Endoscopic tools and electrocautery surgical instruments for surgical instruments

Abstract

This relates to an electrocautery surgical instrument that can be mounted on a robotic arm or operated manually for use in laparoscopic surgery or various other surgical procedures. [Solution] The end tool includes a first jaw 101 and a second jaw 102 that can rotate independently of each other, a first jaw pulley that performs the yaw motion of the end tool 100, a second jaw pulley that performs the yaw motion and actuation motion of the end tool, an end tool hub 160 through which a first rotation axis is inserted at one end and a third rotation axis different from the first rotation axis is inserted at the other end, and which houses at least a portion of the first and second jaw pulleys, a blade formed to be movable between the proximal and distal portions of the first or second jaw, a guide tube 171 formed to extend through the end tool hub toward the blade, and a blade wire that transmits the driving force necessary for the movement of the blade to the blade, with at least a portion of it located within the guide tube.

Description

Technical Field

[0001] The present invention relates to an end tool of a surgical instrument and an electrocautery surgical instrument. Specifically, in a surgical instrument that can be attached to a robotic arm or manually operated for use in laparoscopic surgery or various surgeries, the end tool of the surgical instrument includes an end tool that can rotate in two or more directions and operates in a manner that intuitively matches the operation of the operation unit, and an electrocautery surgical instrument.

Background Art

[0002] Surgery often requires the cutting and joining of body tissues including organs, muscle tissues, connective tissues, and blood vessels. For centuries, sharp blades and sutures have been used for cutting and joining. However, during surgery, bleeding occurs when cutting body tissues, especially relatively highly vascularized tissues. Therefore, doctors have needed surgical instruments and methods to delay or reduce bleeding during surgery.

[0003] In recent years, electro-surgical instruments that use electrical energy when performing specific surgical operations have become available. For example, in surgical instruments such as graspers, scissors, forceps, blades, needles, hooks, etc., electro-surgical instruments including one or more electrodes formed to supply electrical energy have been developed. The electrical energy supplied through the electrodes can be used for coagulation, joining, or cutting of the patient's body tissues. Especially when using electrical energy, cutting and hemostasis can be performed simultaneously.

[0004] Electrosurgical instruments are generally divided into two types: monopolar and bipolar. In monopolar electrosurgical instruments, electrical energy of a specific polarity is supplied to one or more electrodes of the instrument, and electricity of the other polarity is electrically connected to the patient. In bipolar electrosurgical instruments, one or more electrodes are electrically connected to a primary polarity electrical energy source, and one or more electrodes are electrically connected to a secondary polarity electrical energy source that is opposite to the primary polarity.

[0005] The background technologies described above are technical information that the inventor possessed for the purpose of deriving the present invention or acquired during the process of deriving the present invention, and are not necessarily publicly known technologies that were made public before the filing of the present invention. [Overview of the project] [Problems that the invention aims to solve]

[0006] The present invention aims to provide an electrocautery surgical instrument that can be mounted on a robotic arm or manually operated for use in laparoscopic surgery or various other surgeries, and which includes an end tool that is rotatable in two or more directions and operates in a manner that intuitively matches the operation of the control unit. [Means for solving the problem]

[0007] According to embodiments of the present invention, an end tool for a surgical instrument includes a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and formed to be rotatable about a first axis of rotation; a second jaw pulley connected to the second jaw and formed to be rotatable about the first axis of rotation and formed to be separated from the first jaw pulley to a certain extent; a blade assembly including a blade that moves between the proximal and distal portions of the first jaw, with at least a portion of it formed between the first jaw pulley and the second jaw pulley; and a blade wire that at least a portion of it contacts the blade assembly to transmit the driving force necessary for the movement of the blade to the blade.

[0008] In the present invention, the blade assembly includes a guide tube that houses at least a portion of the blade wire and is formed to bend to a certain extent.

[0009] In the present invention, the blade wire is characterized in that it passes through the inside of the guide tube and is connected to the blade.

[0010] In the present invention, when the guide tube is bent to a certain extent, the blade wire inside the guide tube is also bent together with the guide tube.

[0011] In the present invention, the blade wire is formed to be movable within the guide tube and along the guide tube.

[0012] The present invention further includes a first link that connects the first jaw and the first jaw pulley, with one end connected to the first jaw and the other end connected to the first jaw pulley, and a second link that connects the second jaw and the second jaw pulley, with one end connected to the second jaw and the other end connected to the second jaw pulley.

[0013] In the present invention, the first link is fixedly coupled to the first jaw and the first jaw pulley, respectively, and when the first jaw pulley rotates around the first rotation axis, the first link and the first jaw rotate integrally with the first jaw pulley around the first rotation axis.

[0014] In the present invention, the guide tube is formed to extend through the first link toward the blade.

[0015] In the present invention, one end of the second link is connected to the second jaw pulley, so that the second link is rotatable relative to the second jaw pulley, and the other end of the second link is connected to the second jaw, so that the second jaw is movable relative to the second link.

[0016] In the present invention, when the second jaw pulley rotates, the rotation of the second jaw pulley is transmitted to the second jaw by the second link connected to the second jaw pulley.

[0017] The present invention further includes an actuation rotation shaft inserted through the first link and the second jaw, wherein the second jaw is formed to be rotatable with respect to the first link about the actuation rotation shaft.

[0018] In the present invention, the second link converts the rotational motion of the second jaw pulley about the first rotation axis into rotational motion of the second jaw about the actuation rotation axis.

[0019] In the present invention, when the second jaw pulley rotates, the second link connected to the second jaw pulley applies force to the second jaw, causing the second jaw to rotate around the actuation rotation axis.

[0020] In the present invention, the first rotation axis and the actuation rotation axis are formed substantially parallel to each other.

[0021] In the present invention, the first rotation axis and the actuation rotation axis are formed substantially perpendicular to each other.

[0022] In the present invention, an end tool hub is further included, which includes a first jo pulley coupling portion and a second jo pulley coupling portion formed to face each other, and a guide portion for connecting the first jo pulley coupling portion and the second jo pulley coupling portion. The first jo pulley is disposed adjacent to the first jo pulley coupling portion of the end tool hub, and the second jo pulley is disposed adjacent to the second jo pulley coupling portion of the end tool hub, and at least a part of the blade assembly is formed between the first jo pulley and the second jo pulley.

[0023] In the present invention, the guide tube is formed to penetrate the end tool hub and extend to the first jo or the second jo side.

[0024] In the present invention, when the first jo pulley and the second jo pulley rotate in the same direction about the first rotation axis, a yaw operation in which the first jo and the second jo rotate in the same direction is performed.

[0025] In the present invention, when the second jo pulley rotates relative to the first jo pulley about the first rotation axis, an actuation operation in which the second jo rotates relative to the first jo is performed.

[0026] In the present invention, a pair of end tool first jo pitch main pulleys formed on one side of the first jo pulley and rotatable about a third rotation axis forming a predetermined angle with the first rotation axis, and a pair of end tool second jo pitch main pulleys formed on one side of the second jo pulley and rotatable about the third rotation axis are included.

[0027] In the present invention, the end tool is formed to be capable of yaw rotation about the first rotation axis and at the same time capable of pitch rotation about the third rotation axis.

[0028] In the present invention, the first jaw pulley and the first jaw wire at least partially wound around the first jaw pitch main pulley of the pair of end tools, and the second jaw pulley and the second jaw wire at least partially wound around the second jaw pitch main pulley of the pair of end tools are further included.

[0029] In the present invention, the blade is moved between the proximal portion and the distal portion of the end tool by the blade wire, which is characterized.

[0030] According to an embodiment of the present invention, in an end tool of a surgical instrument, a first jaw and a second jaw rotatable independently of each other, a first jaw pulley connected to the first jaw and formed to be rotatable about a first rotation axis, a second jaw pulley connected to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first rotation axis, an end tool hub having the first rotation axis penetratingly inserted at one end and a third rotation axis different from the first rotation axis penetratingly inserted at the other end, and at least a part of the first jaw pulley and the second jaw pulley accommodated therein, a blade at least partially accommodated inside the first jaw or the second jaw and formed to be movable between the proximal portion and the distal portion of the first jaw or the second jaw, a guide tube formed to extend through the end tool hub to the blade side, and a blade wire having one end connected to the blade, transmitting a driving force necessary for the movement of the blade to the blade, and at least a part thereof disposed inside the guide tube are included.

[0031] In the present invention, the end tool hub includes a main body portion, a first jaw pulley coupling portion and a second jaw pulley coupling portion formed to extend from the main body portion in one direction and to face each other, and a first pitch pulley portion and a second pitch pulley portion formed to extend from the main body portion in a direction opposite to the one direction and to face each other.

[0032] In the present invention, the first jaw pulley is positioned adjacent to the first jaw pulley coupling portion of the end tool hub, the second jaw pulley is positioned adjacent to the second jaw pulley coupling portion of the end tool hub, and at least a portion of the guide tube is positioned between the first jaw pulley and the second jaw pulley.

[0033] In the present invention, a yaw slit is formed between the first jaw pulley joint and the second jaw pulley joint, through which the guide tube can pass.

[0034] In the present invention, a yaw round portion having a predetermined curvature is formed on one side of the yaw slit, and is characterized in that it guides the yaw bending path of the guide tube.

[0035] In the present invention, the first rotating shaft includes a first sub-shaft formed on the first jaw-pulley coupling side and a second sub-shaft formed on the second jaw-pulley coupling side, and the yaw slit is formed between the first sub-shaft and the second sub-shaft of the first rotating shaft.

[0036] In the present invention, a pitch slit is formed between the first pitch pulley portion and the second pitch pulley portion, through which the guide tube can pass.

[0037] In the present invention, a pitch round portion having a predetermined curvature is formed on one side of the pitch slit, and is characterized in that it guides the pitch direction bending path of the guide tube.

[0038] In the present invention, the third rotating shaft includes a first sub-shaft formed on the first pitch pulley portion side and a second sub-shaft formed on the second pitch pulley portion side, and the pitch slit is formed between the first sub-shaft and the second sub-shaft of the third rotating shaft.

[0039] In the present invention, a yaw slit is formed between the first jaw pulley joint and the second jaw pulley joint through which the guide tube can pass, and a pitch slit is formed between the first pitch pulley and the second pitch pulley, through which the guide tube can pass, and the yaw slit and the pitch slit are formed to be connected to each other.

