Surgical instrument

Abstract

To provide a surgical instrument including a locking device which can be locked and / or unlocked for at least any operation in the surgical instrument which can be manually or automatically operated for use in laparoscopic surgery or various surgeries.SOLUTION: The surgical instrument 10 according to the first embodiment of the present invention includes an endtool 100, an operator 200, an operating force transmitter, and a connector 400. The connection part 400 may be formed in a hollow shaft shape, and one or more wires and electric wires may be accommodated therein. The manipulation part 200 may be coupled to one end portion of the connection part 400, the endtool 100 may be coupled to the other end portion of the connection part 400, and the connection part 120 may serve to connect the manipulation part 200 and the endtool 100.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] In medicine, surgery refers to the use of medical instruments to remove, incise, or manipulate skin, mucous membranes, or other tissues to treat disease. In particular, open surgery, in which the skin at the surgical site is incised and the organs inside are treated, reshaped, or removed, can cause problems such as bleeding, side effects, pain, and scarring. Therefore, surgery performed by creating specific holes in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgery using robots, has recently gained attention as an alternative.

[0003] A surgical instrument is a tool used to operate on a surgical site by manipulating an end tool attached to one end of a shaft that passes through a hole drilled in the skin using a predetermined drive unit, either by hand or by a robotic arm. The end tool attached to the surgical instrument performs rotation, gripping, cutting, and other operations via a predetermined structure.

[0004] However, while performing surgery using such surgical instruments, there has been a need for the surgical instruments to be maintained in a specific position, i.e., locked, without the user having to apply force to the surgical instruments. For example, when a first surgical instrument is holding a patient's tissue and a surgeon wishes to use a second surgical instrument to suture the tissue, there has been a need for the first surgical instrument to be locked while holding the patient's tissue.

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

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

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

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

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

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

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

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

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

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

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

[0016] In the present invention, the pitch operation unit is axially coupled to the connecting unit, and the locking member can control whether the pitch operation unit rotates relative to the connecting unit.

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

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

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

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

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

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

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

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

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

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

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

[0028] The present invention thus makes it possible to lock and / or unlock at least one of the operations, thereby improving convenience for the surgeon and achieving the effects of improving the precision, reliability, speed, etc. of surgery. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1a is a conceptual diagram of the pitch motion of a conventional surgical instrument. FIG. 1b is a conceptual diagram of the yaw motion of a conventional surgical instrument. FIG. 1c is a conceptual diagram of the pitch motion of another conventional surgical instrument. FIG. 1d is a conceptual diagram of the yaw motion of another conventional surgical instrument. FIG. 1e is a conceptual diagram of the pitch motion of a surgical instrument according to the present invention. FIG. 1f is a conceptual diagram of the yaw motion of a surgical instrument according to the present invention. [Figure 2] 1 is a perspective view showing a surgical instrument according to a first embodiment of the present invention. [Figure 3] FIG. 3 is a side view of the surgical instrument of FIG. 2. [Figure 4] FIG. 3 is a perspective view showing an end tool of the surgical instrument of FIG. 2. [Figure 5] FIG. 3 is a perspective view showing an end tool of the surgical instrument of FIG. 2. [Figure 6]5 is an enlarged perspective view showing an end tool hub of the surgical instrument of FIG. 4. FIG. [Figure 7] FIG. 3 is a plan view showing an end tool of the surgical instrument of FIG. 2. [Figure 8] FIG. 3 is a plan view showing an end tool of the surgical instrument of FIG. 2. [Figure 9] FIG. 3 is a perspective view showing an operating portion of the surgical instrument of FIG. 2. [Figure 10] FIG. 3 is a perspective view showing an operating portion of the surgical instrument of FIG. 2. [Figure 11] 3 is a diagram simply illustrating only the configuration of pulleys and wires that constitute the joints of the surgical instrument shown in FIG. 2. FIG. [Figure 12] 3 is a perspective view showing a locked state of the surgical instrument shown in FIG. 2.

