suited to the configuration of the end tool.

[0121] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0122] The end tool hub 106 has a rotating shaft 141 and a rotating shaft 142, which will be described later, inserted therethrough, and can accommodate at least a portion of the first jaw 101 and the second jaw 102, which are axially coupled to the rotating shaft 141, inside the end tool hub 106. The end tool hub 106 can also accommodate at least a portion of the pulley 112 and the pulley 122, which are axially coupled to the rotating shaft 142, inside the end tool hub 106.

[0123] Also, a pulley 131 that serves as an end tool pitch pulley may be formed at one end of the end tool hub 106. As shown in FIG. 5, the pulley 131 may be formed of a separate member from the end tool hub 106 and connected to the end tool hub 106. Although not shown in the figure, the pulley 131 may be formed integrally with the end tool hub 106 (one-body). That is, one end of the end tool hub 106 may be formed in a disk or semicircular shape like a pulley, and a groove around which a wire is wound may be formed on the outer circumferential surface. The above-mentioned wires 303 and 304 are connected to the pulley 131 that serves as an end tool pitch pulley, and the pulley 131 performs a pitch movement while rotating around the rotation axis 143.

[0124] Rotation shafts 143 and 144, which will be described later, are inserted through the pitch hub 107, and the pitch hub 107 can be axially coupled to the end tool hub 106 and the pulley 131 by the rotation shaft 143. Therefore, the end tool hub 106 and the pulley 131 (coupled thereto) can be formed to be rotatable relative to the pitch hub 107 around the rotation shaft 143.

[0125] 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.

[0126] Furthermore, the end tool 100 according to the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141 and the rotating shaft 142 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0127] The rotating shafts 141, 142, 143, and 144 may be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100. Therefore, in order from the distal end 104, the rotating shaft 141 may be referred to as the first pin, the rotating shaft 142 as the second pin, the rotating shaft 143 as the third pin, and the rotating shaft 144 as the fourth pin.

[0128] Here, rotation axis 141 can function as the end tool jaw pulley rotation axis, rotation axis 142 can function as the end tool jaw auxiliary pulley rotation axis, rotation axis 143 can function as the end tool pitch rotation axis, and rotation axis 144 can function as the end tool pitch auxiliary rotation axis of end tool 100.

[0129] Each of the rotating shafts 141, 142, 143, 144 may have one or more pulleys fitted thereto, which will be described in detail below.

[0130] Pulley 111 functions as an end tool first jaw pulley and pulley 121 functions as an end tool second jaw pulley, and these two components may be collectively referred to as the end tool jaw pulleys.

[0131] 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 can be formed to be rotatable around a different 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. That is, when pulley 111 and pulley 121 rotate in the same direction around rotation axis 141, a yaw motion is performed, and when pulley 111 and pulley 121 rotate in opposite directions around the rotation axis, an actuation motion is performed.

[0132] 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.

[0133] Pulley 112 functions as an end tool first jaw assist pulley and pulley 122 functions as an end tool second jaw assist pulley, and these two components may be collectively referred to as the end tool jaw assist pulleys.

[0134] In detail, the pulleys 112 and 122, which are the end tool jaw auxiliary pulleys, may be additionally provided on one side of the pulleys 111 and 121. That is, the pulley 112, which is the auxiliary pulley, may be disposed between the pulleys 111 and 113 / 114. Also, the pulley 122, which is the auxiliary pulley, may be disposed between the pulleys 121 and 123 / 124. The pulleys 112 and 122 may be formed to be rotatable independently of each other about the rotation shaft 142. Here, the pulleys 112 and 122 are formed to rotate about one rotation shaft 142 in the drawing, but it goes without saying that the pulleys 112 and 122 may be formed to be rotatable about different shafts. Such auxiliary pulleys will be described in more detail later.

[0135] 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 can be collectively referred to as the end tool jaw pitch main pulleys.

[0136] Pulleys 115 and 116 function as end tool first jaw pitch sub-pulleys, and pulleys 125 and 126 function as end tool second jaw pitch sub-pulleys, and these two components may be collectively referred to as end tool jaw pitch sub-pulleys.

[0137] The components involved in the rotation of pulley 111 will be described below.

[0138] Pulley 113 and pulley 114 function as end tool first jaw pitch main pulleys. That is, 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.

[0139] Pulley 115 and pulley 116 function as end tool first jaw sub pulleys. That is, they function as sub rotating pulleys for the pitch motion 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.

[0140] Here, pulleys 113 and 114 are disposed on one side of pulleys 111 and 112 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.

[0141] Wire 301, which is the first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so that at least a portion of it contacts pulley 111, pulley 112, pulley 114, and pulley 116.

[0142] In other words, the first jaw wires, wire 301 and wire 305, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 111, pulley 112, pulley 114 and pulley 116, and wire 301 and wire 305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0143] Therefore, when wire 301 is pulled toward the side of arrow 301 in Fig. 7, the fastening member (not shown) 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 toward the side of arrow 305 in Fig. 7, the fastening member (not shown) to which wire 305 is connected and pulley 111 connected thereto rotate in the direction of arrow R in Fig. 7.

[0144] Pulleys 112 and 122, which act as auxiliary pulleys, are described in more detail below.

[0145] Pulley 112 and pulley 122 can play a role in expanding the rotation angle of first jaw 101 and second jaw 102, respectively, by contacting wire 305, which is the first jaw wire, and wire 302, which is the second jaw wire, and changing the arrangement paths of wire 305 and wire 302 to a certain extent.

[0146] That is, when the auxiliary pulley is not arranged, the first jaw and the second jaw can only rotate up to a right angle, but in one embodiment of the present invention, the auxiliary pulleys 112 and 122 are additionally provided, so that the maximum rotation angle can be increased by θ as viewed from FIG. 7. This enables the operation in which the two jaws of the end tool 100 must open for the actuation operation when the two jaws are yaw-rotated together by 90° in the L direction. This is because the second jaw 102 can rotate by an additional angle θ as in FIG. 7. Similarly, the actuation operation is possible even when the two jaws are yaw-rotated in the R direction. In other words, it has a feature that the range of yaw rotation in which the actuation operation is possible can be expanded via the pulleys 112 and 122.

[0147] This will be explained in more detail as follows.

[0148] When the auxiliary pulley is not provided, the first jaw wire is fixedly connected to the end tool first jaw pulley and the second jaw wire is fixedly connected to the end tool second jaw pulley, so that the end tool first jaw pulley and the end tool second jaw pulley can only rotate up to 90°. In this case, when an actuation operation is performed with the first jaw and the second jaw positioned on the 90° line, the first jaw can be opened, but the second jaw cannot rotate more than 90°. Therefore, there is a problem that the actuation operation is not performed smoothly when the first jaw and the second jaw are performing a yaw operation more than a certain angle.

[0149] In order to solve this problem, in the case of the surgical instrument 30 of the present invention, the pulley 112 and the pulley 122, which are auxiliary pulleys, are additionally disposed on one side of the pulley 111 and the pulley 121. By disposing the pulley 112 and the pulley 122 in this way and changing the arrangement path of the wire 305, which is the first jaw wire, and the wire 302, which is the second jaw wire, to a certain extent, the tangential direction of the wire 305 and the wire 302 is changed, and therefore the fastening member 326, which connects the wire 302 and the pulley 121, can rotate up to the N line in Fig. 7. That is, the fastening member 326, which is the connection part between the wire 302 and the pulley 121, can rotate until it is positioned on the common inscribed line of the pulley 121 and the pulley 122. Similarly, the fastening member 323, which is the connection part between the wire 305 and the pulley 111, can rotate until it is positioned on the common inscribed line of the pulley 111 and the pulley 112, and the rotation range can be expanded in the L direction.

[0150] In other words, the two wires of the first jaw wire, wire 301 and wire 305, wound around pulley 111 by pulley 112 are perpendicular to the Y axis and disposed on one side of a plane passing through the X axis. At the same time, the two wires of the second jaw wire, wire 302 and wire 306, wound around pulley 121 by pulley 122 are perpendicular to the Y axis and disposed on the other side of a plane passing through the X axis.

[0151] In other words, pulleys 113 and 114 are perpendicular to the Y axis and disposed on one side of a plane passing through the X axis, and pulleys 123 and 124 are perpendicular to the Y axis and disposed on the other side of a plane passing through the X axis.

[0152] In other words, the wire 305 is located on the inscribed line between the pulleys 111 and 112, and the rotation angle of the pulley 111 is expanded by the pulley 112. In addition, the wire 302 is located on the inscribed line between the pulleys 121 and 122, and the rotation angle of the pulley 121 is expanded by the pulley 122.

[0153] According to the present invention, the rotation radius of the jaws 101 and 102 is increased, and therefore the yaw operation range in which normal opening and closing actuation can be performed is expanded.

[0154] Next, components related to the rotation of pulley 121 will be described.

[0155] Pulley 123 and pulley 124 function as end tool second jaw pitch main pulleys. That is, 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.

[0156] 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.

[0157] Pulleys 123 and 124 are disposed on one side of pulley 121 so as to face each other. Here, pulleys 123 and 124 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 125 and 126 are disposed on one side of pulleys 123 and 124 so as to face each other. Here, pulleys 125 and 126 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 123, 125, 124, and 126 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.

[0158] The wire 306, which is the second jaw wire, is wound around the pulley 125, the pulley 123, and the pulley 121 in sequence so that at least a portion of the wire comes into contact with the pulleys. The wire 302 connected to the wire 306 by the fastening member 326 is wound around the pulley 121, the pulley 122, the pulley 124, and the pulley 126 in sequence so that at least a portion of the wire comes into contact with the pulleys.

[0159] In other words, the second jaw wires, wire 306 and wire 302, are wound sequentially so as to be in at least partial contact with pulley 125, pulley 123, pulley 121, pulley 122, pulley 124 and pulley 116, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0160] Therefore, when wire 306 is pulled in the direction of arrow 306 in Fig. 9, fastening member 326 to which wire 306 is connected and pulley 121 connected thereto rotate in the direction of arrow R in Fig. 9. Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 9, fastening member 326 to which wire 302 is connected and pulley 121 connected thereto rotate in the direction of arrow L in Fig. 9.

[0161] The pitch movement of the present invention will be explained in more detail below.

[0162] First, for the pitch movement, pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys, are formed on the end tool 100 side so as to be rotatable about a rotation axis 143. Meanwhile, pulleys 115, 116, 125, and 126, which are end tool jaw pitch sub pulleys, are formed on the proximal end 105 side so as to be rotatable about a rotation axis 144.

[0163] Then, with respect to a plane (i.e., the XY plane) that is perpendicular to the rotation axis 141 and includes the rotation axis 143, the two wires 301 and 305 of the first jaw wire are located on the same side with respect to the XY plane. That is, the wires 301 and 305 are formed so as to pass below the pulleys 113 and 114 that are the end tool jaw pitch main pulleys and above the pulleys 115 and 116 that are the end tool jaw pitch sub pulleys.