[0040] The present invention further includes a first jaw wire, at least a portion of which is wound around the first jaw pulley, and a second jaw wire, at least a portion of which is wound around the second jaw pulley.

[0041] The present invention further includes a first jaw auxiliary pulley and a second jaw auxiliary pulley, which are disposed between the first jaw pulley and the second jaw pulley and the main body of the end tool hub.

[0042] In the present invention, the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley is increased by the first jaw auxiliary pulley.

[0043] In the present invention, the main body is characterized in that a first wire guide portion and a second wire guide portion are formed in the region adjacent to the first jaw pulley and the second jaw pulley, with the cross-section curved to have a predetermined curvature.

[0044] In the present invention, the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first wire guide portion, and the rotation angle of the first jaw pulley is increased by the first wire guide portion.

[0045] The present invention is characterized in that a first electrode is formed on the surface of the first jaw facing the second jaw, and a second electrode is formed on the surface of the second jaw facing the first jaw.

[0046] The present invention is characterized in that cauterization of tissue is performed while an electric current flows through the first electrode and the second electrode.

[0047] In the present invention, once the cauterization is complete, the blade wire moves, and accordingly, the blade cuts the tissue while moving from the proximal side to the distal side of the first jaw.

[0048] The present invention is characterized in that at least a portion of the guide tube is arranged between the first jaw pulley and the second jaw pulley.

[0049] In the present invention, the guide tube is characterized in that it houses at least a portion of the blade wire inside and is formed to bend to a certain extent.

[0050] According to embodiments of the present invention, in an end tool for a surgical instrument, a first jaw and a second jaw that are rotatable independently of each other, a first jaw pulley coupled to the first jaw and formed to be rotatable about a first axis of rotation, a first link that connects the first jaw and the first jaw pulley, with one end coupled to the first jaw and the other end coupled to the first jaw pulley, a first jaw wire that at least a portion of which is wound around the first jaw pulley, a second jaw pulley coupled to the second jaw and formed to be rotatable about a first axis of rotation, a second link that connects the second jaw and the second jaw pulley, with one end coupled to the second jaw and the other end coupled to the second jaw pulley, a second jaw wire that at least a portion of which is wound around the second jaw pulley, and a second jaw pulley formed on one side of the first jaw pulley and making a predetermined angle with respect to the first axis of rotation The end tool includes a pair of end tool first jaw pitch main pulleys formed to be rotatable about a third rotation axis, a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulleys and formed to be rotatable about an axis substantially identical to or parallel to the third rotation axis, an end tool hub through which the first rotation axis is inserted at one end and the third rotation axis is inserted at the other end, and which houses at least a portion of the first jaw pulleys and the second jaw pulleys, a guide tube positioned through the end tool hub and formed to bend to some extent, a blade wire through which at least a portion is inserted into the guide tube, and a blade connected to the blade wire and housed at least a portion in the first jaw or the second jaw, which moves between the proximal and distal portions of the first jaw or the second jaw in accordance with the movement of the blade wire.

[0051] In the present invention, the first link is fixedly coupled to the first jaw and the first jaw pulley, respectively, and when the first jaw pulley rotates around the first rotation axis, the first link and the first jaw rotate integrally with the first jaw pulley around the first rotation axis.

[0052] The present invention is characterized in that the first jaw pulley and the first link are integrally formed.

[0053] In the present invention, one end of the second link is connected to the second jaw pulley, and the second link is formed to be rotatable relative to the second jaw pulley; the other end of the second link is connected to the second jaw, and the second jaw is formed to be movable relative to the second link.

[0054] The present invention further includes an actuation rotation axis that serves as the central axis of rotation of the second jaw relative to the first jaw or the first link.

[0055] In the present invention, the second link converts the rotational motion of the second jaw pulley about the first rotation axis into rotational motion of the second jaw about the actuation rotation axis.

[0056] In the present invention, when the second jaw pulley rotates relative to the first jaw pulley, the second link connected to the second jaw pulley applies force to the second jaw, causing the second jaw to rotate around the actuation rotation axis.

[0057] In the present invention, the first rotation axis is the rotation axis of the first jaw pulley and the second jaw pulley, and the actuation rotation axis is the rotation axis of the second jaw relative to the first jaw.

[0058] In the present invention, the first rotation axis and the actuation rotation axis are formed separated by the first link and the second link to a certain extent.

[0059] In the present invention, one end of the second link is axially coupled to the second jaw pulley, and the other end of the second link is axially coupled to the second jaw.

[0060] In the present invention, a guide pin is formed at one end of the second link, slits are formed in the first link and the second jaw, and the guide pin is fitted into the slit of the first link and the slit of the second jaw.

[0061] In the present invention, when the second jaw pulley rotates, the guide pin of the second link connected thereto performs linear motion along the slit of the first link.

[0062] In the present invention, the guide pin applies force to the second jaw while moving along the slit of the first link, and the second jaw rotates about the actuation rotation axis.

[0063] In the present invention, the second jaw wire includes a second jaw wire R and a second jaw wire L, and a first coupling portion is formed on one surface of the second jaw pulley to which the second jaw wire R is coupled, and a second coupling portion is formed on the other surface of the second jaw pulley to which the second jaw wire L is coupled.

[0064] In the present invention, the first coupling portion to which the second jaw wire R is coupled is formed on one side and the other side of a plane passing through the first rotation axis and perpendicular to the third rotation axis, on the other side opposite to the one side to which the second jaw wire R is input, thereby increasing the rotation angle of the second jaw pulley by extending the length to which the second jaw wire R is wound around the second jaw pulley, and the second coupling portion to which the second jaw wire L is coupled is formed on the one side opposite to the other side to which the second jaw wire L is input, thereby increasing the rotation angle of the second jaw pulley by extending the length to which the second jaw wire L is wound around the second jaw pulley.

[0065] In the present invention, the first rotating shaft includes a first sub-shaft and a second sub-shaft, and the guide tube passes between the first sub-shaft and the second sub-shaft of the first rotating shaft.

[0066] In the present invention, the third rotating shaft includes a first sub-shaft and a second sub-shaft, and the guide tube passes between the first sub-shaft and the second sub-shaft of the third rotating shaft.

[0067] In the present invention, the yaw motion of the end tool is characterized in that the first jaw pulley and the second jaw pulley rotate in the same direction around the first rotation axis.

[0068] In the present invention, the actuation operation of the end tool is characterized in that the second jaw pulley rotates relative to the first jaw pulley about the first rotation axis.

[0069] According to embodiments of the present invention, an end tool is formed to be rotatable in two or more directions, including a first jaw and a second jaw, each rotatably formed; an operating unit for controlling the rotation of the end tool in the two or more directions; a first jaw wire connected to the operating unit and transmitting the rotation of the operating unit to the first jaw; a power transmission unit including a second jaw wire connected to the operating unit and transmitting the rotation of the operating unit to the second jaw; and a connecting unit extending in a first direction (X-axis), with the end tool coupled to one end and the operating unit coupled to the other end, connecting the operating unit and the end tool, wherein the end tool includes a first electrode coupled to the first jaw and a second electrode coupled to the second jaw. The end tool includes a second electrode formed opposite to a first jaw; a first jaw pulley coupled to the first jaw and rotatable about a first rotation axis; a second jaw pulley coupled to the second jaw and rotatable about an axis substantially identical to or parallel to the first rotation axis; a blade assembly disposed adjacent to the first jaw pulley or the second jaw pulley, including a blade that moves between the proximal and distal portions of the end tool; and a blade wire that at least a portion of the blade assembly contacts the blade assembly to transmit the driving force necessary for the movement of the blade to the blade.

[0070] In the present invention, at least a portion of the operating portion is formed to extend toward the end tool.

[0071] In the present invention, when the operating part is rotated in each of the two or more directions, the end tool rotates in substantially the same direction as the operating direction of the operating part.

[0072] In the present invention, the direction in which the end tool is formed at one end of the connecting portion and the direction in which the operating portion is formed at the other end of the connecting portion are in the same direction with respect to the extension axis (X-axis) of the connecting portion.

[0073] In the present invention, the operating section is formed to extend away from the user who is holding the electrocautery surgical instrument.

[0074] In the present invention, the end of the operating portion is formed on the end tool side such that the end of the user's finger that grips the operating portion faces the end tool.

[0075] In the present invention, the connecting portion includes a bending portion that is formed to be bent multiple times while connecting the end tool and the operating portion.

[0076] In the present invention, the bent portion is formed in a substantially semicircular cross-section, and is characterized in that the direction of formation of the operating portion at the end of the bent portion is substantially equal to the direction of formation of the end tool at the point where the connecting portion and the end tool are connected.

[0077] In the present invention, at least a portion of the operating portion is formed to be housed within the folding portion in at least one of the operating states of the operating portion.

[0078] The present invention further includes an end tool jaw auxiliary pulley formed on one side of the first jaw pulley and the second jaw pulley, and rotatably formed about a second rotation axis.

[0079] In the present invention, the two strands of the first jaw wire wrapped around the first jaw pulley by the end tool jaw auxiliary pulley are arranged on one side with respect to the extension axis (X axis) of the connecting portion, and the two strands of the second jaw wire wrapped around the second jaw pulley by the end tool jaw auxiliary pulley are arranged on the other side with respect to the extension axis (X axis) of the connecting portion.

[0080] In the present invention, one end of the first jaw wire wound around the first jaw pulley is formed to pass between the first jaw pulley and the end tool jaw auxiliary pulley, and one end of the second jaw wire wound around the second jaw pulley is formed to pass between the second jaw pulley and the end tool jaw auxiliary pulley.

[0081] In the present invention, the first jaw wire is located on the inner tangent line between the first jaw pulley and the end tool jaw auxiliary pulley, and the second jaw wire is located on the inner tangent line between the first jaw pulley and the end tool jaw auxiliary pulley.

[0082] In the present invention, the blade assembly includes a guide tube that houses at least a portion of the blade wire and is formed to be bend to a certain extent.

[0083] In the present invention, the blade wire is characterized in that it passes through the inside of the guide tube and is connected to the blade.

[0084] In the present invention, when the guide tube is bent to a certain extent, the blade wire inside the guide tube is also bent together with the guide tube.

[0085] In the present invention, the blade wire is formed to be movable within the guide tube and along the guide tube.