[0023] FIG. [Figure 13] 3 is a perspective view showing an unlocked state of the surgical instrument shown in FIG. 2. FIG. [Figure 14] 13 is an assembled perspective view of the locking device of the surgical instrument shown in FIG. 12. FIG. [Figure 15] 13 is an exploded perspective view of the locking device of the surgical instrument shown in FIG. 12. FIG. [Figure 16] 15 is a plan view showing a locked state of the locking device of the surgical instrument shown in FIG. 14. FIG. [Figure 17] 15 is a plan view showing a locked state of the locking device of the surgical instrument shown in FIG. 14. FIG. [Figure 18] 15 is a plan view showing an unlocked state of the locking device of the surgical instrument shown in FIG. 14. FIG. [Figure 19] 15 is a plan view showing an unlocked state of the locking device of the surgical instrument shown in FIG. 14. FIG. [Figure 20] 3 is an exploded perspective view of a locking device of the surgical instrument shown in FIG. 2. FIG. [Figure 21] 3 is a perspective view showing a locked state of a lever portion of the surgical instrument shown in FIG. 2. FIG. [Figure 22]3 is a perspective view showing an unlocked state of a lever portion of the surgical instrument shown in FIG. 2. FIG. [Figure 23] FIG. 3 is a perspective view showing a pitch movement of the surgical instrument shown in FIG. 2. [Figure 24] FIG. 3 is a perspective view showing a pitch movement of the surgical instrument shown in FIG. 2. [Figure 25] FIG. 3 is a perspective view showing the yaw movement of the surgical instrument shown in FIG. 2. [Figure 26] FIG. 3 is a perspective view showing the yaw movement of the surgical instrument shown in FIG. 2. [Figure 27] FIG. 10 is a plan view showing a locked state of a locking device according to another embodiment of the present invention. [Figure 28] FIG. 10 is a plan view showing an unlocked state of a locking device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0031] Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0032] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. The singular expressions include the plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

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

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

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

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

[0037] 1A, when a conventional surgical instrument performs a pitch movement, the end tool 120a is formed forward of the center of rotation 121a of the end tool, and the operating unit 110a is formed rearward of the center of rotation 111a of the operating unit, so that when the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating unit 110a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. On the other hand, referring to FIG. 1B, when a conventional surgical instrument performs a yaw movement, the end tool 120a is formed forward of the center of rotation 121a of the end tool, and the operating unit 110a is formed rearward of the center of rotation 111a of the operating unit, so that when the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating unit 110a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. In this case, from the perspective of the user's left-right direction, when the user moves the operation unit 110a to the left, the end tool 120a moves to the right, and when the user moves the operation unit 110a to the right, the end tool 120a moves to the left. As a result, the user's operation direction and the movement direction of the end tool are reversed, which may cause the user to make an error and makes the user's operation difficult.

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

[0039] Referring to FIG. 1C , some conventional surgical instruments are formed in a mirror-symmetrical shape. When performing a pitch movement, the end tool 120b is formed forward of the rotation center 121b of the end tool, and the operating unit 110b is formed rearward of the rotation center 111b of the operating unit. When the operating unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating unit and the end tool, the rotation direction in which the user rotates the operating unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there are problems such as confusion about the operation direction for the user, and the joint movement being unintuitive, which can lead to mistakes. 1D , when performing a yaw operation, the end tool 120b is formed forward of the rotation center 121b of the end tool, and the operating unit 110b is formed rearward of the rotation center 111b of the operating unit. When the operating unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating unit and the end tool, the rotation direction in which the user rotates the operating unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there is a problem that the user may be confused about the operation direction, and the joint operation is not intuitive, which may lead to mistakes. As such, when a user performs a pitch or yaw operation on a conventional surgical instrument, the user's operation direction and the movement direction of the end tool do not match each other in terms of either the rotation direction or the left-right direction. This is because the joint configuration of the endo-tool and the operating part differ from each other in the joint configuration of conventional surgical instruments: the endo-tool is formed forward of its center of rotation, while the operating part is formed rearward of its center of rotation.To solve this problem, the surgical instrument according to one embodiment of the present invention shown in Figures 1E and 1F is characterized in that the endotool 120c is formed forward of the rotation center 121c of the endotool, and the operating unit 110c is also formed forward of the rotation center 111c of the operating unit, so that the movements of the operating unit 110c and the endotool 120c intuitively match. To express this characteristic in another way, unlike existing examples in which the operating unit is configured to move closer to the user's joint (i.e., away from the endotool) as shown in Figures 1A, 1B, 1C, and 1D, the surgical instrument according to one embodiment of the present invention shown in Figures 1E and 1F is configured so that at least a portion of the operating unit is closer to the endotool (than the user's joint) relative to the user's joint at least for a certain moment during the operation process.

[0040] Explaining this separately, in the case of conventional surgical instruments such as those shown in Figures 1A, 1B, 1C, and 1D, the endotool is located forward of its center of rotation, while the operating unit is formed rearward of its center of rotation. Therefore, operating the operating unit, which moves rearward while the front is fixed, moves the endotool, which moves forward while the rear is fixed. This results in a structure that is not intuitively consistent. This can lead to inconsistencies between the operation of the operating unit and the operation of the endotool in terms of left-right or rotational direction, which can confuse the user and make it difficult to operate the operating unit intuitively and quickly, potentially leading to errors. In contrast, in the surgical instrument according to one embodiment of the present invention, both the endotool and the operating unit move based on a center of rotation formed at the rear, so that their operations can be said to be intuitively consistent. Explaining this separately, just as the moving part of the endotool moves based on a center of rotation formed at the rear, the moving part of the operating unit also moves based on the same center of rotation formed at the rear, so that their operations can be said to be intuitively consistent. This allows the user to intuitively and quickly steer the direction of the end tool, which has the advantage of significantly reducing the possibility of mistakes. A specific mechanism that enables this function will be described below.