[0164] Similarly, the two second jaw wires, wire 302 and wire 306, are located on the same side with respect to the XY plane. That is, wire 302 and wire 306 are formed so as to pass above pulleys 123 and 124, which are end tool jaw pitch main pulleys, and below pulleys 125 and 126, which are end tool jaw pitch sub pulleys.

[0165] In the two wires of the first jaw wire, wire 301 and wire 305, when wire 301 is pulled toward arrow 301 in FIG. 9 and wire 305 is simultaneously pulled toward arrow 305 in FIG. 9 (i.e., when both strands of the first jaw wire are pulled in the same direction), as shown in FIG. 7, wire 301 and wire 305 are wound around the lower part of pulley 113 and pulley 114 which are rotatable around rotation axis 143 which is the end tool pitch rotation axis. Therefore, pulley 111 to which wire 301 and wire 305 are fixedly connected and end tool hub 106 to which pulley 111 is connected rotate together in the counterclockwise direction around rotation axis 143 as a whole, and as a result, end tool 100 performs a pitch motion while rotating downward. At this time, since the second jaw 102 and the wire 302 and wire 306 fixedly connected thereto are wound around the pulleys 123 and 124 which can rotate around the rotation axis 143, the wires 302 and 306 are rewound in the opposite directions to the arrows 302 and 306, respectively.

[0166] On the other hand, with regard to the two wires of the second jaw wire, the wire 305 and the wire 306, when the wire 302 is pulled toward the arrow 302 side in FIG. 9 and at the same time the wire 306 is pulled toward the arrow 306 side in FIG. 9 (i.e., when both wires of the second jaw wire are pulled in the same direction), as shown in FIG. 7, the wire 302 and the wire 306 are wound around the pulley 123 and the pulley 124 which are rotatable around the rotation axis 143 which is the end tool pitch rotation axis. As a result, the pulley 111 to which the wire 302 and the wire 306 are fixedly connected and the end tool hub 106 to which the pulley 111 is connected rotate together in the clockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 performs a pitch motion while rotating upward. At this time, since the first jaw 101 and the wires 301 and 305 fixedly connected thereto are wound around the lower part of the pulleys 113 and 114 which can rotate around the rotation axis 143, the wires 302 and 306 move in the opposite direction to the wires 301 and 305, respectively.

[0167] In other words, when the end tool 100 pitches, both strands of each jaw wire move simultaneously in the same direction.

[0168] Meanwhile, the endotool 100 of the surgical instrument 30 of the present invention further includes a pulley 131 which is an endotool pitch pulley, and the driving unit 200 further includes a pulley 231 which is a driving unit pitch pulley. The power transmission unit 300 may further include wires 303 and 304 which are pitch wires. In detail, the pulley 131 of the endotool 100 is rotatable around a rotation axis 143 which is an endotool pitch rotation axis, and may be formed integrally with the endotool hub 106 (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 and the pulley 231 of the driving unit 200.

[0169] Therefore, when pulley 231 of drive unit 200 rotates, the rotation of pulley 231 is transmitted to pulley 131 of end tool 100 via wires 303 and 304, and pulley 131 also rotates together, resulting in end tool 100 performing a pitch motion while rotating.

[0170] That is, the surgical instrument 30 according to the first embodiment of the present invention includes a pulley 131 of the end tool 100, a pulley 231 of the drive unit 200, and wires 303 and 304 of the power transmission unit 300 for transmitting power for the pitch movement, and the driving force of the pitch movement of the drive unit 200 can be more completely transmitted to the end tool 100, thereby improving operational reliability.

[0171] Here, the diameters of pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys, and the diameter of pulley 131, which is an end tool pitch pulley, may be the same as or different from each other. 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 drive unit intermediate pulley of drive unit 200, which will be described later, to the diameter of the drive unit pitch pulley. This will be described in detail later.

[0172] (Drive unit)

[0173] In the following, the drive part 200 of the surgical instrument 30 of FIG. 6 will be explained in more detail.

[0174] 15 to 24, the drive unit 200 of the surgical instrument 30 according to the first embodiment of the present invention can include pulleys 211 and 212 related to the rotational motion of the first jaw 101. It can also include pulleys 221 and 222 related to the rotational motion of the second jaw 102.

[0175] Referring to FIG. 21, opposing pulleys are shown arranged parallel to one another, however, the concept of the present invention is not limited thereto and it will be appreciated that each pulley may be variously formed in a position and size suited to the configuration of drive unit 200.

[0176] The driving part 200 of the surgical instrument 30 according to the first embodiment of the present invention may further include a pulley 231 that serves as a driving part pitch pulley.

[0177] The driving unit 200 according to the first embodiment of the present invention may include a rotating shaft 241, a rotating shaft 242, and a rotating shaft 243. Here, the rotating shaft 241 may function as a driving unit first jaw rotating shaft, and the rotating shaft 242 may function as a driving unit second jaw rotating shaft. And, the rotating shaft 243 may function as a driving unit pitch rotating shaft. At least one pulley may be fitted to each of the rotating shafts 241, 242, and 243, which will be described in detail later.

[0178] 15 and 16, the actuator 200 according to the first embodiment of the present invention may include a base plate 205. The base plate 205 is coupled to a rotating shaft 243 and rotates together with the rotating shaft 243 and a pulley 231. The base plate 205 and the rotating shaft 243 may be formed as one body, or may be formed independently and coupled to each other, and various modifications may be possible.

[0179] 15 and 16, a rotation shaft 241 which is a rotation shaft of a first jaw of a driving unit and a rotation shaft 242 which is a rotation shaft of a second jaw of a driving unit may be coupled on a base plate 205. As a result, when the base plate 205 rotates around the rotation shaft 243, the rotation shafts 241 and 242 revolve around the rotation shaft 243.

[0180] FIG. 22 is a bottom perspective view showing the drive unit of FIG. 15. At least one coupling hole 205a, to which a pitch drive motor (see 553 in FIG. 34) can be coupled, can be formed in the bottom surface of the base plate 205 in the shape of a hole portion. As a result, the base plate 205 can connect the drive unit 200 and the motor pack 500, and specifically function as a pitch drive motor coupling unit.

[0181] 22, the driving unit 200 according to the first embodiment of the present invention may include a motor coupling unit 251 and a motor coupling unit 252. Here, the motor coupling unit 251 may function as a first jaw drive motor coupling unit, and the motor coupling unit 252 may function as a second jaw drive motor coupling unit.

[0182] 21 and 22, the motor coupling part 251 may be formed in a rotatable plate shape and may have at least one coupling hole 251a to which a first jaw driving motor (see 551 in FIG. 34) may be coupled. The motor coupling part 252 may be formed in a rotatable plate shape and may have at least one coupling hole 252a to which a second jaw driving motor (see 552 in FIG. 34) may be coupled.

[0183] 21 and 22, two coupling holes 205a, 251a, and 252a are formed, respectively. As a result, when the base plate 205, the motor coupling part 251, and the motor coupling part 252 are coupled to the pitch drive motor 553, the first jaw drive motor 551, and the second jaw drive motor 552, respectively, power can be transmitted from the motor pack 500, specifically, the pitch drive motor 553, the first jaw drive motor 551, and the second jaw drive motor 552.

[0184] That is, the base plate 205, the motor coupling part 251, and the motor coupling part 252 of the driving part 200 receive power by driving the motor packs 500 arranged in the respective robot arm units 21, 22, and 23, so that the driving part 200 can be operated.

[0185] Each component is described in more detail below.

[0186] 15 and 21, pulley 211 and pulley 212 function as a drive part first jaw pulley, and pulley 221 and pulley 222 function as a drive part second jaw pulley, and these components can be collectively referred to as drive part jaw pulleys.

[0187] Here, in the figure, pulley 211 is shown as being related to the rotational motion of the first jaw 101 of the end tool 100, and pulley 221 is shown as being related to the rotational motion of the second jaw 102 of the end tool 100, but the idea of ​​the present invention is not limited thereto. For example, a group of pulleys in the drive unit may be related to yaw motion, and a group of pulleys may be related to actuation motion. Therefore, pulley 211 and pulley 212 may be collectively referred to as drive unit drive pulleys. And, the following other pulleys may also be related to a group of pulleys in the yaw motion, and a group of pulleys in the actuation motion.

[0188] Referring to FIG. 15, case 201 is disposed opposite motor pack 500, and one side (upper side in FIG. 15) can be connected to instrument case 40, and the opposite other side (lower side in FIG. 15) can be connected to motor pack 500.

[0189] A base plate 205 may be disposed inside the case 201, and the base plate 205 may rotate in a clockwise or counterclockwise direction within the case 201 with respect to a rotation axis 243.

[0190] A plurality of rotation shafts including a rotation shaft 241, a rotation shaft 242, and a rotation shaft 243 may be formed on a first surface of the base plate 205. In addition, a plurality of intermediate pulleys 235 may be formed on the first surface of the base plate 205, and may serve to redirect the wires 301, 302, 303, 304, 305, and 306 that pass through the connecting part 310 and enter the driving part 200 to the pulley 231 side.

[0191] Specifically, the multiple intermediate pulleys 235 can guide a path so that wires 301, 302, 303, 304, 305, and 306 moving parallel to the longitudinal center axis of connecting portion 310 inside connecting portion 310, which is formed extending in a direction parallel to rotation axis 243, can flow into pulleys 231, 211, 212, 221, and 222, which are formed on a plane perpendicular to rotation axis 243.

[0192] The multiple intermediate pulleys 235 are disposed adjacent to the drive unit jaw pulleys, that is, pulley 211, pulley 212, pulley 221, and pulley 222, and can transmit the jaw wire from the end tool 100 to the drive unit jaw pulleys, that is, pulley 211, pulley 212, pulley 221, and pulley 222. The multiple intermediate pulleys 235 can function as drive unit sub-intermediate pulleys.

[0193] The multiple driver sub-intermediate pulleys can be formed to be the same or different in diameter than the driver jaw pulley.

[0194] The jaw wire can pass through pulley 235 which is a drive unit sub-intermediate pulley, pulleys 211, 212, 221, and 222 which are drive unit jaw pulleys, and rotation shafts 241 and 242 which are drive unit jaw rotation shafts, in that order.

[0195] The intermediate pulleys 235 may be arranged at different heights from one another. This makes it possible to prevent interference from occurring when the wires 301, 302, 303, 304, 305, and 306, which are at least partially wound around the intermediate pulleys 235, move.

[0196] In addition, a shaft-shaped connecting part 310 may be connected to a second surface (the lower surface in FIG. 15) of the base plate 205, and motor coupling parts 252 and 253 to which a motor pack 500 for driving a pulley is connected may be formed. Here, each of the motor coupling parts 251 and 252 may be directly connected to the rotating shafts 241 and 242 or indirectly connected to each other via gears.

[0197] As an example, the motor coupling part 251, which is the first jaw drive motor coupling part, is directly coupled to the rotating shaft 241, which is the first jaw rotation shaft of the drive part, so that when the motor coupling part 251 coupled to the first jaw drive motor (see 551 in FIG. 34) rotates, the rotating shaft 241 directly coupled thereto can rotate together. Similarly, the motor coupling part 252, which is the second jaw drive motor coupling part, is directly coupled to the rotating shaft 242, which is the second jaw rotation shaft of the drive part, so that when the motor coupling part 252 coupled to the second jaw drive motor (see 552 in FIG. 34) rotates, the rotating shaft 242 directly coupled thereto can rotate together.