[0086] The present invention further includes a first link that connects the first jaw and the first jaw pulley, with one end connected to the first jaw and the other end connected to the first jaw pulley, and a second link that connects the second jaw and the second jaw pulley, with one end connected to the second jaw and the other end connected to the second jaw pulley.

[0087] In the present invention, the first link is fixedly coupled to the first jaw and the first jaw pulley, respectively, and when the first jaw pulley rotates around the first rotation axis, the first link and the first jaw rotate integrally with the first jaw pulley around the first rotation axis.

[0088] In the present invention, one end of the second link is connected to the second jaw pulley, and the second link is formed to be rotatable relative to the second jaw pulley; and the other end of the second link is connected to the second jaw, and the second jaw is formed to be movable relative to the second link.

[0089] The present invention further includes an end tool hub including a first jaw-pulley coupling portion and a second jaw-pulley coupling portion formed to face each other, and a guide portion connecting the first jaw-pulley coupling portion and the second jaw-pulley coupling portion, wherein the first jaw-pulley is disposed adjacent to the first jaw-pulley coupling portion of the end tool hub, and the second jaw-pulley is disposed adjacent to the second jaw-pulley coupling portion of the end tool hub, and at least a portion of the blade assembly is formed between the first jaw-pulley and the second jaw-pulley.

[0090] In the present invention, the guide tube is formed to extend through the end tool hub and toward the first jaw or the second jaw.

[0091] The present invention is characterized in that cauterization of tissue is performed while an electric current flows through the first electrode and the second electrode.

[0092] In the present invention, once the cauterization is complete, the blade wire moves, thereby cutting the tissue as the blade moves between the proximal and distal portions of the first jaw.

[0093] The present invention includes a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable about a third rotation axis that makes a predetermined angle with the first rotation axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis that is substantially the same as or parallel to the third rotation axis.

[0094] In the present invention, the end tool is characterized in that it is formed to be capable of yaw rotation around the first axis of rotation and pitch rotation around the third axis of rotation.

[0095] According to embodiments of the present invention, the procedure includes the steps of: positioning tissue between a first jaw and a second jaw of an end tool of an electrocautery surgical instrument; rotating a second jaw pulley connected to the second jaw relative to a first jaw pulley connected to the first jaw about a first axis of rotation, thereby closing the second jaw relative to the first jaw; passing an electric current through a first electrode connected to the first jaw and a second electrode connected to the second jaw, thereby cauterizing the tissue between the first jaw and the second jaw; and cutting the tissue by a blade wire as the blade of a blade assembly, at least a portion of which is positioned between the first jaw pulley and the second jaw pulley, moves from the proximal to the distal side of the first jaw.

[0096] In the present invention, the blade assembly further includes a guide tube that houses at least a portion of the blade wire and is formed to bend to some extent, and the step of cutting the tissue includes the step of moving the blade wire within the guide tube from the proximal to the distal side of the first jaw, and the step of moving the blade coupled with the blade wire from the proximal to the distal side of the first jaw.

[0097] In the present invention, the blade wire is characterized in that it passes through the inside of the guide tube and is connected to the blade.

[0098] In the present invention, when the guide tube is bent to a certain extent, the blade wire inside the guide tube is also bent together with the guide tube.

[0099] In the present invention, in the step in which the tissue is cut, the blade wire moves within the guide tube and along the guide tube.

[0100] The present invention further includes a first link that connects the first jaw and the first jaw pulley, with one end connected to the first jaw and the other end connected to the first jaw pulley, and a second link that connects the second jaw and the second jaw pulley, with one end connected to the second jaw and the other end connected to the second jaw pulley.

[0101] In the present invention, the first jaw pulley and the second jaw pulley are formed to be separated by a certain distance, and the blade assembly is formed between the first jaw pulley and the second jaw pulley.

[0102] In the present invention, the end tool further includes a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable about a third rotation axis that makes a predetermined angle with the first rotation axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis that is substantially the same as or parallel to the third rotation axis.

[0103] In the present invention, the end tool is characterized in that it is formed to be capable of yaw rotation around the first axis of rotation and pitch rotation around the third axis of rotation.

[0104] Other aspects, features, and advantages not described herein will become apparent from the following drawings, claims, and detailed description of the invention. [Effects of the Invention]

[0105] With this invention, since the operating direction of the control unit by the surgeon and the operating direction of the end tool are intuitively the same, the convenience for the surgeon is improved, and the accuracy, reliability, and speed of the surgery can be improved. [Brief explanation of the drawing]

[0106] [Figure 1] Figure 1(a) is a conceptual diagram showing the pitch motion of a conventional surgical instrument, Figure 1(b) is a conceptual diagram showing the yaw motion; Figure 1(c) is a conceptual diagram showing the pitch motion of another conventional surgical instrument, Figure 1(d) is a conceptual diagram showing the yaw motion; Figure 1(e) is a conceptual diagram showing the pitch motion of the surgical instrument according to the present invention, and Figure 1(f) is a conceptual diagram showing the yaw motion. [Figure 2] Figure 2 is a perspective view showing an instrument for electrocautery surgery according to a first embodiment of the present invention. [Figure 3] Figure 3 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 4] Figure 4 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 5] Figure 5 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 6] Figure 6 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 7] Figure 7 is a plan view showing the endotool of the electrocautery surgical instrument shown in Figure 2. [Figure 8] Figure 8 is a plan view showing the endotool of the electrocautery surgical instrument shown in Figure 2. [Figure 9]Figure 9 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 10] Figure 10 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 11] Figure 11 is a cross-sectional perspective view of the end tool hub shown in Figure 9. [Figure 12] Figure 12 is a side view showing the end tool hub and link of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 13] Figure 13 is a plan view showing the end tool hub and link of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 14] Figure 14 is an exploded perspective view showing the jaw-link-jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 15] Figure 15 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 16] Figure 16 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 17] Figure 17 is a perspective view showing the cutting action of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 18] Figure 18 is a perspective view showing the cutting action of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 19] Figure 19 is a perspective view showing the cutting action of the end tool of the electrocautery surgical instrument shown in Figure 2. [Figure 20] Figure 20 is a perspective view showing the operating section of the electrocautery instrument shown in Figure 2. [Figure 21] Figure 21 is a perspective view showing the operating section of the electrocautery instrument shown in Figure 2. [Figure 22] Figure 22 is a simplified diagram showing only the pulley and wire configuration that makes up the joint of the electrocautery surgical instrument shown in Figure 2. [Figure 23] Figure 23 is a perspective view showing the yaw motion of the electrocautery instrument shown in Figure 2. [Figure 24] Figure 24 is a diagram showing the pulley and wire configuration related to the actuation and yaw motion of the electrocautery surgical instrument shown in Figure 2, broken down for the first jaw and the second jaw, respectively. [Figure 25] Figure 25 is a diagram showing the pulley and wire configurations related to the actuation and yaw motion of the electrocautery surgical instrument shown in Figure 2, broken down for the first jaw and the second jaw, respectively. [Figure 26] Figure 26 is a perspective view showing the pitch operation of the electrocautery instrument shown in Figure 2. [Figure 27] Figure 27 is a diagram showing the pulley and wire configuration related to the pitch operation of the electrocautery surgical instrument shown in Figure 2, broken down for the first jaw and the second jaw, respectively. [Figure 28] Figure 28 is a diagram showing the pulley and wire configuration related to the pitch operation of the electrocautery surgical instrument shown in Figure 2, broken down for the first jaw and the second jaw, respectively. [Figure 29] Figure 29 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by -90° yaw. [Figure 30] Figure 30 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by -90° yaw. [Figure 31] Figure 31 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by +90° yaw. [Figure 32] Figure 32 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by +90° yaw. [Figure 33] Figure 33 shows the process of the cutting operation performed by the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by +90° yaw. [Figure 34] Figure 34 shows the process of the cutting operation performed by the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by +90° yaw. [Figure 35] Figure 35 shows the end tool of the electrocautery surgical instrument shown in Figure 2 rotated by -90°. [Figure 36] Figure 36 shows the end tool of the electrocautery surgical instrument shown in Figure 2 rotated by +90° pitch. [Figure 37] Figure 37 is an incision perspective view of the endotool of the electrocautery surgical instrument shown in Figure 35. [Figure 38] Figure 38 shows the process of the cutting operation performed by the end tool of the electrocautery surgical instrument shown in Figure 2, with the end tool rotated by -90°. [Figure 39] Figure 39 shows the process of the cutting operation performed by the end tool of the electrocautery surgical instrument shown in Figure 2, with the end tool rotated by -90°. [Figure 40] Figure 40 is a plan view showing the end tool of the electrocautery surgical instrument shown in Figure 2 in a state of pitch rotation and yaw rotation. [Figure 41] Figure 41 shows the end tool of the electrocautery surgical instrument shown in Figure 2 performing a cutting operation while simultaneously rotating by -90° pitch and +90° yaw. [Figure 42] Figure 42 shows the end tool of the electrocautery surgical instrument shown in Figure 2 performing a cutting operation while simultaneously rotating by -90° pitch and +90° yaw. [Figure 43] Figure 43 shows the end tool of the electrocautery surgical instrument shown in Figure 2 performing a cutting operation while simultaneously rotating by -90° pitch and +90° yaw. [Figure 44] Figure 44 shows an end tool for an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 45]Figure 45 shows an end tool for an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 46] Figure 46 shows an end tool for an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 47] Figure 47 shows an end tool for an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 48] Figure 48 is an exploded perspective view showing the jaw-link-jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 44. [Figure 49] Figure 49 shows the process by which the end tool of the electrocautery surgical instrument shown in Figure 44 performs a cutting operation. [Figure 50] Figure 50 shows the process by which the end tool of the electrocautery surgical instrument shown in Figure 44 performs a cutting operation. [Figure 51] Figure 51 shows an end tool for an electrocautery surgical instrument according to a second modification of the first embodiment of the present invention. [Figure 52] Figure 52 shows an end tool for an electrocautery surgical instrument according to a second modification of the first embodiment of the present invention. [Figure 53] Figure 53 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 51. [Figure 54] Figure 54 is a cross-sectional perspective view of the end tool hub shown in Figure 53. [Figure 55] Figure 55 is a cross-sectional perspective view of the end tool hub shown in Figure 53. [Figure 56] Figure 56 is a perspective view of the end tool hub shown in Figure 53. [Figure 57] Figure 57 is a perspective view of the end tool hub shown in Figure 53. [Figure 58] Figure 58 shows an end tool for an electrocautery surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 59]Figure 59 shows an end tool for an electrocautery surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 60] Figure 60 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 58. [Figure 61] Figure 61 is a cross-sectional perspective view of the end tool hub shown in Figure 60. [Figure 62] Figure 62 is a perspective view showing an electrocautery surgical instrument according to a second embodiment of the present invention. [Figure 63] Figure 63 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 64] Figure 64 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 65] Figure 65 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 66] Figure 66 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 67] Figure 67 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 68] Figure 68 is a perspective view showing the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 69] Figure 69 is a plan view showing the endotool of the electrocautery surgical instrument shown in Figure 62. [Figure 70] Figure 70 is a plan view showing the endotool of the electrocautery surgical instrument shown in Figure 62. [Figure 71] Figure 71 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 72] Figure 72 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 73] Figure 73 is a cross-sectional perspective view of the end tool hub shown in Figure 71. [Figure 74] Figure 74 is an exploded perspective view showing the jaw-link-jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 75] Figure 75 is a perspective view showing the second jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 76] Figure 76 is a perspective view showing the second jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 77] Figure 77 is a perspective view showing the second jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 78] Figure 78 is a perspective view showing the second jaw pulley of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 79] Figure 79 is a plan view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 80] Figure 80 is a plan view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 81] Figure 81 is a diagram showing the jaw opening and closing process of the first embodiment of the present invention shown in Figure 2, etc. [Figure 82] Figure 82 shows the jaw opening and closing process of a second embodiment of the present invention. [Figure 83] Figure 83 shows the case where the pin-slot type structure of the second embodiment of the present invention is configured with a general pulley instead of a multi-layer pulley. [Figure 84] Figure 84 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 85] Figure 85 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 86] Figure 86 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 87]Figure 87 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 88] Figure 88 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 89] Figure 89 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 90] Figure 90 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument shown in Figure 62. [Figure 91] Figure 91 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 62 while it is rotated by -90° yaw. [Figure 92] Figure 92 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 62 while it is rotated by -90° yaw. [Figure 93] Figure 93 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 62 while it is rotated by +90° yaw. [Figure 94] Figure 94 shows the process of opening and closing the end tool of the electrocautery surgical instrument shown in Figure 62 while it is rotated by +90° yaw. [Figure 95] Figure 95 shows the process of performing a cutting operation with the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by +90° yaw. [Figure 96] Figure 96 shows the process of performing a cutting operation with the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by +90° yaw. [Figure 97] Figure 97 shows the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by -90°. [Figure 98] Figure 98 shows the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by +90° pitch. [Figure 99]Figure 99 is an incision perspective view of the endotool of the electrocautery surgical instrument shown in Figure 97. [Figure 100] Figure 100 shows the process of the cutting operation performed by the end tool of the electrocautery surgical instrument shown in Figure 62, with the end tool rotated by -90° pitch. [Figure 101] Figure 101 shows the process of the cutting operation with the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by -90°. [Figure 102] Figure 102 shows the process of the cutting operation with the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by -90°. [Figure 103] Figure 103 is a plan view showing the end tool of the electrocautery surgical instrument shown in Figure 62 in a state of pitch rotation and yaw rotation. [Figure 104] Figure 104 shows the end tool of the electrocautery surgical instrument shown in Figure 62 performing a cutting operation while simultaneously rotating by -90° pitch and +90° yaw. [Figure 105] Figure 105 shows the end tool of the electrocautery surgical instrument shown in Figure 62 performing a cutting operation while simultaneously rotating by -90° pitch and +90° yaw. [Figure 106] Figure 106 shows the end tool of the electrocautery surgical instrument shown in Figure 62 performing a cutting operation while simultaneously rotating by -90° pitch and +90° yaw. [Figure 107] Figure 107 shows an end tool for an electrocautery surgical instrument according to a first modification of the second embodiment of the present invention. [Figure 108] Figure 108 shows an end tool for an electrocautery surgical instrument according to a first modification of a second embodiment of the present invention. [Figure 109] Figure 109 shows an end tool for an electrocautery surgical instrument according to a first modification of a second embodiment of the present invention. [Figure 110]Figure 110 shows an end tool for an electrocautery surgical instrument according to a first modification of a second embodiment of the present invention. [Figure 111] Figure 111 shows the process by which the end tool of the electrocautery surgical instrument shown in Figure 107 performs a cutting operation. [Figure 112] Figure 112 shows the process by which the end tool of the electrocautery surgical instrument shown in Figure 107 performs a cutting operation. [Figure 113] Figure 113 shows the process by which the end tool of the electrocautery surgical instrument shown in Figure 107 performs a cutting operation. [Figure 114] Figure 114 shows the endotool of the electrocautery surgical instrument shown in Figure 107. [Figure 115] Figure 115 shows an end tool for an electrocautery surgical instrument according to a second modification of the second embodiment of the present invention. [Figure 116] Figure 116 shows an end tool for an electrocautery surgical instrument according to a second modification of the second embodiment of the present invention. [Figure 117] Figure 117 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 115. [Figure 118] Figure 118 is a cross-sectional perspective view of the end tool hub shown in Figure 117. [Figure 119] Figure 119 is a dissected perspective view of the end tool hub in Figure 117. [Figure 120] Figure 120 is a perspective view of the end tool hub shown in Figure 117. [Figure 121] Figure 121 is a perspective view of the end tool hub shown in Figure 117. [Figure 122] Figure 122 shows an end tool for an electrocautery surgical instrument according to a third modification of the second embodiment of the present invention. [Figure 123] Figure 123 shows an end tool for an electrocautery surgical instrument according to a third modification of the second embodiment of the present invention. [Figure 124]Figure 124 is a perspective view showing the end tool hub of the end tool of the electrocautery surgical instrument shown in Figure 122. [Modes for carrying out the invention]