[0041] <Surgical Instruments>

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

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

[0044] Here, the connecting portion 400 may be formed in the shape of a hollow shaft, and one or more wires and electrical cables may be housed therein. The operating portion 200 is coupled to one end of the connecting portion 400, and the end tool 100 is coupled to the other end, and the connecting portion 400 may serve to connect the operating portion 200 and the end tool 100. Here, the connecting portion 400 of the surgical instrument 10 according to the first embodiment of the present invention is characterized by including a straight portion 401 and a bent portion 402, with the straight portion 401 formed on the side coupled to the end tool 100 and the bent portion 402 formed on the side coupled to the operating portion 200. As such, the end of the connecting portion 400 on the operating portion 200 side is bent, so that the pitch operating portion 201, the yaw operating portion 202, and the actuation operating portion 203 are formed on an extension line of the end tool 100 or adjacent to the extension line. Expressed from another perspective, this can be explained as at least a portion of the pitch operation unit 201 and the yaw operation unit 202 being housed in a recess formed by the bent portion 402. Such a shape of the bent portion 402 allows the shapes and operations of the operation unit 200 and the end tool 100 to match more intuitively.

[0045] Meanwhile, the plane on which the bent portion 402 is formed may be the pitch plane, i.e., substantially the same plane as the XZ plane in Fig. 2. In this way, by forming the bent portion 402 on substantially the same plane as the XZ plane, interference between the operating units can be reduced. Of course, for intuitive operation of the end tool and the operating unit, configurations other than the XZ plane are also possible.

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

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

[0048] The endotool 100 is formed at the other end of the continuous portion 400 and is inserted into the surgical site to perform the operations required for surgery. As an example of such an endotool 100, a pair of jaws 103 for performing a gripping operation may be used, as shown in FIG. 2. However, the concept of the present invention is not limited thereto, and various surgical devices may be used as the endotool 100. For example, a single-arm cautery may also be used as the endotool. The endotool 100 is connected to the operating unit 200 by the power transmission unit 300, and receives the driving force of the operating unit 200 via the power transmission unit 300 to perform the operations required for surgery, such as gripping, cutting, and suturing.

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

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

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

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

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

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

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

[0056] (Intuitive Drive) The following describes the intuitive operation of the surgical instrument 10 of the present invention.

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

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

[0059] For this reason, the surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operating unit 200 and the endotool 100 are formed in the same direction based on a plane perpendicular to the extension axis (X-axis) of the connecting unit 400. That is, when viewed based on the YZ plane in FIG. 2, the operating unit 200 is formed extending in the +X-axis direction, and the endotool 100 is also formed extending in the +X-axis direction. In other words, the forming direction of the endotool 100 at one end of the connecting unit 400 and the forming direction of the operating unit 200 at the other end of the connecting unit 400 can be said to be the same direction based on the YZ plane. In other words, the operating unit 200 can be said to be formed in a direction away from the torso of the user holding it, i.e., in the direction in which the endotool 100 is formed. That is, the first handle 204, the first actuation operation unit 251, the second actuation operation unit 256, etc., which are gripped and moved by the user for actuation, yaw, and pitch movements, have portions that move to perform each movement formed to extend in the +X-axis direction from the rotation center of each joint for that movement. This allows the operation unit 200 to be configured in the same way as the moving portions of the end tool 100 formed to extend in the +X-axis direction from the rotation center of each joint for that movement, and as described with reference to Fig. 1, the operation direction of the user and the movement direction of the end tool coincide with each other in both the rotational direction and the left-right direction, resulting in the same intuitive operation being possible.

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

[0061] To solve this problem, the surgical instrument 10 according to the first embodiment of the present invention intuitively aligns the operation direction of the operating unit 200 with the operating direction of the end tool 100. To this end, the operating unit 200, like the end tool 100, is characterized in that the parts that actually move for actuation, yaw, and pitch movements extend in the +X-axis direction from the rotation center of the joint corresponding to each movement.

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

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

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

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

[0066] Furthermore, the power transmission unit 300 of the surgical instrument 10 according to one embodiment of the present invention may include fastening members 321, 322, 323, 324, 326, and 327 coupled to each end of each wire to connect the wire to the pulley. Here, each fastening member may have various shapes, such as a ball shape or a tube shape, as needed.