[0198] The base plate 205, which is the pitch drive motor coupling part, is directly coupled to the rotating shaft 243, which is the pitch rotating shaft of the drive part, and when the base plate 205 coupled to the pitch drive motor (see 553 in FIG. 34) rotates, the rotating shaft 243 directly coupled thereto can rotate together.

[0199] Meanwhile, although not shown in the drawings, the motor coupling part and the rotating shaft may be spaced apart from each other to a certain extent in a plan view perpendicular to the rotating shaft, and the motor coupling part and the rotating shaft may be connected to each other by a driving gear.

[0200] The reason why some of the motor coupling parts are directly connected to the rotating shafts and the remaining motor coupling parts are indirectly connected to the rotating shafts is that the coupling position and direction of the surgical instrument 30 and the surgical robot 20 must be taken into consideration. That is, the rotating shafts that are not affected by the coupling position with the surgical robot 20 are directly connected to the motor coupling parts, but the rotating shafts that may interfere with the coupling position with the surgical robot 20 may be indirectly connected to the motor coupling parts.

[0201] The rotating shaft 241 is connected to the motor pack 500, specifically the first jaw drive motor (see 551 in FIG. 34), by the motor coupling portion 251. Therefore, when the first jaw drive motor (see 551 in FIG. 34) rotates to drive the first jaw 101, the rotating shaft 241 rotates, thereby pulling and rewinding the first jaw wires, wires 301 and 305.

[0202] As described above, the rotating shaft 242 is coupled to the motor pack 500, specifically the second jaw drive motor (see 552 in FIG. 34), by the motor coupling portion 252. Therefore, when the second jaw drive motor (see 552 in FIG. 34) rotates to drive the second jaw 102, the rotating shaft 242 rotates, thereby pulling and rewinding the second jaw wires, wires 302 and 306.

[0203] A pulley 231 serving as a driver pitch pulley may be coupled to the rotation shaft 243 serving as a driver pitch rotation shaft. Here, the pulley 231 may be configured to rotate together with the rotation shaft 243.

[0204] As described above, the rotating shaft 243 is connected to the motor pack 500, specifically the pitch drive motor (see 553 in FIG. 34), by the base plate 205. Therefore, when the pitch drive motor (see 553 in FIG. 34) rotates for pitch operation, the pulley 231, which is the drive unit pitch pulley, rotates around the rotating shaft 243, thereby pulling and unwinding the wires 303 and 304, which are pitch wires.

[0205] Meanwhile, pulleys 211, 212, pulleys 221, and pulleys 222, which are jaw pulleys of the driving part, may be rotatably coupled to a rotating shaft 243. Here, pulleys 211 and 212, which are first jaw pulleys of the driving part, may be disposed on one side based on pulley 231, which is the pitch pulley of the driving part, and pulleys 221 and 222, which are second jaw pulleys of the driving part, may be disposed on the other side based on pulley 231, which is the pitch pulley of the driving part.

[0206] In other words, the rotating shaft 243 may be formed by sequentially stacking pulleys 221 and 222 which are second jaw pulleys of the driving part, pulley 231 which is a pitch pulley of the driving part, and pulleys 212 and 211 which are first jaw pulleys of the driving part.

[0207] When the base plate 205 and the pulley 231 , which is the driving pitch pulley, rotate together with the rotary shaft 243 , the rotary shafts 241 and 242 connected to the base plate 205 revolve around the rotary shaft 243 .

[0208] In other words, since rotation axis 241 and rotation axis 242 are spaced apart from rotation axis 243 to a certain extent and rotation axis 241 and rotation axis 242 maintain a certain distance from rotation axis 243, it can be said that rotation axis 241 and rotation axis 242 rotate as a whole around rotation axis 243.

[0209] That is, the rotating shafts 241 and 242 are formed to be movable relative to the pulley 231 which is the driving part pitch pulley, and are formed so that the relative positions of the rotating shafts 241 and 242 with respect to the pulley 231 which is the driving part pitch pulley can be changed. On the other hand, the relative positions of the driving part pitch pulley 231 and the driving part jaw pulleys 211, 212, 221, and 222 are maintained constant.

[0210] When pulley 231, which is the drive unit pitch pulley, rotates around rotating shaft 243, rotating shafts 241 and 242 move relative to pulley 231, which is the drive unit pitch pulley, thereby changing the overall length of wires 301, 302, 305, and 306, which are jaw wires, within drive unit 200.

[0211] 21 and 23, the first jaw wire, wire 301, is wound around pulley 211 so that at least a portion of it is in contact with it, with one end of the wire being connected to rotating shaft 241 by a fastening member (not shown), and then connected to end tool 100 via connecting portion 310.

[0212] In other words, the wire 301 which is the first jaw wire passes through the end tool 100 and the connecting portion 310 and enters the driving portion 200 , and is then wound around the pulley 211 and fixedly coupled to the rotating shaft 241 .

[0213] Meanwhile, the first jaw wire, wire 305, is wound so that at least a portion of it contacts pulley 212 with one end connected to rotating shaft 241 by a fastening member (not shown), and then connected to end tool 100 via connecting part 310.

[0214] 21 and 24, the second jaw wire, wire 302, is wound so that at least a portion of it contacts pulley 222 with one end connected to rotating shaft 242 by a fastening member (not shown), and then connected to end tool 100 via connecting portion 310.

[0215] Meanwhile, the second jaw wire, wire 306, has one end connected to the rotating shaft 242 by a fastening member (not shown), is wound around the pulley 221 so that at least a portion of it is in contact with the pulley 221, and is then connected to the end tool 100 via a connecting portion 310.

[0216] (Pitch movement)

[0217] Figure 25 is a plan view showing the drive unit of the surgical instrument of Figure 6. Figure 26 is a view showing the end tool of the surgical instrument in Figure 25. Figure 27 is a view showing the drive unit and the end tool during pitch movement of the surgical instrument in Figures 25 and 26. Figure 28 is a view showing the drive unit and the end tool during pitch movement in the opposite direction to Figure 27 in Figures 25 and 26.

[0218] Here, the surgical instrument 30 according to one embodiment of the present invention is characterized in that when the rotation axis 241 and the rotation axis 242 revolve around the rotation axis 243, the overall length of the jaw wire in the drive unit 200 is changed, thereby performing a pitch movement of the end tool 100.

[0219] In particular, the surgical instrument 30 according to one embodiment of the present invention is characterized in that, when pulley 231, which is the drive unit pitch pulley, rotates, the rotation shafts 241 and 242 revolve around the rotation shaft 243 of pulley 231, which is the drive unit pitch pulley, thereby changing the path length of the jaw wire wound around the drive unit intermediate pulley and the drive unit jaw pulley, thereby performing pitch movement of the end tool.

[0220] Specifically, when base plate 205 rotates for pitch movement, both strands of one of the jaw wires are pulled simultaneously and both strands of the other jaw wire are rewound simultaneously, changing the overall length of each jaw wire in drive unit 200, and the overall length of each jaw wire in end tool 100 is also changed in conjunction with this, causing end tool 100 to rotate around rotation axis 143 and perform pitch movement.

[0221] In other words, when the end tool performs a pitch motion by the rotation of the drive pitch pulley, the jaw wire (which performs the yaw motion and actuation motion) also moves by the pitch motion. That is, the end tool 100 performs a pitch rotation around the rotation axis 143, and both ends of the jaw wire connected to one jaw are pulled, and both ends connected to the other jaw are unwound.

[0222] Therefore, in order to compensate for such movement of the jaw wire, when the pitch movement of the end tool is performed, the rotating shafts 241 and 242 revolve around the rotating shaft of the drive unit pitch pulley, thereby changing the overall length of the jaw wire in the drive unit, and it can also be expressed that the movement of the jaw wire when performing the pitch movement of the end tool is compensated for by rewinding (or pulling) the jaw wire on the drive unit side by the amount that the jaw wire was pulled (or rewinded) on the end tool side.

[0223] Fig. 11 is a diagram showing a neutral state of a conventional surgical instrument. Fig. 11(a) and (b) are perspective views of an end tool corresponding to Fig. 7 and Fig. 8, and Fig. 11(c) is a diagram showing the neutral state of a driving unit 200' for compensating for the movement of the jaw wire when performing a pitch movement of the end tool in a manner different from that of the present invention.

[0224] Referring to Figures 11(a) and (b), the pulley 131' of the end tool 100' is rotatable around a rotation axis 143', which is the pitch main rotation axis, and can be formed integrally with the end tool hub 106' (or fixedly connected to the end tool hub 106).

[0225] In addition, the wires 303' and 304' can play a role in connecting the pulley 131' of the end tool 100' and the drive unit pitch pulleys, ie, the pulleys 231' and 232'.

[0226] Therefore, when pulley 231` / pulley 232`, which is the drive unit pitch pulley, rotates, the rotation of pulley 231` / pulley 232`, which is the drive unit pitch pulley, is transmitted to pulley 131` of end tool 100` via wires 303` and 304`, and pulley 131` also rotates together, resulting in the rotation of end tool 100` and a pitch motion.

[0227] However, when the pulley 231' / pulley 232', which is the drive unit pitch pulley, rotates to perform the pitch movement, there is a problem that the pitch movement itself is impossible unless the drive unit performs separate pitch compensation for the jaw wires. That is, the two wires wound around one of the jaw pulleys are arranged on the upper side with respect to the pitch axis, and during the pitch movement, these two wires are pulled or unwound simultaneously. Similarly, the two wires wound around the other jaw pulley are arranged on the lower side with respect to the pitch axis, and during the pitch movement, these two wires are unwound or pulled simultaneously. Therefore, in this structure, unless the drive unit performs separate pitch compensation for the jaw wires, the pitch movement itself is impossible.

[0228] FIG. 12 is a diagram showing a case where pitch compensation is performed in the surgical instrument of FIG.

[0229] Referring to Figure 12(c), when pulley 231' / pulley 232', which are the drive unit pitch pulleys, rotate clockwise (with reference to Figure 12) around the rotation center axis in order to perform pitch operation of the end tool, wires 302' and 306' are pulled from drive unit 200' toward end tool 100', and wires 301' and 305' are pulled from end tool 100' toward drive unit 200'.

[0230] In this way, when the wires 302' and 306' move in the same direction, the pitch movement cannot be compensated for by simply rotating the pulleys 221' / 222' which are the second jaw pulleys of the drive unit.

[0231] Therefore, as shown in FIG. 12(c), the position of pulley 221` / pulley 222`, which is the second jaw pulley of the driving unit, is moved to change the path length of the second jaw wire within driving unit 200`, and at the same time, the position of pulley 211` / pulley 212`, which is the first jaw pulley of the driving unit, is moved to change the path length of the first jaw wire within driving unit 200`, thereby making it possible to perform pitch compensation.