[0107] The present invention can be subjected to various transformations and has various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, it should be understood that this is not intended to limit the present invention to specific embodiments, but rather to include all transformations, equivalents, and substitutes that fall within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a specific description of the relevant prior art would hinder the essence of the invention, such detailed description will be omitted.

[0108] Terms such as "first," "second," etc., can be used to describe various components, but the components should not be limited by such terms. These terms are used solely for the purpose of distinguishing one component from another.

[0109] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “includes” or “having” specify the presence of features, figures, steps, actions, components, parts, or combinations thereof described herein, and should be understood not to preemptively exclude the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0110] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. In describing these embodiments with reference to the attached drawings, the same drawing number will be assigned to identical or corresponding components, and redundant descriptions thereof will be omitted.

[0111] Furthermore, in describing the various embodiments of the present invention, it is not necessary to interpret or implement each embodiment independently. It should be understood that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described individually.

[0112] The electrocautery surgical instrument according to the present invention is characterized in that, for at least one of the pitch, yaw, and actuation movements, when the operating part is rotated in any one direction, the end tool rotates in the same direction as the operating part.

[0113] Figure 1a is a conceptual diagram of the pitch motion of a conventional surgical instrument, and Figure 1b is a conceptual diagram of the yaw motion.

[0114] Referring to Figure 1a, in the case of conventional surgical instruments, when performing pitch motion, the end tool 120a is formed in front of the end tool's rotation center 121a, and the operating part 110a is formed behind the operating part's rotation center 111a. When the operating part 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating part 120a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. On the other hand, referring to Figure 1b, in the case of conventional surgical instruments, when performing yaw motion, the end tool 120a is formed in front of the end tool's rotation center 121a, and the operating part 110a is formed behind the operating part's rotation center 111a. When the operating part 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating part 120a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. In this case, from the perspective of the user's left-right direction, when the user moves the operating unit 110a to the left, the end tool 120a moves to the right, and when the user moves the operating unit 110a to the right, the end tool 120a moves to the left. As a result, the direction of the user's operation and the direction of the end tool's movement are reversed, which can cause user error and makes operation difficult for the user.

[0115] Figure 1c is a conceptual diagram of the pitch motion of another conventional surgical instrument, and Figure 1d is a conceptual diagram of the yaw motion.

[0116] Referring to Figure 1c, some conventional surgical instruments are formed in a mirror-symmetrical configuration. When performing a pitch motion, the end tool 120b is formed in front of the end tool's rotation center 121b, and the operating part 110b is formed behind the operating part's rotation center 111b. When the operating part 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating part 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating part and the end tool, the direction in which the user rotates the operating part 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, this can cause confusion for the user regarding the direction of operation, and the joint movement may not be intuitive, potentially leading to errors. Furthermore, referring to Figure 1d, when performing a yaw motion, the end tool 120b is formed in front of the end tool's rotation center 121b, and the operating part 110b is formed behind the operating part's rotation center 111b. When the operating part 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating part 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating part and the end tool, the rotation direction in which the user rotates the operating part 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there is a possibility of causing confusion in the user regarding the direction of operation, and the joint movement is not intuitive, which can lead to errors. Thus, in the pitch or yaw operation of conventional surgical instruments, the user's direction of operation and the direction of movement of the end tool do not coincide from the perspective of either the rotation direction or the left-right direction. This is because, in the joint configuration of conventional surgical instruments, the configuration of the end tool and the operating part are different from each other. In other words, the end tool is formed in front of the end tool's center of rotation, while the operating part is formed behind the operating part's center of rotation.To solve these problems, the surgical instrument according to one embodiment of the present invention shown in Figures 1e and 1f is characterized in that the end tool 120c is formed forward of the rotation center 121c of the end tool, and the operating part 110c is also formed forward of the rotation center 111c of the operating part, so that the operation of the operating part 110c and the end tool 120c are intuitively consistent. Expressing this characteristic in another way, unlike existing examples in which the operating part moves closer to the user side (i.e., away from the end tool) relative to its own joint, 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 formed so that, for a certain moment in the operation, at least a part of the operating part moves closer to the end tool relative to its own joint (from its own joint).