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

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

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

[0070] First, wire 301 and wire 305, which are first jaw wires, may be one single wire. Fastening member 323, which is a first jaw wire-end tool fastening member, is fitted into the midpoint of the first jaw wire, which is a single wire, and this fastening member 323 is crimped and fixed, and then both strands of the first jaw wire centered on fastening member 323 can be called wire 301 and wire 305, respectively.

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

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

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

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

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

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

[0077] (end tool) The endotool 100 of the surgical instrument 10 of FIG. 2 is described in more detail below.

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

[0079] Here, Fig. 4 shows a state in which the end tool hub 180 and the pitch hub 107 are coupled, and Fig. 5 shows a state in which the end tool hub 180 and the pitch hub 107 have been removed. Fig. 7 is a view focusing on the wire, and Fig. 8 is a view focusing on the pulley.

[0080] 4 to 8, an end tool 100 according to a first embodiment of the present invention is provided with a pair of jaws for performing a gripping operation, namely, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

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

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

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

[0084] A rotary shaft 141 (described later) is inserted through the end tool hub 180, and at least a portion of the pulleys 111 and 121 axially coupled to the rotary shaft 141 and the first jaw 101 and the second jaw 102 coupled thereto may be housed inside the end tool hub 180. Here, one embodiment of the present invention is characterized in that a guide portion 183 functioning as an auxiliary pulley is formed in the end tool hub 180. That is, the end tool hub 180 may be formed with the guide portion 183 that guides the paths of the wires 305 and 302. The guide portion 183 of the end tool hub 180 may function as a kind of auxiliary pulley to change the path of the wires, and the guide portion 183 of the end tool hub 180 that functions as an auxiliary pulley will be described in more detail later.

[0085] Meanwhile, a pulley 131 serving as an end tool pitch pulley may be formed at one end of the end tool hub 180. As shown in FIG. 4, the pulley 131 may be formed integrally with the end tool hub 180. In this case, the pulley 131 may be formed inside the end tool hub 180 in the form of a kind of guide channel to guide the paths of the wires 303 and 304. Alternatively, the pulley 131 may be formed as a separate member from the end tool hub 180 and coupled to the end tool hub 180. The wires 303 and 304 are coupled to the pulley 131 serving as the end tool pitch pulley, and the pulley 131 rotates about the rotation axis 143 to perform a pitch motion.

[0086] The rotation shafts 143 and 144 are inserted through the pitch hub 107, and the pitch hub 107 can be axially coupled to the end tool hub 180 and the pulley 131 via the rotation shaft 143. Therefore, the end tool hub 180 and the pulley 131 can be formed to be pitch rotatable with respect to the pitch hub 107 around the rotation shaft 143.

[0087] Furthermore, pitch hub 107 can accommodate at least a portion of pulleys 113, 114, 123, and 124 axially coupled to rotation shaft 143. Pitch hub 107 can accommodate at least a portion of pulleys 115, 116, 125, and 126 axially coupled to rotation shaft 144.

[0088] Furthermore, the end tool 100 according to the first embodiment of the present invention may include the rotation shaft 141, the rotation shaft 143, and the rotation shaft 144. As described above, the rotation shaft 141 may be inserted through the end tool hub 180, and the rotation shafts 143 and 144 may be inserted through the pitch hub 107.

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

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

[0091] Each such axle 141, 143, 144 may be fitted with one or more pulleys, as will be described in more detail below.

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

[0093] Pulleys 111 and 121, which are end tool jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 141, which is the rotation axis of the end tool jaw pulleys. Here, in the drawing, pulleys 111 and 121 are formed to rotate around one rotation axis 141, but it goes without saying that each jaw pulley may be formed to be rotatable around a separate axis. Here, a first jaw 101 is fixedly connected to pulley 111 and rotates together with pulley 111, and a second jaw 102 is fixedly connected to pulley 121 and rotates together with pulley 121. Yaw and actuation operations of end tool 100 are performed in response to the rotation of pulleys 111 and 121. That is, when pulley 111 and pulley 121 rotate in the same direction around rotation axis 141, a yaw operation occurs, and when pulley 111 and pulley 121 rotate in opposite directions around rotation axis 141, an actuation operation occurs.

[0094] Here, the first jaw 101 and the pulley 111 may be formed of separate members and coupled to each other, or the first jaw 101 and the pulley 111 may be formed as a single body. Similarly, the second jaw 102 and the pulley 121 may be formed of separate members and coupled to each other, or the second jaw 102 and the pulley 121 may be formed as a single body.

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

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

[0097] 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.

[0098] The components related to the rotation of the pulley 111 will be described below.