[0232] That is, in order to compensate for the movement of the jaw wire during pitch drive, pulley 221` / pulley 222`, which is the second jaw pulley of the drive unit, moves in the direction toward the end tool 100`, and pulley 211` / pulley 212`, which is the first jaw pulley of the drive unit, moves in the opposite direction.

[0233] As described above, there is a problem that additional space and structure are required to linearly move pulley 221` / pulley 222`, which is the second jaw pulley of the driving part, and pulley 211` / pulley 212`, which is the first jaw pulley of the driving part, in the internal space of driving part 200`.

[0234] Fig. 13 is a conceptual diagram of pitch motion compensation of the surgical instrument of Fig. 11. Fig. 13(a) is a conceptual diagram showing the neutral state of the driving unit 200' of the surgical instrument, and Fig. 13(b) is a conceptual diagram of pitch motion compensation in Fig. 13(a).

[0235] Figure 13(b) shows a situation in which pitch operation and pitch compensation are performed in the opposite situation to Figure 12. When the pitch operation of the end tool is performed, pulley 231' / pulley 232', which is the drive unit pitch pulley, rotates counterclockwise (with reference to Figure 12) around the rotation center axis, wires 301' and 305' are pulled from drive unit 200' toward end tool 100', and wires 302' and 306' are pulled from end tool 100' toward drive unit 200'.

[0236] When the wires 301' and 305' move in the same direction in this way, the pitch movement cannot be compensated for by simply rotating the pulleys 211' and 212' which are the first jaw pulleys of the drive unit.

[0237] Therefore, as shown in FIG. 13(b), the position of the pulley 211' / pulley 212', which is the first jaw pulley of the driving part, is changed by -ΔS pitch At the same time, the position of pulley 221` / pulley 222`, which is the second jaw pulley of the driving unit, is moved to change the path length of the second jaw wire within the driving unit 200`, thereby making it possible to perform pitch compensation.

[0238] As mentioned above, even in this case, there is a problem that additional space and structure are required to linearly move pulley 221` / pulley 222`, which is the second jaw pulley of the driving part, and pulley 211` / pulley 212`, which is the first jaw pulley of the driving part, in the internal space of driving part 200`.

[0239] FIG. 14 is a conceptual diagram of pitch motion compensation for the surgical instrument of FIG.

[0240] FIG. 14(a) shows the neutral state of the surgical instrument 30, and by maintaining a certain distance around the drive unit pitch pulley 231, a rotating shaft 241 connected to the first jaw wire and a rotating shaft 242 connected to the second jaw wire can be formed.

[0241] Referring to Figure 14(b), when pulley 231, which is the drive unit pitch pulley, rotates counterclockwise (based on Figure 14), wires 301 and 305, which are the first jaw wires, are pulled from drive unit 200 toward the end tool 100, and wires 302 and 306, which are the second jaw wires, are pulled from the end tool 100 toward the drive unit 200.

[0242] Referring to FIG. 14(b), in the drive unit 200 according to the first embodiment of the present invention, when pulley 231, which is the drive unit pitch pulley, rotates, rotation shaft 241, which is the drive unit first jaw rotation shaft connected to the first jaw wire, and rotation shaft 242, which is the drive unit second jaw rotation shaft connected to the second jaw wire, revolve around pulley 231, which is the drive unit pitch pulley.

[0243] As the rotating shafts 241 and 242 revolve around the pulley 231, which is the drive unit pitch pulley, the overall length of the first jaw wire and the second jaw wire in the drive unit 200 is changed, thereby providing compensation according to the pitch movement.

[0244] In other words, in order to compensate for the motion for the pitch movement, the surgical instrument 30 according to one embodiment of the present invention is characterized in that the drive unit pitch pulley 231 rotates on its axis while the rotating shafts 241 and 242 rotate freely, thereby compensating for the movement of the jaw wire caused by the rotation of the drive unit pitch pulley.

[0245] In other words, by the rotation of pulley 231, which is the drive unit pitch pulley, the jaw wire that is wound on the end tool 100 side is rewound by the same amount on the drive unit 200 side, and the jaw wire that is rewound on the end tool 100 side is wound by the same amount on the drive unit 200 side, thereby preventing the pitch movement from affecting the yaw movement.

[0246] In other words, when the end tool performs a pitch motion by the rotation of the drive pitch pulley, the jaw wire (which performs the yaw motion and actuation motion) also moves by the pitch motion. That is, by performing a pitch rotation about the rotation axis 143 of the end tool 100, both ends of the jaw wire connected to one jaw are pulled, and both ends connected to the other jaw are unwound.

[0247] Therefore, in order to compensate for such movement of the jaw wire, when a pitch movement of the end tool is performed, the drive unit jaw rotation shaft moves relative to the drive unit pitch pulley, thereby changing the overall length of the jaw wire in the drive unit, and the jaw wire is unwound (or pulled) from the drive unit side by the amount that the jaw wire was pulled (or unwound) on the end tool side, thereby compensating for the movement of the jaw wire when performing the pitch movement of the end tool.

[0248] The pitch operation will be described in more detail below.

[0249] 25 and 27, when the base plate 205 and the drive unit pitch pulley 231 rotate in the direction of the arrow A1 for pitch operation, the rotating shaft 241 and the rotating shaft 242 as a whole revolve in the direction A1 around the rotating shaft 243.

[0250] In other words, when pulley 231, which is the drive unit pitch pulley, rotates, rotating shafts 241 and 242 move in conjunction with pulley 231, which is the drive unit pitch pulley.

[0251] Meanwhile, at this time, the positions of the drive jaw pulleys 211, 212, 221, and 222 connected to the rotary shaft 243 do not change.

[0252] As the rotating shafts 241 and 242 revolve in this manner, the relative positions of the rotating shafts 241 and 242 with respect to the drive unit jaw pulley change, thereby changing the length of each wire wound around the drive unit jaw pulley, i.e., the path length.

[0253] That is, compared with L1, which is the path length in which the wire 301 and wire 305, which are the first jaw wires, are wound around the drive unit jaw pulley in the position of Fig. 25, L1', which is the path length in which the first jaw wire is wound around the drive unit jaw pulley in the position of Fig. 27, becomes longer, and the first jaw wire is further wound on the drive unit 200 side by the increased path length (L1'-L1). That is, the total length of the wire 301 and wire 305, which are the first jaw wires, in the drive unit 200 becomes longer. And, by increasing the total length of the first jaw wire in the drive unit 200 in this way, the total length of the first jaw wire in the end tool 100 becomes shorter by the amount by which the first jaw wire is pulled.

[0254] In contrast, when the pulley 231, which is the drive unit pitch pulley, rotates in the direction of the arrow A1, the path length of the second jaw wire wound around the drive unit intermediate pulley at the position of FIG. 26 becomes shorter than the path length L2 of the second jaw wire wound around the drive unit intermediate pulley at the position of FIG. 25, and the second jaw wire is further unwound on the drive unit 200 side by the shortened path length (L2-L2`). That is, the total length of the second jaw wires, the wires 302 and 306, in the drive unit 200 is shortened. And, by shortening the total length of the second jaw wire in the drive unit 200 in this way, the total length of the second jaw wire in the end tool 100 is lengthened by the amount of pulling the second jaw wire.

[0255] When pulley 231, which is the drive unit pitch pulley, rotates in the direction of arrow A1 due to the pitch operation, rotating shafts 241 and 242 move relative to the drive unit pitch pulley and drive unit jaw pulley, changing their relative positions. Then, due to the relative movement of rotating shafts 241 and 242, the total length of the first jaw wire in drive unit 200 becomes shorter, and the total length of the first jaw wire in end tool 100 becomes longer. At the same time, due to the relative movement of rotating shafts 241 and 242, the total length of the second jaw wire in drive unit 200 becomes longer, and the total length of the second jaw wire in end tool 100 becomes shorter.

[0256] As a result, when viewed from the end tool 100 side, when pulley 231, which is the drive unit pitch pulley, rotates in the direction of arrow A1, the two wires of the first jaw wire, wire 301 and wire 305, are pulled, and the two wires of the second jaw wire, wire 302 and wire 306, are rewound, and the end tool 100 pitches in the direction of arrow A2 around the rotation axis 143.

[0257] On the other hand, the above-mentioned path length is changed by the rotation shaft 241 and the rotation shaft 242 moving relatively to the drive unit jaw pulley, and the overall length of the jaw wire in the drive unit 200 is also changed. In addition, the overall length of the jaw wire in the end tool 100 is also changed by changing the overall length of the jaw wire in the drive unit 200.

[0258] However, since the total length of the jaw wire in the end tool 100 is decreased (or increased) by the same amount that the total length of the jaw wire in the drive unit 200 is increased (or increased), it can be said that the total length of the jaw wire does not change (assuming that elastic deformation, etc. is not taken into account).

[0259] As a result, when pulley 231, which is the drive unit pitch pulley, rotates, wire 301 / wire 305, which is the first jaw wire, is pulled on the end tool 100 side, and wire 301 / wire 305, which is the first jaw wire, is unwound on the drive unit 200 side by the same amount, thereby making pitch motion possible.

[0260] Referring to Figure 28, when pulley 231, which is the drive unit pitch pulley, rotates in the direction of arrow A3, wires 301 and 305, which are the two first jaw wires, are unwound and wires 302 and 306, which are the two second jaw wires, are pulled, so that end tool 100 performs a pitch motion in the direction of arrow A4 (based on Figure 28(b)) around rotation axis 143.

[0261] Meanwhile, as described above, the end tool 100 of the surgical instrument 30 of the present invention may further include a pulley 131 which is an end tool pitch pulley, the driving unit 200 may further include a pulley 231 which is a driving unit pitch pulley, and the power transmission unit 300 may further include wires 303 and 304 which are pitch wires.

[0262] Therefore, when pulley 231, which is a drive unit pitch pulley, rotates in the direction of arrow A1, the rotation of pulley 231 causes wire 304 to be unwound from pulley 231, and wire 303 to be wound around pulley 231. As a result, pulley 131, which is an end tool pitch pulley connected to the opposite side of wire 303 and wire 304, rotates in the direction of arrow A2 about rotation shaft 143, so that the pitch operation can be performed more reliably and securely.

[0263] (pulley size ratio)

[0264] Here, among the pulleys rotating around rotation axis 143, which is the end tool pitch rotation axis, pulley 131, which is the end tool pitch pulley that contacts wires 303 and 304, and pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys that contact wires 301, 305, 302, and 306, which are jaw wires, may be formed to have different diameters.

[0265] In this case, the lengths of the wire wound or unwound on each pulley are different when the rotating shaft 143 rotates. For example, if the diameter of the end tool pitch pulley is 6φ and the diameter of the end tool jaw pitch main pulley is 4φ, and the rotating shaft 143 rotates 90°, the length of the pitch wire wound on the end tool pitch pulley may be 1.5π, whereas the length of the jaw wire wound on the end tool jaw pitch main pulley may be 1π.

[0266] From this perspective, the "length" of the wire wound around the pulley and unwound from it can be defined as the "amount of rotation." This amount of rotation is a different concept from the angle of rotation, and can be calculated as (diameter x angle of rotation / 360° x π).