[0117] In other words, in the case of conventional surgical instruments as shown in Figures 1a, 1b, 1c, and 1d, the end tool is located in front of its center of rotation, while the operating part is formed behind its center of rotation. As a result, the operation of the operating part, which moves the rear while the front is fixed, moves the end tool, which moves the front while the rear is fixed. Therefore, the structure is not intuitively consistent. This leads to inconsistencies between the operation of the operating part and the operation of the end tool, in terms of left-right direction or rotational direction, which can confuse the user, making it difficult to operate the operating part intuitively and quickly, and potentially inducing errors. In contrast, in the surgical instrument according to one embodiment of the present invention, both the end tool and the operating part move relative to a center of rotation formed at the rear, so it can be said that their operations are structurally intuitively consistent with each other. In other words, just as the moving part of the end tool moves relative to a center of rotation formed at the rear, the moving part of the operating part also moves relative to the corresponding center of rotation formed at the rear, so it can be said that their operations are structurally intuitively consistent with each other. This allows users to intuitively and quickly control the end tool direction, significantly reducing the likelihood of errors. The specific mechanisms that enable this functionality are described below.

[0118] <First Embodiment of an Instrument for Electrocautery Surgery>

[0119] Figure 2 is a perspective view showing an electrocautery instrument according to a first embodiment of the present invention, and Figure 3 is a side view of the electrocautery instrument of Figure 2. Figures 4 and 5 are perspective views showing the end tool of the electrocautery instrument of Figure 2, Figure 6 is an exploded perspective view showing the end tool of the electrocautery instrument of Figure 2, and Figures 7 and 8 are bottom perspective views showing the end tool of the electrocautery instrument of Figure 2. Figures 9 and 10 are side views showing the end tool of the electrocautery instrument of Figure 2, Figure 11 is a perspective view showing the guide member of the end tool of the electrocautery instrument of Figure 2, Figure 12 is a perspective view showing the end tool hub of the electrocautery instrument of Figure 2, and Figures 13 and 14 are plan views showing the end tool of the electrocautery instrument of Figure 2.

[0120] First, referring to Figures 2 and 3, the electrocautery surgical instrument 10 according to the 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.

[0121] Here, the connecting portion 400 is formed in the shape of a hollow shaft and can accommodate one or more wires and electric conductors inside. An operating portion 200 is connected to one end of the connecting portion 400 and an end tool 100 is connected to the other end, and the connecting portion 400 can serve to connect the operating portion 200 and the end tool 100. Here, the connecting portion 400 of the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized by comprising a straight portion 401 and a bent portion 402, with the straight portion 401 formed on the side connected to the end tool 100 and the bent portion 402 formed on the side connected to the operating portion 200. By forming the operating portion 200 side end of the connecting portion 400 in this way, the pitch operating portion 201, the yaw operating portion 202 and the actuation operating portion 203 are formed on or adjacent to the extension line of the end tool 100. To express this in other terms, it can be explained that at least a portion of the pitch control section 201 and the yaw control section 202 are housed within the recess formed by the bent section 402. This shape of the bent section 402 allows the shape and operation of the control section 200 and the end tool 100 to be more intuitively consistent.

[0122] On the other hand, the plane on which the bent portion 402 is formed can be the pitch plane, that is, substantially the same plane as the XZ plane in Figure 2. By forming the bent portion 402 on substantially the same plane as the XZ plane in this way, interference between the operating parts can be reduced. Of course, for the intuitive operation of the end tool and the operating parts, other configurations besides the XZ plane may also be possible.

[0123] On the other hand, a connector 410 can be formed on the bent portion 402. The connector 410 can be connected to an external power source (not shown), and the connector 410 can also be connected to the jaw 103 via electric wires 411 and 412, and can transmit electrical energy supplied from the external power source (not shown) to the jaw 103. Here, the connector 410 can be a bipolar type with two electrodes, or the connector can be a monopolar type with one electrode.

[0124] 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 physician, for example, in the shape of forceps, a stick, a lever, etc. When the physician operates it, the end tool 100, which is connected to the interface and inserted into the patient's body, performs predetermined operations to perform surgery. Here, Figure 2 shows that the operating unit 200 is formed as a handle that can be rotated while holding a finger in place, but the concept of the present invention is not limited to this, and it can be said that various forms of operating units that can be connected to and operate the end tool 100 are possible.

[0125] The end tool 100 is formed at the other end of the connection part 400 and is inserted into the surgical site to perform the actions necessary for the surgery. As an example of such an end tool 100, a pair of jaws 103 for performing a gripping action can be used, as shown in Figure 2. However, the concept of the present invention is not limited thereto, and various surgical devices can be used as the end tool 100. For example, a configuration such as cauterization of one arm can also be used as an end tool. Such an end tool 100 is connected by an operating part 200 and a power transmission part 300, and the driving force of the operating part 200 is transmitted through the power transmission part 300 to perform the actions necessary for the surgery, such as gripping, cutting, and suturing.

[0126] Here, the end tool 100 of the electrocautery 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 can be formed to perform pitch motion around the Y axis in Figure 2, and yaw motion and actuation motion around the Z axis in Figure 2.

[0127] Herein, the pitch, yaw, and actuation operations used in the present invention are defined as follows:

[0128] First, the pitch motion refers to the movement of the end tool 100 in the vertical direction relative to the extension direction of the connection portion 400 (the X-axis direction in Figure 2), that is, the movement of rotation around the Y-axis in Figure 2. In other words, it refers to the movement of the end tool 100, which extends from the connection portion 400 in the extension direction of the connection portion 400 (the X-axis direction in Figure 2), in the vertical direction relative to the connection portion 400, around the Y-axis.

[0129] Next, yaw motion refers to the movement of the end tool 100 rotating left and right with respect to the extension direction of the connector 400 (the X-axis direction in Figure 2), that is, rotation around the Z-axis in Figure 2. In other words, it refers to the movement of the end tool 100, which extends from the connector 400 in the extension direction of the connector 400 (the X-axis direction in Figure 2), rotating left and right around the Z-axis relative to the connector 400. That is, it refers to the movement of the two jaws 103 formed on the end tool 100 rotating in the same direction around the Z-axis.

[0130] On the other hand, actuation motion refers to the movement in which the end tool 100 rotates around the same axis of rotation as yaw motion, but the two jaws 103 rotate in opposite directions from each other, causing the jaws to close or open. In other words, it refers to the movement in which the two jaws 103 formed on the end tool 100 rotate in opposite directions from each other around the Z axis.

[0131] The power transmission unit 300 connects the operating unit 200 and the end tool 100, and transmits the driving force of the operating unit 200 to the end tool 100. It may include multiple wires, pulleys, links, joints, gears, etc.

[0132] The end tool 100, operating section 200, power transmission section 300, etc. of the electrocautery surgical instrument 10 shown in Figure 2 will be described later.

[0133] (Intuitive drive)

[0134] The intuitive operation of the electrocautery surgical instrument 10 of the present invention will be described below.

[0135] First, the user can perform a pitch motion by rotating the first handle 204 around the Y-axis (i.e., the rotation axis 246 in Figure 25) while holding the first handle 204 in the palm of their hand, and a yaw motion by rotating the first handle 204 around the Z-axis (i.e., the rotation axis 243 in Figure 25). In addition, the user can perform actuation motions by operating the actuation operation unit 203 with their thumb and index finger inserted into the ring-shaped first actuation extension 252 and / or second actuation extension 257 formed at one end of the actuation operation unit 203.

[0136] Herein, the electrocautery instrument 10 according to the first embodiment of the present invention is characterized in that when the operating part 200 is rotated in one direction relative to the connecting part 400, the end tool 100 rotates in the same direction as the operating direction of the operating part 200. In other words, when the first handle 204 of the operating part 200 is rotated in one direction, the end tool 100 also rotates in the same direction as the aforementioned direction, performing a pitch motion or yaw motion. Hereinafter, "intuitively the same direction" can be further explained as the direction of movement of the user's fingers gripping the operating part 200 and the direction of movement of the end of the end tool 100 being substantially the same direction. Of course, "the same direction" here does not have to be a direction that perfectly coincides on a three-dimensional coordinate system. For example, it can be understood as an identity such that when the user's fingers move to the left, the end of the end tool also moves to the left, and when the user's fingers move downward, the end of the end tool 100 also moves downward.

[0137] To this end, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operating section 200 and the end tool 100 are formed in the same direction with respect to a plane perpendicular to the extension axis (X-axis) of the connecting section 400. That is, when viewed with respect to the YZ plane in Figure 2, the operating section 200 is formed extending in the +X-axis direction, and at the same time, the end tool 100 is also formed extending in the +X-axis direction. In other words, the direction in which the end tool 100 is formed at one end of the connecting section 400 and the direction in which the operating section 200 is formed at the other end of the connecting section 400 are in the same direction with respect to the YZ plane. In other words, the operating section 200 is formed in the direction away from the body of the user who is gripping it, that is, in the direction in which the end tool 100 is formed. In other words, the first handle 204, the first actuation operating section 251, and the second actuation operating section 256, which the user grasps and moves for actuation, yaw, and pitch movements, are formed so that the moving parts for each movement extend in the +X direction from the rotation center of each joint for that movement. This allows the operating section 200 to be configured in the same way as the moving parts of the end tool 100, which are formed to extend in the +X direction from the rotation center of each joint for that movement. As explained in Figure 1, the user's operating direction and the end tool's operating direction coincide in both the rotational and left-right perspectives, resulting in intuitive operation.

[0138] In detail, with conventional surgical instruments, the direction in which the user operates the control unit and the actual direction of movement of the end tool are different and do not intuitively coincide. This makes intuitive operation difficult from the surgeon's perspective, and it takes a long time to become proficient in moving the end tool in the desired direction. In some cases, malfunctions may occur, potentially causing harm to the patient.

[0139] To solve these problems, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operating direction of the operating section 200 and the operating direction of the end tool 100 are intuitively the same, and to that end, the operating section 200 is formed such that the part that actually moves for actuation, yaw, and pitch movements extends in the +X axis direction from the rotation center of the joint for each movement, similar to the end tool 100.

[0140] In the following sections, the end tool 100, operating section 200, power transmission section 300, etc., of the electrocautery surgical instrument 10 shown in Figure 2 will be described in more detail.

[0141] (Power transmission section)

[0142] The power transmission section 300 of the electrocautery instrument 10 shown in Figure 2 will be described in more detail below.

[0143] Referring to Figures 2 to 25, etc., the power transmission section 300 of the electrocautery surgical instrument 10 according to one embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306, and a bladed wire 307.

[0144] Here, wire 301 and wire 305 form a pair and can function as the first jaw wire. Wire 302 and wire 306 form a pair and can function as the second jaw wire. Here, the component encompassing the first jaw wires 301 and 305 and the second jaw wires 302 and 306 can be called a jaw wire. Furthermore, wire 303 and wire 304 form a pair and can function as the pitch wire.