[0099] 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 serving as a first jaw wire is wound around pulley 113, and a wire 305 serving as a first jaw wire is wound around pulley 114.

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

[0101] Here, pulleys 113 and 114 are arranged on one side of pulley 111 so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other about rotation axis 143, which is the end tool pitch rotation axis. In addition, pulleys 115 and 116 are arranged 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 rotation axis 144, which is the 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 concept of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0102] Wire 301, which is the first jaw wire, is wound around pulley 115, pulley 113, and pulley 111 in sequence so that at least a portion of wire 301 contacts pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound around pulley 111, guide portion 183, pulley 114, and pulley 116 in sequence so that at least a portion of wire 305 contacts pulley 115, pulley 113, and pulley 111.

[0103] Explaining this from another perspective, the first jaw wires, wire 301 and wire 305, are wound sequentially around pulley 115, pulley 113, pulley 111, guide portion 183, pulley 114, and pulley 116 so that at least a portion of them contact each other, and wire 301 and wire 305 are formed so that they can move along the pulleys while rotating the pulleys.

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

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

[0106] 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 serving as the second jaw wire is wound around pulley 123, and a wire 302 serving as the second jaw wire is wound around pulley 124.

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

[0108] Pulleys 123 and 124 are disposed on one side of pulley 121 so as to face each other. Pulleys 123 and 124 are formed to be rotatable independently of each other about rotation axis 143, which is the end tool pitch rotation axis. Pulleys 125 and 126 are disposed on one side of pulleys 123 and 124 so as to face each other. Pulleys 125 and 123 / J25 are formed to be rotatable independently of each other about rotation axis 144, which is the end tool pitch auxiliary rotation axis. Although the drawing shows pulleys 123, 125, 124, and 126 all rotatable about the Y-axis, the concept of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0109] Wire 306, which is the second jaw wire, is wound around pulley 125, pulley 123, and pulley 121 in sequence so as to be in at least partial contact with the pulley. Wire 302, which is connected to wire 306 by fastening member 326, is wound around pulley 121, guide portion 183, pulley 124, and pulley 126 in sequence so as to be in at least partial contact with the pulley.

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

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

[0112] The end tool hub 180 of one embodiment of the present invention will be described in more detail below, with particular emphasis on the guide portion 183 of the end tool hub 180 that serves as an auxiliary pulley.

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

[0114] Specifically, a pair of jaw pulley coupling parts 181, 182 are formed to face each other, and the pulleys 111, 121 are housed therein. A through hole is formed in each of the jaw pulley coupling parts 181, 182, and the rotation shaft 141 passes through the jaw pulley coupling parts 181, 182 and the pulleys 111, 121 to axially couple them together.

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

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

[0117] Here, guide portion 183 may be formed in a roughly cylindrical shape with a semicircular cross section. This semicircular section may be disposed so as to protrude toward pulley 111 and pulley 121. From another perspective, this may be expressed as guide portion 183 being formed to protrude toward the space formed by the pair of jaw pulley coupling portions 181, 182 and guide portion 183. From another perspective, this may be expressed as guide portion 183 being formed to protrude toward the space formed by the pair of jaw pulley coupling portions 181, 182 and guide portion 183. From another perspective, this may be expressed as guide portion 183 having a cross section that is curved to have a predetermined curvature.

[0118] Alternatively, from another perspective, the guide portion 183 can be said to have the wires 305 and 302 wound around its outer circumferential surface and function as a kind of pulley member that guides the paths of the wires 305 and 302. However, the guide portion 183 is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as part of the end tool hub 180, and can be said to perform some of the functions of a pulley that guides the path of the wires by having the wires wound around it.

[0119] Here, in the figure, guide portion 183 is shown as being formed in a roughly cylindrical shape with a semicircular cross section. That is, at least a portion of the cross section of guide portion 183 on the XY plane is shown as having a predetermined arc shape. However, the concept of the present invention is not limited thereto, and the cross section may be formed in various shapes and sizes suitable for guiding the paths of wires 305 and 302, such as having a cross section formed to have a predetermined curvature such as an ellipse or parabola, or having polygonal prisms with somewhat rounded corners.

[0120] Here, guide grooves 184 may be further formed in the guide portion 183 at the portions that come into contact with the wires 305 and 302 to better guide the paths of the wires 305 and 302. The guide grooves 184 may be formed in the shape of grooves that are recessed to a certain extent from the protruding surface of the guide portion 183.

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

[0122] By further forming guide groove 184 in guide portion 183 in this way, unnecessary friction with the wire can be reduced, and the durability of the wire can be improved.