[0267] In this case, pulley 231, which is the drive unit pitch pulley, and pulley 131, which is the end tool pitch pulley, are basically directly connected by pitch wires 303 and 304, and therefore the amount of rotation of the drive unit pitch pulley and the end tool pitch pulley is the same. In other words, the pitch wire is wound on or unwound on the end tool pitch pulley by the same amount as the pitch wire is wound on or unwound on the drive unit pitch pulley.

[0268] On the other hand, (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) = (amount of rotation of wire wound around end tool pitch pulley: amount of rotation of wire wound around end tool jaw pitch main pulley).

[0269] In this manner, if the length by which the pitch wire is wound around the end tool pitch pulley and the length by which the jaw wire is wound around the end tool jaw pitch main pulley are different in the end tool 100, the length by which the pitch wire is unwound and the length by which the jaw wire is unwound in the drive unit 200 must also be different from each other in the same ratio.

[0270] For this reason, the relationship (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley)=(diameter of drive unit pitch pulley: diameter of drive unit jaw pulley) can be established.

[0271] For example, if the ratio of (end tool pitch pulley diameter: end tool jaw pitch main pulley diameter) is 6:4, the ratio of (drive pitch pulley diameter: drive jaw pulley diameter) can also be 6:4. According to this ratio, the diameter of the drive pitch pulley can be 9φ and the diameter of the drive jaw pulley can be 6φ.

[0272] The final pitch operation process is explained again as follows.

[0273] In the following, an example will be explained in which the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool jaw pitch main pulley is 4φ, the diameter of the drive unit pitch pulley is 9φ, and the diameter of the drive unit jaw pulley is 6φ.

[0274] First, for pitch operation, pulley 231, which is the drive unit pitch pulley of drive unit 200, rotates 60° to wind wire 304, which is the pitch wire, and simultaneously unwind wire 303. At this time, the length by which wire 303 / wire 304 are wound and unwound, respectively, is 1.5π.

[0275] As a result, in end tool 100, wire 304 is pulled by 1.5π, wire 303 is unwound by 1.5π, and pulley 131, which is the end tool pitch pulley, rotates by 90°, which corresponds to 1.5π.

[0276] On the other hand, when pulley 131 performs pitch rotation about rotation axis 143, jaws 101, 102 and pulley 111 / pulley 112 also perform pitch rotation about rotation axis 143. Therefore, wires 301 and 305 which are the first jaw wires connected to pulley 111 are both pulled, and wires 302 and 306 which are the second jaw wires connected to pulley 121 are both unwound. At this time, the angles through which the end tool pitch pulley and the end tool jaw pitch main pulley rotate are equal at 90°, and therefore the length of the jaw wire wound around and unwound from the end tool jaw pitch main pulley is 1π.

[0277] That is, the wires 301 and 305, which are the first jaw wires, are wound out from the drive unit 200 side by an amount corresponding to the amount pulled from the end tool 100 side, thereby compensating for the movement of the jaw wires in response to the pitch movement. Similarly, the wires 302 and 306, which are the second jaw wires, are wound out from the drive unit 200 side by an amount corresponding to the amount pulled from the end tool 100 side, thereby compensating for the movement of the jaw wires in response to the pitch movement.

[0278] As a result, by winding (or pulling) the jaw wire on the drive unit 200 side by the same length as the jaw wire is wound (or unwound) on the end tool 100 side by the pitch movement, the pitch movement can be performed independently without affecting the rotation of the jaw in the yaw axis direction.

[0279] That is, pulley 231, which is the drive unit pitch pulley, can rotate along rotation axis 243 together with base plate 205, and rotation axis 241 and rotation axis 242 are rigidly coupled to base plate 205, and when the drive unit pitch pulley rotates about rotation axis 243, rotation axis 241 and rotation axis 242 revolve about rotation axis 243, thereby changing the path length of the jaw wire wound around the drive unit jaw pulley. This change in the path length of the jaw wire compensates for the movement of the jaw wire on the end tool side according to the pitch movement, thereby resulting in an independent pitch movement.

[0280] (Yaw movement)

[0281] Fig. 29 is a plan view showing a drive unit and an end tool of the surgical instrument of Fig. 6. Fig. 30 is a view showing a drive unit and an end tool during yaw motion of the surgical instrument of Fig. 6. Figs. 29 and 30 are views showing yaw motion of the surgical instrument shown in Fig. 6.

[0282] 29 and 30, when the rotating shaft 242 rotates in the direction of the arrow A5 for yaw operation, one of the wires 302 and 306 which are the second jaw wires is wound around the rotating shaft 242 and the other is unwound from the rotating shaft 242 due to the rotation of the rotating shaft 242. As a result, the pulley 121 which is the end tool first jaw pulley connected to the opposite side of the wires 302 and 306 rotates in the direction of the arrow A6, thereby performing yaw operation.

[0283] At this time, the positions of the rotary shaft 242 and the pulleys 221 and 222 which are the jaw pulleys of the driving unit do not change, and only the operation of winding the wires 302 and 306 around or unwinding them from the jaw pulleys 221 and 222 of the driving unit occurs.

[0284] Therefore, pulley 231, which is the drive unit pitch pulley, does not rotate, and wires 303 and 304, which are pitch wires, maintain their positions without being wound or unwound.

[0285] Similarly, when the rotating shaft 241 rotates for yaw operation, one of the wires 301 and 305 serving as the first jaw wires is wound around the rotating shaft 241 and the other is unwound from the rotating shaft 241 due to the rotation of the rotating shaft 241. As a result, the pulley 111 serving as the end tool first jaw pulley connected to the opposite side of the wires 301 and 305 rotates in one direction, thereby performing yaw operation.

[0286] At this time, the positions of the rotary shaft 241 and the pulleys 211 and 212 which are the jaw pulleys of the driving unit do not change, and only the operation of winding the wires 301 and 305 around or unwinding them from the jaw pulleys 211 and 212 of the driving unit occurs.

[0287] Therefore, pulley 231, which is the drive unit pitch pulley, does not rotate, and wires 303 and 304, which are pitch wires, maintain their positions without being wound or unwound.

[0288] As a result, even if the rotating shaft 241 or the rotating shaft 242 rotates due to yaw operation or actuation operation, the overall length of the jaw wires, wires 301, 302, 305, and 306, within the driving unit 200 is maintained constant.

[0289] In this way, in the surgical instrument 30 according to one embodiment of the present invention, when the drive unit pitch pulley rotates, the rotating shafts 241 and 242 revolve around the rotation axis of the drive unit pitch pulley, thereby changing the path length of the jaw wire wound around the drive unit jaw pulley, so that the jaw wire is wound or unwound in response to the rotation of the drive unit pitch pulley. By canceling out or compensating for the movement of the jaw wire in response to the pitch drive, it is possible to obtain the effect of separating the pitch movement and the yaw movement.

[0290] <Motor pack - first embodiment>

[0291] Fig. 31 to Fig. 33 are perspective views showing a motor pack according to an embodiment of the present invention. Fig. 34 is a bottom perspective view showing the motor pack of Fig. 31. Fig. 35 is a plan view showing the motor pack of Fig. 31. Fig. 36 is a diagram showing a state in which the motor pack of Fig. 31 has been rotated by a pitch drive motor. Fig. 37 is a diagram showing a state in which the motor pack of Fig. 31 has been rotated by a second jaw drive motor. Fig. 38 is a diagram showing a state in which the motor pack of Fig. 31 has been rotated by the pitch drive motor and the second jaw drive motor.

[0292] 31 to 38, a motor pack 500 according to the first embodiment of the present invention is provided in a surgical robot 20, and can be coupled to the robot arm units 21, 22, and 23. The motor pack 500 can generate power by receiving power from an external source. However, this is not limited to this, and various modifications are possible, such as generating power from an internal battery.

[0293] The motor pack 500 is connected to the drive unit 200 of the surgical instrument 30, and can transmit power to the drive unit 200. The motor pack 500 may further include a first case 501, a second case 505, a pitch plate 531, a first jaw plate 511, a second jaw plate 521, a first jaw drive motor 551, a second jaw drive motor 552, a third jaw drive motor 553, and a motor connecting member 541.

[0294] The first case 501 and the second case 505 form the exterior of the motor pack 500, and may have a hollow interior. A first jaw drive motor 551, a second jaw drive motor 552, and a pitch drive motor 553 may be disposed in the internal spaces of the first case 501 and the second case 505.

[0295] 31 to 38, the first case 501 and the second case 505 may be formed separately and then coupled to each other. However, this is not limited thereto, and various modifications are possible, such as being formed as a one-body type.

[0296] The pitch plate 531 is disposed on the first case 501 and can be rotatably disposed thereon. The pitch plate 531 is connected to the pitch drive motor 553 and can receive power from the pitch drive motor 553.

[0297] A pitch driving motor 553 is connected to one surface (lower surface in FIG. 31) of the pitch plate 531, and a protrusion 531a protruding toward the driving part 200 may be formed on the other surface (upper surface in FIG. 31) opposite thereto.

[0298] One or more protrusions 531a may be formed and may be inserted into a coupling hole 205a formed on one surface of the opposing driver 200. In this way, the driver 200 and the motor pack 500 may be connected to each other, and power generated by the motor pack 500, specifically, the pitch drive motor 553, may be transmitted to the driver 200.

[0299] 31 to 35, a first jaw plate 511 and a second jaw plate 521 may be disposed on a pitch plate 531. A hole portion may be formed in the pitch plate 531, and the first jaw plate 511 and the second jaw plate 521 may be disposed in the hole portion.

[0300] The first jaw plate 511 and the second jaw plate 521 may be rotatably disposed within the pitch plate 531. The first jaw plate 511 and the second jaw plate 521 may be coupled to a first jaw drive motor 551 and a second jaw drive motor 552, respectively.

[0301] The first jaw plate 511 may be connected to the first jaw driving motor 551 on one surface (lower surface in FIG. 31) and connected to the driving unit 200, specifically, the motor coupling unit 251 on the other surface (upper surface in FIG. 31).

[0302] 35, a protrusion 511a may be formed on the first jaw plate 511, and may be connected to a coupling hole 251a formed in the motor coupling part 251. Thus, the power generated by the first jaw driving motor 551 may be transmitted to rotate the motor coupling part 251, and as the motor coupling part 251 rotates, the rotation shaft 241 of the motor coupling part 251 may be rotated to wind or unwind the wires 301 and 305, which are the first jaw wires, connected to the rotation shaft 241.

[0303] The second jaw plate 521 may have one surface (lower surface in FIG. 31) connected to the second jaw driving motor 552 and the other surface (upper surface in FIG. 31) connected to the driving unit 200, specifically, the motor coupling unit 252.

[0304] 35, a protrusion 521a may be formed on the second jaw plate 521, and may be connected to a coupling hole 252a formed in the motor coupling part 252. Thus, the power generated by the second jaw driving motor 552 may be transmitted to rotate the motor coupling part 252, and as the motor coupling part 252 rotates, the rotation shaft 242 of the motor coupling part 252 may be rotated to wind or unwind the wires 302 and 306, which are the second jaw wires, connected to the rotation shaft 242.