[0145] Furthermore, the power transmission section 300 of the electrocautery surgical instrument 10 according to one embodiment of the present invention may include fastening members 321, 322, 323, 324, 326, and 327 that are coupled to each end of each wire to connect the wire and the pulley. Here, each fastening member may take various forms as needed, such as ball-shaped or tube-shaped.

[0146] Here, on the end tool 100 side, fastening members 321 / 322 can function as pitch wire-end tool fastening members, fastening member 323 can function as first jaw wire-end tool fastening member, and fastening member 326 can function as second jaw wire-end tool fastening member.

[0147] Furthermore, on the operating section 200 side, fastening member 324 can function as a first jaw wire-operating section fastening member, and fastening member 327 can function as a second jaw wire-operating section fastening member. Although not shown in the drawings, pitch wire-operating section fastening members and blade wire-operating section fastening members may also be formed on the operating section 200 side.

[0148] The detailed relationship between the wire, fastening member, and each pulley is as follows:

[0149] First, the first jaw wires, wire 301 and wire 305, may be a single wire. A fastening member 323, which is a first jaw wire-end tool fastening member, is placed in the middle of the single first jaw wire, and after the fastening member 323 is pressed (crimped) to fix it in place, the two strands of the first jaw wire with the fastening member 323 in the center can be called wire 301 and wire 305, respectively.

[0150] Alternatively, the first jaw wires, wire 301 and wire 305, may be formed from separate wires, and wire 301 and wire 305 may be connected by a fastening member 323.

[0151] By connecting this fastening member 323 to the pulley 111, the wires 301 and 305 can be fixedly connected to the pulley 111. This allows the pulley 111 to rotate as the wires 301 and 305 are pulled and loosened.

[0152] On the other hand, the ends opposite to where the fastening member 323 is fastened with wires 301 and 305 may be connected to the first jaw wire-operating part fastening member 324.

[0153] By connecting the first jaw wire-operating fastening member 324 to the pulley 211 in this manner, wires 301 and 305 can be fixedly connected to the pulley 211. As a result, when the pulley 211 is rotated by a motor or by hand, wires 301 and 305 are pulled or loosened, allowing the pulley 111 of the end tool 100 to rotate.

[0154] Similarly, the second jaw wires, wires 302 and 306, are connected to the second jaw wire-end tool fastening members, fastening member 326 and second jaw wire-operating part fastening member 327, respectively. The fastening member 326 is connected to pulley 121, and the second jaw wire-operating part fastening member 327 is connected to pulley 220. As a result, when pulley 220 is rotated by a motor or by hand, wires 302 and 306 are pulled or loosened, allowing pulley 121 of the end tool 100 to rotate.

[0155] Similarly, the pitch wire, wire 304, is connected to the fastening member 321, which is a pitch wire-end tool fastening member, and the pitch wire-operating part fastening member (not shown). Then, the pitch wire, wire 303, is connected to the fastening member 322, which is a pitch wire-end tool fastening member, and the pitch wire-operating part fastening member (not shown).

[0156] The fastening member 321 is connected to the first pitch pulley portion 163a of the end tool hub 160, the fastening member 322 is connected to the second pitch pulley portion 163b of the end tool hub 160, and the pitch wire-operating fastening member (not shown) is connected to the pulley 231. As a result, when the pulley 231 is rotated by a motor or by hand, the wires 303 and 304 are pulled or loosened, allowing the end tool hub 160 of the end tool 100 to rotate.

[0157] On the other hand, one end of the blade wire 307 is connected to the blade 175, which will be described later, and the other end is connected to the blade operating section 260 of the operating section 200. By operating the blade operating section 260, the blade wire 307 can perform a cutting operation while moving from the proximal part 105 to the distal part 104 of the end tool 100, or the blade wire 307 can return from the distal part 104 to the proximal part 105 of the end tool 100.

[0158] In this case, at least a portion of the blade wire 307 may be housed within the guide tube 171, which will be described later. Therefore, when the guide tube 171 is bent in accordance with the pitch or yaw motion of the end tool 100, the blade wire 307 housed within it can also be bent together with the guide tube 171. Such a guide tube 171 will be described in more detail later.

[0159] Furthermore, the blade wire 307 is formed to move linearly along the longitudinal direction of the connecting section 400 within the connecting section 400. Since one end of the blade wire 307 is connected to the blade 175, when the blade wire 307 moves linearly along the longitudinal direction of the connecting section 400, the blade 175 connected to it also moves linearly. In other words, when the blade wire 307 moves linearly along the longitudinal direction of the connecting section 400, the blade 175 connected to it moves toward the distal 104 side or the proximal 105 side of the end tool 100 while performing the cutting operation. This will be explained in more detail later.

[0160] (End Tool)

[0161] The following provides a more detailed description of the end tool 100 of the electrocautery surgical instrument 10 shown in Figure 2.

[0162] Figure 2 is a perspective view showing an electrocautery instrument according to a first embodiment of the present invention, and Figures 3, 4, 5, and 6 are perspective views showing the end tool of the electrocautery instrument of Figure 2. Figures 9 and 10 are perspective views showing the end tool hub of the electrocautery instrument of Figure 2, Figure 11 is an incision perspective view of the end tool hub of Figure 9, and Figure 12 is a side view showing the end tool hub and link of the electrocautery instrument of Figure 2. Figure 13 is a plan view showing the end tool hub and link of the electrocautery instrument of Figure 2. Figure 14 is an exploded perspective view showing the jaw-link-jaw pulley of the electrocautery instrument of Figure 2.

[0163] Here, Figure 3 shows the end tool hub 160 and pitch hub 150 joined together, and Figure 4 shows the end tool hub 160 removed. Figure 5 shows the first jaw 101 and second jaw 102 removed, and Figure 6 shows the first jaw 101, second jaw 102, pulley 111, pulley 121, etc. removed. On the other hand, Figure 7 is a diagram centered on the wire, and Figure 8 is a diagram centered on the pulley.

[0164] Referring to Figures 2 to 14, the end tool 100 of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be called a jaw 103.

[0165] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, and 116 related to the rotational motion of the first jaw 101. Furthermore, it may include pulleys 121, 122, 123, 124, 125, and 126 related to the rotational motion of the second jaw 102.

[0166] Here, the drawings show opposing pulleys formed parallel to each other, but the spirit of the present invention is not limited to this, and each pulley can be formed in a variety of positions and sizes suitable for the configuration of the end tool.

[0167] Furthermore, the end tool 100 of the first embodiment of the present invention may include an end tool hub 160 and a pitch hub 150.

[0168] The end tool hub 160 has the first rotating shaft 141 and the second rotating shaft 142, which will be described later, inserted through it, and can accommodate at least a portion of the pulleys 111 and 121 that are axially coupled to the first rotating shaft 141. The end tool hub 160 can also accommodate at least a portion of the pulleys 112 and 122 that are axially coupled to the second rotating shaft 142. Such an end tool hub 160 will be described in more detail later.

[0169] The pitch hub 150 has a third rotation shaft 143 and a fourth rotation shaft 144, which will be described later, inserted through it, and the third rotation shaft 143 can axially connect to the first pitch pulley portion 163a and the second pitch pulley portion 163b of the end tool hub 160. Therefore, the end tool hub 160 can be formed to be rotatable relative to the pitch hub 150 with respect to the third rotation shaft 143.

[0170] Furthermore, the pitch hub 150 can accommodate at least a portion of the pulleys 113, 114, 123, and 124 that are axially coupled to the third rotating shaft 143. Additionally, the pitch hub 150 can accommodate at least a portion of the pulleys 115, 116, 125, and 126 that are axially coupled to the fourth rotating shaft 144.

[0171] One end of the pitch hub 150 is connected to the end tool hub 160, and the other end of the pitch hub 150 is connected to the connecting portion 400.

[0172] Here, the end tool 100 of the first embodiment of the present invention may include a first rotation axis 141, a second rotation axis 142, a third rotation axis 143, and a fourth rotation axis 144. As described above, the first rotation axis 141 and the second rotation axis 142 can be inserted through the end tool hub 160, and the third rotation axis 143 and the fourth rotation axis 144 can be inserted through the pitch hub 150.

[0173] The first rotation axis 141, the second rotation axis 142, the third rotation axis 143, and the fourth rotation axis 144 can be arranged sequentially from the distal end 104 to the proximal end 105 of the end tool 100. As a result, the first rotation axis 141 can be called the 1st pin, the second rotation axis 142 the 2nd pin, the third rotation axis 143 the 3rd pin, and the fourth rotation axis 144 the 4th pin, starting from the distal end 104.

[0174] Here, the first rotation axis 141 functions as the end tool jaw pulley rotation axis, the second rotation axis 142 functions as the end tool jaw auxiliary pulley rotation axis, the third rotation axis 143 functions as the end tool pitch rotation axis, and the fourth rotation axis 144 can function as the end tool pitch auxiliary rotation axis for the end tool 100.

[0175] Here, each axis of rotation may include two axes: a first sub-axis and a second sub-axis. Alternatively, it may be said that each axis of rotation is formed by being divided into two parts.

[0176] For example, the first rotation axis 141 may include two axes: a first sub-axis 141a and a second sub-axis 141b. The second rotation axis 142 may include two axes: a first sub-axis 142a and a second sub-axis 142b. The third rotation axis 143 may include two axes: a first sub-axis 143a and a second sub-axis 143b. The fourth rotation axis 144 may include two axes: a first sub-axis 144a and a second sub-axis 144b.

[0177] The reason each rotation axis is formed in two parts is so that the guide tube 171, which will be described later, can pass through the end tool hub 160 and the pitch hub 150. In other words, the guide tube 171 can pass between the first sub-axis and the second sub-axis of each rotation axis. This will be explained in more detail later. Here, the first sub-axis and the second sub-axis may be arranged on the same axis, or they may be arranged with a certain degree of offset.

[0178] On the other hand, although the drawings show each rotation axis as being formed in two parts, the spirit of the present invention is not limited to this. That is, each rotation axis can be formed to bend midway, which would also be possible to create a relief path for the guide tube 171.

[0179] One or more pulleys may be fitted to each of these rotating shafts 141, 142, 143, and 144, which will be described in detail below.