[0123] The guide portion 183 may further include a pitch pulley portion 185 formed in a direction opposite to the direction in which the jaw pulley coupling portions 181 and 182 are formed. The pitch pulley portion 185 may include a pitch pulley pulley 131 around which the pitch wires 303 and 304 can be wound. Unlike a pulley in the original sense, the pulley 131 is not a component that rotates around a predetermined axis. Instead, it is formed to be fixed as part of the end tool hub 180, and performs some of the functions of a pulley by having a wire wound around it. That is, the pulley 131 may be formed as a groove in the pitch pulley portion 185 of the end tool hub 180, and the pulley 131 may serve as a guide channel for the wires 303 and 304. The pitch pulley portion 185 may be formed on the XZ plane. The pitch pulley portion 185 may include a through-hole through which the rotation shaft 143 is inserted.

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

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

[0126] The guide portion 183 can play a role in increasing the rotation radius of each of the first jaw 101 and the second jaw 102 by coming into contact with the wires 305 and 302 and changing the arrangement paths of the wires 305 and 302 to a certain extent.

[0127] In other words, if the auxiliary pulley or guide portion 183 is not provided, the first jaw pulley, pulley 111, and the second jaw pulley, pulley 121, can only rotate up to a right angle. However, in one embodiment of the present invention, by further providing a guide portion 183 on the end tool hub 180, the maximum rotation angle of each pulley can be increased.

[0128] This enables operation in which both jaws of the end tool 100 must spread apart for actuation when both jaws are rotated in a yaw direction by 90°. In other words, the configuration of the guide portion 183 of the end tool hub 180 has the characteristic of being able to expand the range of yaw rotation in which actuation is possible.

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

[0130] In this way, there is no need to place a separate structure for expanding the rotation angle, the number of parts is reduced, the manufacturing process is simplified, the length of the end tool is shortened by the size of the auxiliary pulley, and the length of the end tool when performing a pitch operation is shortened, thereby making it easier to perform surgical operations in a narrow space.

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

[0132] The endotool 100 of the surgical instrument according to one embodiment of the present invention is characterized in that a guide portion 183 that can change the path of the wire is formed on the inner wall of the endotool hub 180, thereby changing the layout path of the wire without the need for a separate structure. By forming the guide portion 183 on the endotool hub 180 in this way and changing the layout paths of the wires 305 and 302 to a certain extent, the tangential directions of the wires 305 and 302 are changed, and therefore the rotation angles of the fastening members 323 and 326 that connect the wires to the pulleys are expanded.

[0133] That is, the fastening member 326 that connects the wire 302 and the pulley 121 can rotate until it is positioned on the common inscribed line between the pulley 121 and the guide portion 183. Similarly, the fastening member (see 323 in FIG. 11) that connects the wire 305 and the pulley 111 can rotate until it is positioned on the common inscribed line between the pulley 111 and the guide portion 183, and the rotation angle of the fastening member (see 323 in FIG. 11) can be expanded.

[0134] Explaining this from another perspective, wire 301 and wire 305 wound around pulley 111 by guide unit 183 are arranged on one side of a plane that is perpendicular to the Y axis and passes through the X axis. At the same time, wire 302 and wire 306 wound around pulley 121 by guide unit 183 are arranged on the other side of a plane that is perpendicular to the Y axis and passes through the X axis.

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

[0136] In other words, the wire 305 is located on the inscribed line between the pulley 111 and the guide portion 183, and the rotation angle of the pulley 111 is expanded by the guide portion 183. In addition, the wire 302 is located on the inscribed line between the pulley 121 and the guide portion 183, and the rotation angle of the pulley 121 is expanded by the guide portion 183.

[0137] Compared to a surgical instrument having a separate auxiliary pulley, the length of the endotool of the surgical instrument of this embodiment is shorter because it does not have an auxiliary pulley but has a guide portion 183 that can change the path of the wire on the inner wall of the endotool hub 180. This shorter length of the endotool makes it easier for the surgeon to operate it when performing surgery in a narrow surgical space inside the human body, and reduces side effects of surgery.

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

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

[0140] 7 (i.e., when both strands of the first jaw wire are pulled), since the wires 301 and 305 are wound around the pulleys 113 and 114 rotatable around the rotation axis 143, which is the end tool pitch rotation axis, as shown in Fig. 5, the pulley 111 to which the wires 301 and 305 are fixedly coupled and the end tool hub 180 to which the pulley 111 is coupled rotate together counterclockwise around the rotation axis 143 as a whole, resulting in the end tool 100 performing a pitch motion while rotating downward. At this time, the second jaw 102 and the wires 302 and 306 fixedly coupled thereto are wound around the pulleys 123 and 124 rotatable around the rotation axis 143, and therefore the wires 302 and 306 are unwound in the directions opposite to the wires 302 and 306, respectively.