[0305] 32 to 34, first jaw plate 511 and second jaw plate 521 are disposed in a predetermined area on pitch plate 531, so that the distance between the rotation center of first jaw plate 511 and second jaw plate 512 and the rotation center of pitch plate 531 can be maintained constant.

[0306] 31 to 34, motor pack 500 may further include a motor connecting member 541. Motor connecting member 541 is connected to pitch plate 531 and is connected to first jaw drive motor 551 and second jaw drive motor 552, respectively, and can fix the positions of first jaw drive motor 551 and second jaw drive motor 552.

[0307] That is, the motor connecting member 541 is connected to the pitch plate 531 and can rotate together when the pitch plate 531 rotates, thereby rotating the first jaw drive motor 551 and the second jaw drive motor 552.

[0308] In addition, when the pitch plate 531 is rotated by receiving power generated from the pitch drive motor 553 through the motor connecting member 541, the first jaw drive motor 551 and the second jaw drive motor 552 connected to the first jaw plate 511 and the second jaw plate 521 disposed on the pitch plate 531, respectively, can move. The powers generated by the first jaw drive motor 551 and the second jaw drive motor 552 can be transmitted to the rotation shaft 241, which is the first jaw rotation shaft of the drive unit, and the rotation shaft 242, which is the second jaw rotation shaft of the drive unit, provided in the drive unit 200, through the first jaw plate 511 and the second jaw plate 521.

[0309] Power generated by the motor pack 500 according to the first embodiment of the present invention is transmitted to the driving unit 200, thereby enabling the pitch movement, yaw movement, and actuation movement to be performed as described above.

[0310] Referring to FIG. 36, power generated by the pitch drive motor 553 can be transmitted to the pitch plate 531, and as the pitch plate 531 rotates, the positions of the first jaw plate 511 and the second jaw plate 521 disposed on the pitch plate 531 can be changed.

[0311] That is, the rotation shafts 241 and 242 of the driving unit 200 connected to the first jaw plate 511 and the second jaw plate 521, respectively, can revolve around the rotation shaft 243, thereby compensating for the movement of the jaw wire on the end tool side due to the pitch movement, thereby making it possible to achieve a result in which the pitch movement is performed independently of the yaw / actuation movement. This has been described above, so detailed description will be omitted.

[0312] 37, when pitch plate 531 is not rotating, power generated by second jaw drive motor 552 is transmitted to second jaw plate 512, causing second jaw plate 512 to rotate in the A2 direction. Second jaw plate 512 transmits power to rotation shaft 242, which is the drive unit second jaw rotation shaft, via motor coupling part 252, and can perform yaw motion or actuation motion by winding and unwinding wires 302, 306, which are second jaw wires coupled to rotation shaft 242.

[0313] Referring to FIG. 38, power generated by pitch drive motor 553 in FIG. 36 rotates pitch plate 531 in the A3 direction, and independently of that, power generated by second jaw drive motor 552 is transmitted to second jaw plate 512, thereby rotating second jaw plate 512 in the A4 direction.

[0314] Referring to FIG. 38, the end tool 100 can be pitched by driving the pitch drive motor 553, and can be yawed or actuated by transmitting power to the rotation shaft 242, which is the second jaw rotation shaft of the drive unit, via the motor coupling part 252 by driving the second jaw drive motor 552, and winding and unwinding the wires 302, 306, which are the second jaw wires coupled to the rotation shaft 242.

[0315] 31 to 38, in motor pack 500 according to the first embodiment of the present invention, a first jaw plate 511 and a second jaw plate 521 are arranged within a pitch plate 531, and power is transmitted to pitch plate 531 from a pitch drive motor 553. When rotating, first jaw plate 511 and second jaw plate 521 can revolve around the center of rotation of pitch plate 531.

[0316] In addition, the motor connecting member 541 is connected to the pitch plate 531, and the position of the pitch plate 531 changes as the pitch plate 531 rotates, and the first jaw drive motor 551 and the second jaw drive motor 552 connected to the motor connecting member 541 can be revolved around the pitch drive motor 553.

[0317] This allows the power generated by motor pack 500 to be transmitted to drive unit 200, and when the drive unit pitch pulley rotates about rotation shaft 243, rotation shafts 241 and 242 revolve about rotation shaft 243, changing the path length of the jaw wire wound around the drive unit jaw pulley. This change in the path length of the jaw wire compensates for the movement of the jaw wire on the end tool side due to the pitch movement, resulting in an independent pitch movement.

[0318] <Drive unit - second embodiment>

[0319] Figures 39 and 40 are perspective views showing a drive unit according to another embodiment of the present invention, Figure 41 is a plan view showing a drive unit according to another embodiment of the present invention, and Figure 42 is a bottom perspective view showing a drive unit according to another embodiment of the present invention.

[0320] 15 to 28, the driving unit 600 according to the second embodiment of the present invention is characterized by a roll rotation shaft 644 for a roll operation and a configuration for transmitting power generated by the roll rotation shaft 644 to the connecting unit 310. The following will focus on the differences from the first embodiment.

[0321] 39 to 42, a rotation shaft 644 that is a roll rotation shaft may be disposed in a case 601 of a driving unit 600 according to the second embodiment of the present invention. The rotation center axis of the roll rotation shaft 644 may be disposed parallel to the rotation shafts 641, 642, and 643.

[0322] In addition, the central axis of the roll rotation shaft 644 can be arranged parallel to the central axis of the connecting portion 310 in the longitudinal direction.

[0323] 39 to 42, the roll rotation shaft 644 may be connected to a roll driving motor (not shown) and may rotate by receiving power from the roll driving motor. A coupling hole 644a may be formed on one surface of the roll rotation shaft 644 and may be connected to a protrusion (not shown) formed on the roll driving motor.

[0324] This has the effect of transmitting the power generated by the roll drive motor to the roll rotation shaft 644.

[0325] 39 to 41, the roll rotation shaft 644 can transmit power to the connecting part 310 via a wire 670. In this figure, the roll rotation shaft 644 and the connecting part 310 are connected via a wire 670, but the present invention is not limited thereto and various modifications are possible, such as connection with a belt, etc.

[0326] The driving unit 600 according to the second embodiment of the present invention is provided with a roll rotation shaft 644 for transmitting rotational power to the connecting unit 310, and transmits power generated by the roll driving motor to the connecting unit 310 via a wire 670. Except for this, the remaining configuration is the same as that of the driving unit 200 according to the first embodiment, and therefore detailed description will be omitted to the extent that it overlaps.

[0327] <Drive unit - third embodiment>

[0328] Figures 43 and 44 are perspective views showing a drive unit according to another embodiment of the present invention, Figure 45 is a plan view showing a drive unit according to another embodiment of the present invention, and Figure 46 is a bottom perspective view showing a drive unit according to another embodiment of the present invention.

[0329] 39 to 42, a drive section 700 according to the third embodiment of the present invention is characteristically different in the configuration for transmitting rotational power generated in a roll rotation shaft 744 to a connecting section 310. The following will focus on the differences from the second embodiment.

[0330] 43 to 46, a rotation shaft 744 that is a roll rotation shaft may be disposed in a case 701 of a driving part 700 according to the third embodiment of the present invention. The rotation center axis of the roll rotation shaft 744 may be disposed parallel to the rotation shafts 741, 742, and 743.

[0331] In addition, the central axis of the roll rotation shaft 744 can be arranged parallel to the central axis of the connecting portion 310 in the longitudinal direction.

[0332] 43 to 46, the roll rotation shaft 744 may be connected to a roll driving motor (not shown) and may be rotated by receiving power from the roll driving motor. A coupling hole 744a may be formed on one surface of the roll rotation shaft 744 and may be coupled to a protrusion (not shown) formed on the roll driving motor.

[0333] This has the effect of transmitting the power generated by the roll drive motor to the roll rotation shaft 744.

[0334] 43 to 46, the roll rotation shaft 744 can transmit power to the connecting part 310 via a plurality of gears. Specifically, the gears can include a roll operation gear 771 and a roll operation gear 772, and the gears 771 and 772 mesh with each other to transmit power generated in the roll rotation shaft 744 to the connecting part 310.

[0335] The diameters of the gears 771 and 772 may be different as shown in Fig. 45. However, this is not limited thereto, and various modifications are possible, such as the gears 771 and 772 being the same.

[0336] The driving unit 700 according to the third embodiment of the present invention is provided with a roll rotation shaft 744 for transmitting rotational power to the connecting unit 310, and transmits power generated by the roll driving motor to the connecting unit 310 via gears 771 and 772, which are multiple roll operation gears. Except for this, the remaining configuration is the same as the configuration of the driving unit 600 according to the second embodiment, and detailed explanations will be omitted to the extent that they overlap.

[0337] <Motor pack - second embodiment>

[0338] Fig. 47 to Fig. 51 are perspective views showing a motor pack according to another embodiment of the present invention. Fig. 52 is a plan view showing a motor pack according to another embodiment of the present invention. Fig. 53 is a diagram showing a state in Fig. 51 rotated by a pitch drive motor. Figs. 54 to 56 are enlarged views sequentially showing states rotated by a pitch drive motor. Fig. 57 is a diagram showing a state in Fig. 51 rotated by a second jaw drive motor. Fig. 58 is a diagram showing a state in Fig. 51 rotated by the pitch drive motor and the second jaw drive motor.

[0339] 48 and 49, a motor pack 800 according to the second embodiment of the present invention includes a first jaw drive motor 851, a second jaw drive motor 852, and a pitch drive motor 853. Meanwhile, a first jaw intermediate gear 862 and a second jaw intermediate gear 872, which will be described later, are rotatably coupled to a rotation shaft (not shown) of the pitch drive motor 853.

[0340] 47 to 49, the motor pack 800 may further include a case 801. The case 801 has a hollow interior and may house a first jaw drive motor 851, a second jaw drive motor 852, and a pitch drive motor 853.

[0341] A first jaw drive gear 861 is coupled to the rotary shaft of the first jaw drive motor 851, and when the rotary shaft of the first jaw drive motor 851 rotates, the first jaw drive gear 861 rotates therewith.

[0342] A first jaw intermediate gear 862 is disposed on one side of the first jaw drive gear 861 so as to mesh with the first jaw drive gear 861. A first jaw rotation gear 863 is disposed on one side of the first jaw intermediate gear 862 so as to mesh with the first jaw intermediate gear 862. A rotation shaft of the first jaw rotation gear 863 is coupled to the first jaw plate 811, and when the first jaw rotation gear 863 rotates, the first jaw plate 811 rotates together with the first jaw rotation gear 863. As a result, when the first jaw drive motor 851 rotates, the driving force thereof rotates the first jaw plate 811 via the first jaw drive gear 861, the first jaw intermediate gear 862, and the first jaw rotation gear 863.

[0343] As the first jaw plate 811 rotates, a rotating shaft (see 241 in FIG. 17) which is the first jaw rotating shaft of the drive unit connected to the first jaw plate 811 can rotate, and wires 301 and 305 which are the first jaw wires connected to the first jaw rotating shaft 241 can be wound or unwound.