[0180] On the other hand, the end tool 100 may further be equipped with an actuation rotation axis 145. More specifically, the actuation rotation axis 145 may be provided at the joint between the first jaw 101 and the second jaw 102, and the actuation operation may be performed while the second jaw 102 rotates around the actuation rotation axis 145 with the first jaw 101 fixed. Here, the actuation rotation axis 145 can be positioned distal to the first rotation axis 141 on the 104 side.

[0181] Herein, the end tool 100 of the first embodiment of the present invention is characterized in that the first rotation axis 141, which is the yaw rotation axis, and the actuation rotation axis 145 are not on the same axis but are provided separately. That is, the first rotation axis 141, which is the rotation axis for the yaw motion of the pulley 111 / pulley 112, and the actuation rotation axis 145, which is the rotation axis for the actuation motion of the second jaw 102 relative to the first jaw 101, are formed with a certain degree of separation between them, thereby ensuring a space in which the guide tube 171 and the blade wire 307 housed inside it can be gently bent. The actuation rotation axis 145 will be described in more detail later.

[0182] Pulley 111 functions as the end tool's first jaw pulley, and pulley 121 functions as the end tool's second jaw pulley. Pulley 111 is also called the first jaw pulley, and pulley 121 is also called the second jaw pulley. These two components can be collectively referred to as the end tool jaw pulley or simply the jaw pulley.

[0183] The end tool jaw pulleys, pulley 111 and pulley 121, are formed to face each other and to rotate independently of each other around the first rotation axis 141, which is the rotation axis of the end tool jaw pulleys. At this time, pulleys 111 and 121 are formed to be separated by a certain distance, and a blade assembly housing can be formed between them. At least a part of the blade assembly 170, which will be described later, can be placed in this blade assembly housing. In other words, the blade assembly 170, including the guide tube 171, is placed between pulley 111 and pulley 121.

[0184] Here, the pulley 111 is connected to the first jaw 101 via the first link 180, which will be described later, so that when the pulley 111 rotates around the first rotation axis 141, the first jaw 101 can also rotate around the first rotation axis 141.

[0185] On the other hand, the pulley 121 is connected to the second jaw 102 via the second link 190, which will be described later, so that when the pulley 121 rotates around the first rotation axis 141, the second jaw 102 connected to it can rotate around the first rotation axis 141 or the actuation rotation axis 145.

[0186] Here, the pulley 111, the first link 180, and the first jaw 101 are fixedly connected to each other and operate as a one-body unit. That is, when the pulley 111 rotates around the first rotation axis 141, the first link 180 and the first jaw 101 can also rotate together with the pulley 111 around the first rotation axis 141.

[0187] In contrast, the pulley 121, the second link 190, and the second jaw 102 are connected, but are formed such that one component can move or rotate relative to the other. That is, the second link 190 is formed to be movable or rotatable relative to the pulley 121, and the second jaw 102 is formed to be movable or rotatable relative to the second link 190.

[0188] Then, in accordance with the rotation of pulleys 111 and 121, the end tool 100 performs yaw and actuation movements. That is, when pulleys 111 and 121 rotate in the same direction around the first rotation axis 141, the first jaw 101 and the second jaw 102 rotate around the first rotation axis 141 while performing yaw movements. On the other hand, when pulley 121 rotates independently in a constant direction around the first rotation axis 141, the second jaw 102 rotates around the actuation rotation axis 145 relative to the first jaw 101 while performing actuation movements.

[0189] Pulley 112 functions as an end tool first jaw auxiliary pulley, and pulley 122 functions as an end tool second jaw auxiliary pulley. These two components can be collectively referred to as end tool jaw auxiliary pulleys or simply auxiliary pulleys.

[0190] More specifically, the end tool jaw auxiliary pulleys, pulleys 112 and 122, may be further provided on one side of pulleys 111 and 121. That is, the auxiliary pulley 112 may be positioned between pulley 111 and pulleys 113 / 114. The auxiliary pulley 122 may also be positioned between pulley 121 and pulleys 123 / 124. The pulleys 112 and 122 may be formed to rotate independently of each other around the second rotation axis 142. Such auxiliary pulleys will be described in more detail later.

[0191] Pulleys 113 and 114 function as the end tool first jaw pitch main pulleys, and pulleys 123 and 124 function as the end tool second jaw pitch main pulleys. These two components can also be collectively referred to as the end tool jaw pitch main pulleys.

[0192] 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. These two components can also be collectively referred to as end tool jaw pitch sub-pulleys.

[0193] The following describes the components related to the rotation of the pulley 111.

[0194] Pulleys 113 and 114 function as the main pulleys for the end tool's first jaw pitch; that is, they function as the main rotational pulleys for the pitch motion of the first jaw 101. Here, the wire 301, which is the first jaw wire, is wound around pulley 113, and the wire 305, which is the first jaw wire, is wound around pulley 114.

[0195] Pulleys 115 and 116 function as end tool first jaw pitch sub-pulleys; that is, they function as sub-rotation pulleys for the pitch motion of the first jaw 101. Here, the wire 301, which is the first jaw wire, is wound around pulley 115, and the wire 305, which is the first jaw wire, is wound around pulley 116.

[0196] Here, pulleys 113 and 114 are positioned opposite each other on one side of pulleys 111 and 112. Here, pulleys 113 and 114 are formed to rotate independently of each other around a third rotation axis 143, which is the end tool pitch rotation axis. Also, pulleys 115 and 116 are positioned opposite each other on one side of pulleys 113 and 114. Here, pulleys 115 and 116 are formed to rotate independently of each other around a fourth rotation axis 144, which is the end tool pitch auxiliary rotation axis. Here, the drawings show pulleys 113, 115, 114, and 116 all formed to rotate around the Y-axis, but the spirit of the present invention is not limited thereto, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0197] The first jaw wire, wire 301, is wound sequentially around pulleys 115, 113, and 111 so that at least a portion of it is in contact with them. Then, wire 305, which is connected to wire 301 by fastening member 323, is wound sequentially around pulleys 111, 112, 114, and 116 so that at least a portion of it is in contact with them.

[0198] To explain this from another perspective, the first jaw wires, wire 301 and wire 305, are sequentially wound around pulleys 115, 113, 111, 112, 114, and 116 so that at least a portion of them are in contact with them, and wires 301 and 305 are formed to move along the pulleys while the pulleys are rotating.

[0199] Therefore, when wire 301 is pulled in the direction of arrow 301 in Figure 7, the fastening member 323 to which wire 301 is connected and the pulley 111 connected to it rotate in the direction of arrow L in Figure 7. Conversely, when wire 305 is pulled in the direction of arrow 305 in Figure 7, the fastening member 323 to which wire 305 is connected and the pulley 111 connected to it rotate in the direction of arrow R in Figure 7.

[0200] Next, we will describe the components related to the rotation of the pulley 121.

[0201] Pulleys 123 and 124 function as the main pitch pulleys for the end tool's second jaw. That is, they function as the main rotational pulleys for the pitch motion of the second jaw 102. Here, the wire 306, which is the second jaw wire, is wound around pulley 123, and the wire 302, which is the second jaw wire, is wound around pulley 124.

[0202] Pulleys 125 and 126 function as end tool second jaw pitch sub-pulleys. That is, they function as sub-rotation pulleys for the pitch motion of the second jaw 102. Here, the wire 306, which is the second jaw wire, is wound around pulley 125, and the wire 302, which is the second jaw wire, is wound around pulley 126.

[0203] Here, pulleys 123 and 124 are positioned opposite each other on one side of pulleys 121 and 122. Here, pulleys 123 and 124 are formed to rotate independently of each other around a third rotation axis 143, which is the end tool pitch rotation axis. Also, pulleys 125 and 126 are positioned opposite each other on one side of pulleys 123 and 124. Here, pulleys 125 and 126 are formed to rotate independently of each other around a fourth rotation axis 144, which is the end tool pitch auxiliary rotation axis. Here, the drawings show pulleys 123, 125, 124 and 126 all formed to rotate around the Y-axis direction, but the spirit of the present invention is not limited thereto, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0204] The second jaw wire, wire 306, is wound sequentially around pulleys 125, 123, and 121 so that at least a portion of it is in contact with them. Then, wire 302, which is connected to wire 306 by fastening member 326, is wound sequentially around pulleys 121, 122, 124, and 126 so that at least a portion of it is in contact with them.

[0205] To explain this from another perspective, the second jaw wires, wire 306 and wire 302, are sequentially wound around pulleys 125, 123, 121, 122, 124, and 126 so that at least a portion of them are in contact with them, and wire 306 and wire 302 are formed to move along the pulleys while the pulleys are rotating.

[0206] Therefore, when wire 306 is pulled in the direction of arrow 306 in Figure 7, the fastening member 326 to which wire 306 is connected and the pulley 121 connected to it rotate in the direction of arrow R in Figure 7. Conversely, when wire 302 is pulled in the direction of arrow 302 in Figure 7, the fastening member 326 to which wire 302 is connected and the pulley 121 connected to it rotate in the direction of arrow L in Figure 7.

[0207] Below, we will describe in more detail the pulleys 112 and 122, which serve as auxiliary pulleys.

[0208] Pulleys 112 and 122 can increase the rotation angles of the first jaw 101 and the second jaw 102 by contacting the first jaw wire, wire 305, and the second jaw wire, wire 302, and changing the arrangement paths of wires 305 and 302 to a certain extent.

[0209] That is, when the auxiliary pulley is not arranged, each of the first jaw and the second jaw could only rotate up to a right angle. However, in one embodiment of the present invention, by further providing pulley 112 and pulley 122 which are auxiliary pulleys, an effect that the maximum rotation angle increases by θ when viewed in FIG. 7 can be obtained. Thereby, in a state where the two jaws of the end tool 100 are rotated 90° in the L direction in a yaw rotation, an operation in which the two jaws must be spread for an actuation operation is enabled. This is because the second jaw 102 can rotate by an additional angle (θ) as in FIG. 7. Similarly, the actuation operation is possible even when the two jaws are in a state of yaw rotation in the L direction. That is, through pulley 112 and pulley 122, it has a feature that the range of yaw rotation in which the actuation operation is possible can be expanded.

[0210] More specifically, it is as follows.