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

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

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

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

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

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

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

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

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

[0150] Furthermore, the operation unit 200 according to the first embodiment of the present invention may include rotational shafts 241, 242, 243, 244, 245, and 246. Here, the rotational shaft 241 may function as an operation unit first jaw actuation rotational shaft, and the rotational shaft 242 may function as an operation unit second jaw actuation rotational shaft. The rotational shaft 243 may function as an operation unit yaw main rotational shaft, and the rotational shaft 244 may function as an operation unit yaw sub-rotational shaft. The rotational shaft 245 may function as an operation unit pitch sub-rotational shaft, and the rotational shaft 246 may function as an operation unit pitch main rotational shaft.

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

[0152] Each of these rotating shafts 241, 242, 243, 244, 245, and 246 may be fitted with one or more pulleys, as will be described in more detail below.

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

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

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

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

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

[0158] Pulleys 231 and 232 function as operation unit pitch wire main pulleys, and pulleys 233 and 234 function as operation unit pitch wire sub-pulleys.

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

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

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

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

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

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

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

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

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

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

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

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

[0171] Here, the drawings show yaw operation unit 202 including pulleys 211 and 212 and pulleys 221 and 222, where pulleys 211 and 212 and pulleys 221 and 222 are respectively formed to face each other and are provided with two independently rotatable pulleys, but the concept of the present invention is not limited to this. In other words, one or more pulleys having the same or different diameters may be provided according to the configuration of yaw operation unit 202.

[0172] Specifically, a rotation axis 243, which is the operation unit yaw main rotation axis, is formed on one side of the actuation operation unit 203 on the first handle 204. In this case, the first handle 204 is formed to be rotatable around the rotation axis 243.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0186] Here, in the figure, the connecting portion 400 is shown as having a bent portion 402 and being curved to have a predetermined curvature, but the concept of the present invention is not limited thereto, and the connecting portion 400 may be formed straight or bent one or more times as necessary, and even in such cases, the pitch control portion 201 and the end tool 100 can be said to be formed on substantially the same or parallel axes. Also, in Figure 3, the pitch control portion 201 and the end tool 100 are shown as being formed on axes parallel to the X-axis, but the concept of the present invention is not limited thereto, and the pitch control portion 201 and the end tool 100 may be formed on different axes.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0210] In particular, the surgical instrument 10 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (first jaw wire or second jaw wire) is wound around this pulley, and rotation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired operation of the end tool 100. Furthermore, an auxiliary pulley may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around one pulley multiple times, prevent the wires wound around the pulleys from contacting each other, and safely form a path for the wire being wound around the pulley and the wire being unwound, thereby improving the safety and efficiency of wire power transmission.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0248] Here, the second fastening portion 273b may include a first surface 273b1 and a second surface 273b2, where the first surface 273b1 is formed to have a gentle slope at a predetermined angle, and the second surface 273b2 may be formed to be vertical or close to vertical. Similarly, the first fastening portion 271a of the lock main body 271 may also include a first surface 271a1 and a second surface 271a2, where the first surface 271a1 is formed to have a gentle slope at a predetermined angle, and the second surface 271a2 may be formed to be vertical or close to vertical. In this case, the inclined first surface 273b1 of the second fastening portion 273b and the inclined first surface 271a1 of the first fastening portion 271a may be arranged to face each other (i.e., to abut).

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

[0250] The lock control unit 275 may include a main body 275a, a guide portion 275b, and a pressure portion 275c. Specifically, the main body 275a of the lock control unit 275 may be rod-shaped and configured to be able to reciprocate linearly relative to the lock main body 271. The main body 275a of the lock control unit 275 may be configured with a guide portion 275b for guiding its movement path. The guide portion 275b may be configured in the shape of an elongated hole, and one or more guide pins 276 fixedly coupled to the yaw frame 207 may engage with the guide portion 275b. The guide portion 275b and the guide pins 276 allow the lock control unit 275 to perform reciprocating linear movement relative to the lock main body 271. Here, in the figure, the guide portion 275b is shown as being hole-shaped and the guide pin 276 is shown as being pin-shaped, but the concept of the present invention is not limited to this, and various types of guide portions for guiding the linear motion of the lock control portion 275 can be configured, such as a protrusion formed on the lock control portion 275 and a guide groove formed in the lock main body portion 271, the yaw frame 207, etc.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0274] Second Embodiment

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

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

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

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

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

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

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

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

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

[0284] Here, the second fastening portion 563b may include a first surface 563b1 and a second surface 563b2, where the first surface 563b1 is formed to have a gentle slope at a predetermined angle, and the second surface 563b2 may be formed to be vertical or close to vertical. Similarly, the first fastening portion 561a of the lock main body 561 may include a first surface 561a1 and a second surface 561a2, where the first surface 561a1 is formed to have a gentle slope at a predetermined angle, and the second surface 561a2 may be formed to be vertical or close to vertical. In this case, the inclined first surface 563b1 of the second fastening portion 563b and the inclined first surface 561a1 of the first fastening portion 561a may be arranged to face each other (i.e., to abut).