[0344] A second jaw drive gear 871 is coupled to the rotation shaft of the second jaw drive motor 852, and when the rotation shaft of the second jaw drive motor 852 rotates, the second jaw drive gear 871 rotates therewith. A second jaw intermediate gear 872 is disposed on one side of the second jaw drive gear 871 so as to mesh with the second jaw drive gear 871. A second jaw rotation gear 873 is disposed on one side of the second jaw intermediate gear 872 so as to mesh with the second jaw intermediate gear 872. A rotation shaft of the second jaw rotation gear 873 is coupled to the second jaw plate 821, and when the second jaw rotation gear 873 rotates, the second jaw plate 812 rotates therewith. As a result, when the second jaw drive motor 852 rotates, its driving force rotates the second jaw plate 821 via the second jaw drive gear 871, the second jaw intermediate gear 872, and the second jaw rotation gear 873.

[0345] As the second jaw plate 812 rotates, a rotation shaft (see 242 in FIG. 17) which is the second jaw rotation shaft of the drive unit connected to the second jaw plate 812 can rotate, and the wires 302 and 306 which are the second jaw wires connected to the second jaw rotation shaft 242 can be wound or unwound.

[0346] 52, the pitch plate 831 may be rotatably disposed on the case 801. The pitch plate 831 may be connected to a pitch drive motor 853 and may receive power from the pitch drive motor 853. Specifically, a rotation shaft (not shown) is formed in the pitch drive motor 853, and the pitch plate 831 is coupled to the rotation shaft (not shown). Therefore, when the rotation shaft (not shown) of the pitch drive motor 853 rotates, the pitch plate 831 rotates therewith.

[0347] A pitch driving motor 853 is connected to one surface (lower surface in FIG. 50) of the pitch plate 831, and a protrusion 831a protruding toward the driving part 200 may be formed on the other surface (upper surface in FIG. 50) opposite thereto.

[0348] One or more protrusions 831a may be formed and may be inserted into a coupling hole 205a formed on one surface of the opposing driver 200. In this way, the driver 200 and the motor pack 800 may be connected to each other, and power generated by the motor pack 800, specifically, the pitch drive motor 853, may be transmitted to the driver 200.

[0349] 47 to 52, a first jaw plate 811 and a second jaw plate 821 may be disposed within a pitch plate 831. Holes may be formed in the pitch plate 831, and the first jaw plate 811 and the second jaw plate 821 may be disposed in the holes.

[0350] The first jaw plate 811 and the second jaw plate 821 may be rotatably disposed on the pitch plate 831. The first jaw plate 811 and the second jaw plate 821 may be connected to a first jaw drive motor 851 and a second jaw drive motor 852, respectively.

[0351] The first jaw plate 811 may be connected to the first jaw driving motor 851 on one surface (lower surface in FIG. 50) and connected to the driving unit 200, specifically, the motor coupling unit 251 on the other surface (upper surface in FIG. 50).

[0352] 52, a protrusion 811a may be formed on a first jaw plate 811, and may be connected to a coupling hole 251a formed in a motor coupling part 251. Thus, the motor coupling part 251 may be rotated by being transmitted power generated by a first jaw driving motor 851, and as the motor coupling part 251 rotates, the rotation shaft 241 of the motor coupling part 251 may be rotated to wind or unwind wires 301 and 305, which are first jaw wires connected to the rotation shaft 241.

[0353] The second jaw plate 821 may have one surface (lower surface in FIG. 50) connected to the second jaw driving motor 852 and the other surface (upper surface in FIG. 50) connected to the driving unit 200, specifically, the motor coupling unit 252.

[0354] 52, a protrusion 821a may be formed on the second jaw plate 821, and may be connected to a coupling hole 252a formed in the motor coupling part 252. Thus, the power generated by the second jaw driving motor 852 may be transmitted to rotate the motor coupling part 252, and as the motor coupling part 252 rotates, the rotation shaft 242 of the motor coupling part 252 may be rotated to wind or unwind the wires 302 and 306, which are the second jaw wires connected to the rotation shaft 242.

[0355] 49 to 51, a first jaw intermediate gear 862 and a second jaw intermediate gear 872 share a rotation central axis with the pitch plate 831 and can rotate independently of the rotation of the pitch plate 831.

[0356] Although not shown in the figure, bearings are arranged between the rotation axis (no reference number) of the pitch plate 831 and the first jaw intermediate gear 862 and the second jaw intermediate gear 872, so that the first jaw intermediate gear 862 and the second jaw intermediate gear 872 can be arranged to be rotatable separately from the rotation axis of the pitch plate 831.

[0357] 49 to 51, the first jaw intermediate gear 862 and the second jaw intermediate gear 872 may have the same rotation center axis and may be spaced apart at a regular interval with different heights.

[0358] As a result, the first jaw drive gear 861 and the second jaw drive gear 871 can also be spaced apart at different heights, and the first jaw rotation gear 863 and the second jaw rotation gear 873 can also be spaced apart at different heights.

[0359] This has the effect of preventing interference between the first jaw drive gear 861, the first jaw intermediate gear 862, and the first jaw rotation gear 863 and the second jaw drive gear 871, the second jaw intermediate gear 872, and the second jaw rotation gear 873.

[0360] 49 to 51, the motor pack 800 may further include a motor connecting member 841. The motor connecting member 841 is coupled to the pitch plate 831 and may be connected to the rotation central shaft of the first jaw plate 811 and the rotation central shaft of the second jaw plate 821.

[0361] This has the effect of enabling the power generated from the one-jaw drive motor 851 and the second jaw drive motor 852 to be transmitted to the first jaw plate 811 and the second jaw plate 821 while maintaining the center of each rotation central axis of the first jaw plate 811 and the second jaw plate 821.

[0362] That is, since the first jaw plate 811 and the second jaw plate 821 are coupled to the pitch plate 831, when the pitch plate 831 rotates, the first jaw plate 811 and the second jaw plate 821 revolve around the rotation shaft (not shown) of the pitch drive motor 853. This will be described in more detail in the pitch operation described later.

[0363] (Pitch movement)

[0364] 54 to 56 are enlarged views sequentially showing states rotated by the pitch drive motor. When pitch drive motor 853 rotates, pitch plate 831 rotates (spins) about a pitch rotation axis (not shown), and together with this, first jaw plate 811 and second jaw plate 821 arranged on pitch plate 831 also revolve about the pitch rotation axis.

[0365] At this time, in order to compensate for the rotation of first jaw plate 811 and second jaw plate 821, first jaw drive motor 851 and second jaw drive motor 852 rotate.

[0366] 54 to 56, pitch drive motor 853 and pitch plate 831 rotate in the direction of arrow A3 for pitch operation. Then, due to the rotation of pitch plate 831, first jaw plate 811 and second jaw plate 821 also revolve around the rotation axis of pitch drive motor 853 in the direction of arrow A3.

[0367] In order to compensate for the rotation (revolution) of the first jaw plate 811 by the pitch drive motor 853 and the pitch plate 831, the first jaw drive motor 851 and the first jaw drive gear 861 coupled thereto rotate in the direction of the arrow A1. Then, the first jaw intermediate gear 862 meshing with the first jaw drive gear 861 rotates in the direction of the arrow A1'. At this time, the first jaw rotation gear 863 revolves around the pitch rotation axis by the first jaw plate 811.

[0368] In this manner, the first jaw intermediate gear 862 rotates about the pitch rotation axis by the first jaw drive gear 861, and at the same time the first jaw rotation gear 863 revolves about the pitch rotation axis, so that during this rotation, certain teeth of the first jaw intermediate gear 862 continue to be in contact with teeth of the first jaw rotation gear 863. In other words, the first jaw rotation gear 863 does not rotate relative to the first jaw intermediate gear 862.

[0369] As a result, during the pitch movement, the relative position between the first jaw intermediate gear 862 and the first jaw rotation gear 863 is maintained constant. In other words, the first jaw intermediate gear 862 and the first jaw rotation gear 863 rotate integrally around the pitch rotation axis.

[0370] In this manner, the first jaw drive motor 851 and the second jaw drive motor 852 rotate to compensate for the revolution of the first jaw plate 811 and the second jaw plate 812 that occurs as a by-product when the pitch drive motor 853 rotates to perform the pitch movement, and as a result, the pitch movement may not be affected by the movement of the jaws.

[0371] (2nd jaw rotation movement)

[0372] As shown in FIG. 57, in order for the second jaw (see 102 in FIG. 7) to operate, the second jaw drive motor 852 must be rotated. When the rotary shaft of the second jaw drive motor 852 and the second jaw drive gear 871 coupled thereto rotate in the direction of the arrow B2, the second jaw intermediate gear 872 meshing therewith rotates in the direction of the arrow B2'. Then, the second jaw rotation gear 873 and the second jaw plate 821 meshing with the second jaw intermediate gear 872 rotate in the direction of the arrow B2'. At this time, the pitch plate 811 does not rotate and maintains its position, and only the second jaw plate 821 disposed on the pitch plate 811 rotates.

[0373] (Simultaneous pitch movement and second jaw rotation movement)

[0374] As shown in FIG. 58, since the second jaw rotates while the pitch movement is being performed, the pitch drive motor 853 and the second jaw drive motor 852 can each rotate.

[0375] 58, for the pitch operation, the pitch drive motor 853 and the pitch plate 831 rotate in the direction of the arrow C3. Then, due to the rotation of the pitch plate 831, the first jaw plate 811 and the second jaw plate 821 also revolve around the rotation axis of the pitch drive motor 853 in the direction of the arrow C3.

[0376] In order to compensate for the rotation (revolution) of the first jaw plate 811 by the pitch drive motor 853 and the pitch plate 831, the first jaw drive motor 851 and the first jaw drive gear 861 coupled thereto rotate in the direction of the arrow C1. Then, the first jaw intermediate gear 862 meshing with the first jaw drive gear 861 rotates in the direction of the arrow C1'. At this time, the first jaw rotation gear 863 revolves around the pitch rotation axis by the first jaw plate 811.

[0377] Meanwhile, in order for the second jaw to rotate while the pitch motion is being performed, the second jaw driving motor 852 and the second jaw driving gear 871 coupled thereto rotate in the direction of the arrow C2. Then, the second jaw intermediate gear 872 meshing with the second jaw driving gear 871 rotates in the direction of the arrow C2', and the second jaw rotating gear 873 meshing with the second jaw intermediate gear 872 rotates in the direction of the arrow C''.

[0378] At this time, if the pitch drive motor 853 and the second jaw drive motor 852 rotate together, the amount of rotation to compensate for the rotation of the pitch drive motor 853 must be taken into consideration when the second jaw drive motor 852 rotates. In this case, since the second jaw drive gear 871 is formed relatively smaller than the second jaw intermediate gear 872 in the drawing, it is shown that the second jaw drive motor 852 rotates in a clockwise direction assuming that the pitch rotates 45° and the second jaw also rotates 45°. However, this may vary depending on the rotation ratio of each gear.