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

[0286] The lock control unit 565 may include a main body 565a, a guide portion 565b, and a pressure portion 565c. Specifically, the main body 565a of the lock control unit 565 may be rod-shaped and configured to be able to reciprocate linearly relative to the lock main body 561. The main body 565a of the lock control unit 565 may be configured with a guide portion 565b for guiding the movement path of the main body 565a. The guide portion 565b may be configured in the shape of an elongated hole, and one or more guide pins 566 fixedly coupled to the yaw frame 507 may be engaged with the guide portion 565b. The guide portion 565b and the guide pins 566 allow the lock control unit 565 to perform reciprocating linear movement relative to the lock main body 561. Here, in the figure, the guide portion 565b is shown as being hole-shaped and the guide pin 566 is shown as being pin-shaped, but the concept of the present invention is not limited to this, and various types of guide portions for guiding the linear motion of the lock control portion 565 can be configured, such as a protrusion formed on the lock control portion 565 and a guide groove formed in the lock main body portion 561 or the yaw frame 507.

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

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

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

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

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

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

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

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

[0295] Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely an example, and those skilled in the art will appreciate that various modifications and variations of the embodiment are possible. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. [Industrial Applicability]

[0296] The present invention relates to surgical instruments, particularly those that can be manually or automatically operated for use in laparoscopic or other surgical procedures, and can be used with surgical instruments that include a locking device that can be locked and / or unlocked against at least one movement.

Claims

1. an end tool including one or more jaws and configured to be rotatable in two or more directions; an operating unit for controlling the rotation of the end tool in the two or more directions; a power transmission unit including one or more jaw wires connected to the operating unit to transmit rotation of the operating unit to the jaws; and a connecting portion to which the end tool is connected and the operating portion is connected to the other end, the connecting portion connecting the operating portion and the end tool; The operation unit includes: A locking device that locks or unlocks at least one of a pitch movement or a yaw movement of the end tool, The locking device is A surgical instrument including: a lock body portion fixedly coupled to the connecting portion or the operating portion; and a lock portion formed to be fastenable to the lock body portion.

2. 2. The surgical instrument according to claim 1, wherein the lock body includes a first fastening portion having a concave and convex shape, and the lock portion includes a second fastening portion formed in a shape corresponding to the first fastening portion.

3. The surgical instrument according to claim 2 , wherein the second fastening portion is engaged with the first fastening portion to be fastened, thereby achieving a locked state.

4. The surgical instrument according to claim 2 , wherein the first fastening portion is formed in a sawtooth shape on an outer circumferential surface of the lock body portion.

5. The surgical instrument according to claim 1 , wherein the locking device further includes a lock control section that controls fastening or unfastening between the lock body section and the lock section.

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

7. The surgical instrument according to claim 5 , wherein the width of the lock control portion increases along a direction that is a direction of movement of the lock control portion.

8. The lock control unit Main body, a guide portion formed on the main body portion to guide a movement path of the lock control portion; and a pressure member formed to protrude from the main body, The surgical instrument according to claim 7 , wherein the locking portion is pressed by an outer peripheral surface of the pressing portion.

9. The locking device further includes an elastic member that applies force to the locking portion. The surgical instrument according to claim 1 , wherein the elastic member provides a predetermined elastic force so that the locking portion rotates in a direction approaching the locking body portion.

10. The locking portions are provided in pairs, and are disposed on both sides of the locking body portion, The surgical instrument according to claim 9 , wherein the elastic member provides a predetermined elastic force so that the pair of locking portions rotate in a direction in which they converge toward each other.

11. The surgical instrument according to claim 1 , wherein the locking body is fixedly coupled to the coupling portion and is rotatable with the coupling portion.

12. The surgical instrument according to claim 11, wherein when the locking portion is fastened to the locking body portion, rotation of the locking body portion is restricted, thereby restricting rotation of the connecting portion and locking the pitch movement of the end tool.

13. the operation unit includes a pitch frame connected to the connection unit and a yaw frame formed rotatably with respect to the pitch frame, The surgical instrument according to claim 1 , wherein the locking body is fixedly coupled to the pitch frame and is rotatable with the pitch frame.

14. The surgical instrument according to claim 13, wherein when the locking portion is fastened to the locking body portion, rotation of the locking body portion is restricted, thereby restricting rotation of the pitch frame and locking yaw movement of the end tool.

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