[0379] Unlike the motor pack 500 of the first embodiment in which the first jaw drive motor 551 and the second jaw drive motor 552 rotate together as the pitch drive motor 553 rotates, the motor pack 800 of the second embodiment of the present invention can maintain the positions of the first jaw drive motor 851 and the second jaw drive motor 852 unchanged.

[0380] Also, unlike motor pack 500 of the first embodiment in which the central axis of rotation of first jaw drive motor 551 when generating rotational power is the same as the central axis of rotation of first jaw plate 511 and the central axis of rotation of second jaw drive motor 552 when generating rotational power is the same as the central axis of rotation of second jaw plate 521, the central axis of rotation of first jaw drive motor 851 is disposed away from the central axis of rotation of first jaw plate 811, and the central axis of rotation of second jaw drive motor 852 is disposed away from the central axis of rotation of second jaw plate 821.

[0381] Instead, the power generated by the first jaw drive motor 851 can be transmitted to the first jaw plate 811 via the first jaw drive gear 861 , the first jaw intermediate gear 862 , and the first jaw rotation gear 863 .

[0382] Similarly, power generated by the second jaw drive motor 852 can be transmitted to the second jaw plate 821 via the second jaw drive gear 871 , the first jaw intermediate gear 872 , and the first jaw rotation gear 873 .

[0383] Except for this point, the configuration and effect of transmitting the rotational power of the pitch plate 831, the first jaw plate 811, and the second jaw plate 821 to the drive unit 200 is the same as that of the motor pack 500 according to the first embodiment, and therefore detailed explanations will be omitted to the extent that they overlap.

[0384] 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 from this. Therefore, the true technical scope of the present invention should be determined by the technical ideas of the appended claims. [Industrial Applicability]

[0385] The present invention relates to a surgical instrument and a surgical robot including the same, and in particular, to a surgical instrument and a surgical robot including the same that can be operated manually or automatically for use in laparoscopic surgery or various other surgeries and that can perform pitch and yaw / actuation movements smoothly and independently.

Claims

1. an end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and configured to be rotatable together with the jaws about a first axis, and configured to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moved by rotation of the end tool jaw pulley; a connecting portion extending in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; a drive unit coupled to the other end of the coupling unit and controlling the pitch rotation and the yaw rotation of the end tool; The drive unit is a drive jaw pulley formed to be rotatable about a second axis and wound with at least a portion of the jaw wire; a driving part jaw rotation axis that is formed to be rotatable around a third axis different from the second axis, that is movable relative to the center of the driving part jaw pulley while maintaining a preset interval, that revolves around the center of the driving part jaw pulley, and that is coupled to the jaw wire; The jaw wire is moved by the rotation of the drive unit jaw rotation shaft, and the end tool jaw pulley and the jaw are rotated. the two jaw wires wound out from the drive unit jaw pulley are wound around the drive unit jaw pulley, the drive unit jaw rotation shaft, and the drive unit jaw pulley in sequence, and then extend toward the end tool, A surgical instrument characterized in that, when the drive unit jaw rotation axis moves relative to the drive unit jaw pulley, the overall length of the jaw wire within the drive unit is changed, thereby causing the end tool to rotate the pitch.

2. The drive unit further includes a drive unit pitch pulley disposed adjacent to the drive unit jaw pulley and configured to be rotatable around the second axis, The drive jaw rotation shaft is formed to be movable relative to the drive pitch pulley, 2. The surgical instrument according to claim 1, wherein the drive unit pitch pulley is configured to change a relative position of the drive unit jaw rotation axis with respect to the second axis when the drive unit pitch pulley rotates.

3. 3. The surgical instrument according to claim 2, wherein a relative distance between a rotation center of the drive part pitch pulley and a rotation center of the drive part jaw rotation shaft is maintained constant.

4. 3. The surgical instrument according to claim 2, wherein when the drive unit pitch pulley rotates, the drive unit jaw rotation shaft moves in conjunction with the drive unit pitch pulley.

5. 3. The surgical instrument according to claim 2, wherein when the drive unit pitch pulley rotates around the second axis, the drive unit jaw rotation axis moves relative to the drive unit pitch pulley, thereby changing the overall length of the jaw wire within the drive unit.

6. By changing the overall length of the jaw wire within the drive section by rotating the drive section pitch pulley, 6. The surgical instrument of claim 5, wherein the overall length of the jaw wire within the end tool is also varied.

7. Even if the overall length of the jaw wire in the drive unit is changed by the rotation of the drive unit pitch pulley, 6. The surgical instrument of claim 5, wherein the overall length of the jaw wire is maintained constant.

8. an end tool jaw pitch main pulley formed adjacent to the end tool jaw pulley and rotatable around a fourth axis different from the first axis; 3. The surgical instrument according to claim 2, further comprising an end tool jaw pitch sub-pulley formed adjacent to the end tool jaw pitch main pulley and rotatable about a fifth axis different from the first axis.

9. The surgical instrument according to claim 8, characterized in that, during pitch rotation of the end tool, the two jaw wires that are unwound from the end tool jaw pulley and pass through the end tool jaw pitch main pulley and the end tool jaw pitch sub pulley move simultaneously in the same direction.

10. With respect to a plane perpendicular to the first axis and including the fourth axis, The surgical instrument according to claim 8, wherein the two jaw wires wound from the end tool jaw pulley are arranged on the same side with respect to the one plane.

11. The jaws include a first jaw and a second jaw, the end tool jaw pulley includes an end tool first jaw pulley coupled to the first jaw and an end tool second jaw pulley coupled to the second jaw, 9. The surgical instrument of claim 8, wherein the jawwire includes a first jawwire coupled to the end tool first jaw pulley and a second jawwire coupled to the end tool second jaw pulley.

12. With respect to a plane perpendicular to the first axis and including the fourth axis, The two first jaw wires wound from the end tool first jaw pulley are disposed on either one side of the plane, The surgical instrument according to claim 11, wherein the two second jaw wires wound from the end tool second jaw pulley are disposed on the other side of the plane.

13. 9. The surgical instrument according to claim 8, wherein the jaw wire is configured to sequentially contact the end tool jaw pulley, the end tool jaw pitch main pulley, and the end tool jaw pitch sub pulley.

14. an end tool pitch pulley disposed adjacent to the end tool jaw pulley and formed to be rotatable around the fourth axis or the fifth axis; 9. The surgical instrument of claim 8, further comprising a pitch wire coupled to the endotool pitch pulley and the driver pitch pulley, respectively, connecting the endotool pitch pulley and the driver pitch pulley.

15. 15. The surgical instrument of claim 14, wherein the amount of rotation of the drive pitch pulley and the amount of rotation of the end tool pitch pulley are substantially the same.

16. When the drive unit pitch pulley rotates by a first angle, the drive unit jaw rotation shaft revolves by the first angle, 15. The surgical instrument of claim 14, wherein when the drive pitch pulley rotates through the first angle, the end tool pitch pulley and the end tool jaw pitch main pulley rotate through a second angle.

17. at least one or more drive sub-intermediate pulleys disposed adjacent to the drive jaw pulley and transmitting the jaw wire from the end tool to the drive jaw pulley; The surgical instrument according to claim 2 , wherein the jaw wire passes through the drive unit sub-intermediate pulley, the drive unit jaw pulley, and the drive unit jaw rotation shaft in this order.

18. When the drive pitch pulley rotates, The surgical instrument according to claim 17, characterized in that the path length of the jaw wire from an entry point into the drive unit sub-intermediate pulley, through the drive unit jaw pulley, to an exit point from the drive unit jaw rotation shaft is changed by rotating the drive unit jaw rotation shaft together.

19. When the drive pitch pulley rotates, 18. The surgical instrument according to claim 17, characterized in that on the arrangement path of the jaw wire connecting the end tool jaw pulley and the drive unit jaw rotation shaft, the path length of the jaw wire is changed from the position where the jaw wire first contacts the drive unit jaw pulley to the position where the jaw wire last contacts the drive unit jaw pulley.

20. The drive jaw pulley is formed to be rotatable about the second shaft, The surgical instrument according to claim 2 , wherein the drive jaw rotation axis is formed to be capable of revolving around the second axis.

21. 21. The surgical instrument of claim 20, wherein when the drive unit pitch pulley rotates about the second axis, the drive unit jaw rotation axis connected to the drive unit pitch pulley revolves about the second axis, thereby changing the overall length of the jaw wire in the drive unit.

22. When the drive pitch pulley rotates about the second shaft, The surgical instrument of claim 20, wherein the drive jaw rotation shaft is spaced apart from the second axis to a certain extent, and the entire drive jaw rotation shaft rotates around the second axis while maintaining a certain distance from the second axis.

23. a base plate configured to rotate with the drive pitch pulley about the second axis, 21. The surgical instrument according to claim 20, wherein the drive jaw rotation axis is formed on the base plate.

24. The surgical instrument according to claim 23, wherein the base plate is formed with two or more holes, and a drive jaw rotation shaft is disposed in at least one of the holes.

25. 24. The surgical instrument of claim 23, wherein the base plate rigidly connects the drive unit pitch pulley and the drive unit jaw rotation shaft, and when the drive unit pitch pulley rotates about the second shaft, the drive unit jaw rotation shaft revolves about the second shaft.

26. The multi-joint surgical device according to claim 20, characterized in that, when the drive unit jaw rotation axis revolves around the second axis, the length of the jaw wire wound around the drive unit jaw pulley is changed.

27. 2. The surgical instrument of claim 1, wherein the overall length of the jaw wire within the driver remains constant even as the driver jaw pulley rotates.

28. The surgical instrument according to claim 1, wherein the jaw wire is coupled to the end tool jaw pulley and the drive jaw pulley, respectively, to form a generally closed loop.

29. The yaw rotation is an operation in which the end tool jaw pulley rotates about the first axis, 2. The surgical instrument according to claim 1, wherein the pitch rotation is a revolution of the end tool jaw pulley about a fourth axis different from the first axis.

30. one or more robot arm units that are operated by a surgeon's handle operation; a surgical instrument coupled to the robot arm unit; The surgical instrument comprises: an end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and configured to be rotatable together with the jaws about a first axis, and configured to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moved by rotation of the end tool jaw pulley; a connecting portion extending in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; a drive unit coupled to the other end of the coupling unit and controlling the pitch rotation and the yaw rotation of the end tool; The drive unit is a drive jaw pulley formed to be rotatable about a second axis and wound with at least a portion of the jaw wire; a driving part jaw rotation axis that is formed to be rotatable around a third axis different from the second axis, that is movable relative to the center of the driving part jaw pulley while maintaining a preset interval, that revolves around the center of the driving part jaw pulley, and that is coupled to the jaw wire; The jaw wire is moved by the rotation of the drive unit jaw rotation shaft, and the end tool jaw pulley and the jaw are rotated. the two jaw wires wound out from the drive unit jaw pulley are wound around the drive unit jaw pulley, the drive unit jaw rotation shaft, and the drive unit jaw pulley in sequence, and then extend toward the end tool, A surgical robot characterized in that, when the drive unit jaw rotation shaft moves relative to the drive unit jaw pulley, the overall length of the jaw wire in the drive unit is changed, thereby causing the end tool to rotate the pitch.

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