[0211] When the auxiliary pulley is not arranged, since the first jaw wire is fixedly coupled to the end tool first jaw pulley and the second jaw wire is fixedly coupled to the end tool second jaw pulley, the end tool first jaw pulley and the end tool second jaw pulley can each only rotate up to 90°. In this case, when the actuation operation is performed in a state where the first jaw and the second jaw are located on the 90° line, the first jaw can spread, but the second jaw cannot rotate more than 90°. Therefore, there is a problem that the actuation operation cannot be smoothly performed when the first jaw and the second jaw are performing a yaw operation at a certain angle or more.

[0212] To solve such problems, in the case of the electrocautery surgical instrument 10 of the present invention, auxiliary pulleys 112 and 122 are further arranged on one side of the pulleys 111 and 121. By arranging the pulleys 112 and 122 in this way and changing the arrangement paths of the wire 305 which is the first joystick wire and the wire 302 which is the second joystick wire to a certain extent, the tangential directions of the wire 305 and the wire 302 are changed. Thus, the fastening member 326 that connects the wire 302 and the pulley 121 can rotate up to the N line in FIG. 7. That is, the fastening member 326 which is the connecting part between the wire 302 and the pulley 121 can rotate until it is located on the common internal tangent line of the pulley 121 and the pulley 122. Similarly, the fastening member 323 which is the connecting part between the wire 305 and the pulley 111 can rotate until it is located on the common internal tangent line of the pulley 111 and the pulley 112, and the rotation range in the R direction can be expanded.

[0213] That is, by the pulley 112, the wires 301 and 305 which are two strands of the first joystick wire wound around the pulley 111 are arranged on either side with reference to the plane perpendicular to the Y-axis and passing through the X-axis. At the same time, by the pulley 122, the wires 302 and 306 which are two strands of the second joystick wire wound around the pulley 121 are arranged on the other side with reference to the plane perpendicular to the Y-axis and passing through the X-axis.

[0214] In other words, the pulleys 113 and 114 are arranged on either side with reference to the plane perpendicular to the Y-axis and passing through the X-axis, and the pulleys 123 and 124 are arranged on the other side with reference to the plane perpendicular to the Y-axis and passing through the X-axis.

[0215] In other words, the wire 305 is located on the internal tangent line of the pulley 111 and the pulley 112, and the rotation angle of the pulley 111 is expanded by the pulley 112. Also, the wire 302 is located on the internal tangent line of the pulley 121 and the pulley 122, and the rotation angle of the pulley 121 is expanded by the pulley 122.

[0216] This invention provides the effect of widening the yaw range in which normal opening and closing actuation operations can be performed, by increasing the rotation radius of jaws 101 and 102.

[0217] The pitch motion of the present invention will be described in more detail below.

[0218] On the other hand, when wire 301 is pulled toward arrow 301 in Figure 7, and wire 305 is pulled toward arrow 305 in Figure 7 (i.e., when both ends of the first jaw wire are pulled), as shown in Figure 6, wires 301 and 305 are wrapped around the lower part of pulleys 113 and 114, which can rotate around the third rotation axis 143, which is the end tool pitch rotation axis. As a result, pulley 111 to which wires 301 and 305 are fixedly connected, and the end tool hub 160 to which pulley 111 is connected, rotate together counterclockwise around the third rotation axis 143, and consequently the end tool 100 performs a pitch motion while rotating downwards. At this time, the second jaw 102 and the wires 302 and 306 fixedly connected to it are wound around the upper part of the pulleys 123 and 124 which can rotate around the third rotation axis 143, so that the wires 302 and 306 loosen in opposite directions to the wires 302 and 306, respectively.

[0219] Conversely, when wire 302 is pulled toward arrow 302 in Figure 7, and wire 306 is pulled toward arrow 306 in Figure 7, as shown in Figure 6, wires 302 and 306 are wound around the upper part of pulleys 123 and 124, which can rotate around the third rotation axis 143, which is the end tool pitch rotation axis. As a result, pulley 121 to which wires 302 and 306 are fixedly connected, and the end tool hub 160 to which pulley 121 is connected, rotate together clockwise around the third rotation axis 143. Consequently, the end tool 100 rotates upward while performing a pitch motion. At this time, the first jaw 101 and wires 301 and 305 fixedly connected to it are wound around the lower part of pulleys 113 and 114, which can rotate around the third rotation axis 143. Therefore, wires 302 and 306 move in the opposite direction to wires 301 and 305, respectively.

[0220] On the other hand, the end tool hub 160 of the end tool 100 of the electrocautery surgical instrument 10 of the present invention further comprises a first pitch pulley portion 163a and a second pitch pulley portion that serve as end tool pitch pulleys, the operating portion 200 further comprises pulleys 231 and 232 which are operating portion pitch pulleys, and the power transmission portion 300 further comprises wires 303 and 304 which are pitch wires.

[0221] In detail, the end tool hub 160, which includes the first pitch pulley portion 163a and the second pitch pulley portion 163b, may be formed to be rotatable around a third rotation axis 143, which is the end tool pitch rotation axis. In addition, wires 303 and 304 can serve to connect the first pitch pulley portion 163a and the second pitch pulley portion 163b of the end tool 100 with the pulleys 231 and 232 of the operating portion 200.

[0222] Therefore, when the pulleys 231 and 232 of the operating unit 200 rotate, the rotation of the pulleys 231 and 232 is transmitted to the end tool hub 160 of the end tool 100 via wires 303 and 304, causing the end tool hub 160 to rotate as well, resulting in the end tool 100 performing a pitching motion while rotating.

[0223] In other words, the electrocautery surgical instrument 10 according to the first embodiment of the present invention includes a first pitch pulley section 163a and a second pitch pulley section 163b of the end tool 100, pulleys 231 and 232 of the operating section 200, and wires 303 and 304 of the power transmission section 300 for power transmission for pitch motion, thereby improving operational reliability by ensuring that the driving force of the pitch motion of the operating section 200 is more completely transmitted to the end tool 100.

[0224] (Blade wire and guide tube)

[0225] The following describes the blade wire 307 and guide tube 171 of the present invention in more detail.

[0226] The guide tube 171 according to the present invention is formed to enclose the blade wire 307 in a predetermined section, and the blade wire 307 can move inside the guide tube 171. In other words, with the blade wire 307 inserted inside the guide tube 171, the blade wire 307 can move relative to the guide tube 171.

[0227] Here, the guide tube 171 plays a role in guiding the path of the blade wire 307 by preventing it from bending in an unintended direction when the blade wire 307 is pushed or pulled. Such a guide tube 171 allows the cutting operation to be performed smoothly.

[0228] On the other hand, one end of the guide tube 171 can be fixedly connected to the end tool hub 160 or the first joint (not shown) in the first link 180, which will be described later. The other end of the guide tube 171 can be fixedly connected to the second joint (not shown) in the connecting part 400. In this way, both ends of the guide tube 171 are fixedly connected to predetermined points (the first joint and the second joint), so that the total length of the guide tube 171 can be kept constant. Therefore, the length of the blade wire 307 inserted into the guide tube 171 can also be kept constant.

[0229] On the other hand, the guide tube 171 according to the present invention is made of a flexible material and can be made to bend. Therefore, when the end tool 100 performs a yaw motion around the first rotation axis 141 or a pitch motion around the third rotation axis 143, the guide tube 171 may be bent and its shape may deform accordingly. Also, when the guide tube 171 is bent, the blade wire 307 inside it is bent along with it.

[0230] Here, although the length of the guide tube 171 is constant, as the end tool 100 rotates in pitch or yaw, the relative position and distance of the first joint (not shown) and the second joint (not shown) may change. Therefore, a space is needed for the guide tube 171 to flow by the amount of this change in distance. For this purpose, the end tool hub 160 can be equipped with a pitch slit 164 and a yaw slit 165 to form a space in which the guide tube 171 can flow. The configuration of such an end tool hub 160 will be described in detail later.

[0231] On the one hand, as described above, the blade wire 307 is inserted through the guide tube 171, and the blade wire 307 can move relative to the guide tube 171 inside the guide tube 171. That is, when the blade wire 307 is pulled with the guide tube 171 fixed, the blade 175 connected to the blade wire 307 moves toward the proximal portion 105, and when the blade wire 307 is pushed in, the blade 175 connected to the blade wire 307 moves toward the distal portion 104.

[0232] This will be described in more detail as follows.

[0233] To ensure the cutting operation using the blade 175, it is most reliable to push or pull the blade 175 with the blade wire 307. Further, in order for the blade wire 307 to push or pull the blade 175, a guide tube 171 that can guide the path of the blade wire 307 must be provided. When the guide tube 171 does not guide the path of the blade wire 307 (that is, when the blade wire 307 is not fixed), cutting is not performed even when the blade wire 307 is pushed in, and a phenomenon may occur where the middle portion of the blade wire 307 bends. Therefore, in order to ensure the cutting operation using the blade 175, the blade wire 307 and the guide tube 171 must be included.

[0234] By the way, in order to drive the cutting operation using the blade wire 307, it is necessary to cut while pushing the blade wire 307. Therefore, at this time, a relatively hard (that is, difficult to bend) wire must be used as the blade wire 307 so that the blade wire 307 receives force. However, a hard (that is, difficult to bend) wire has a small bending range and may be permanently deformed when a certain amount of force or more is applied.

[0235] To put this in another way, for a stiff (i.e., difficult to bend) wire, there is a minimum radius of curvature at which it can be bent or stretched without permanent deformation. In other words, if the wire or guide tube bends to a radius smaller than a certain radius of curvature, both the wire and the guide tube will remain bent and permanently deform, making it impossible to cut them while moving back and forth. Therefore, the blade wire 307 needs to be maintained so that it can be bent with a gentle curvature.

[0236] Therefore, in order to prevent the blade wire 307 from bending sharply as it passes through the pulley, there is space between the jaw 103 (i.e., the actuation rotation axis 145) and the end tool hub 160 (i.e., the first rotation axis 141, which is the yaw axis) for the blade wire 307 to bend gently.

[0237] To this end, the present invention features a first link 180 and a second link 190, which are links connecting the jaw pulleys 111 / pulley 112 and the jaw 103, and by creating a certain distance between the jaw 103 (i.e., the actuation rotation axis 145) and the end tool hub 160 (i.e., the yaw axis, which is the first rotation axis 141), a space is formed in which the blade wire 307 and the guide tube 171 can be gently bent. At the same time, the rotation of the jaw pulleys 111 / pulley 112 is transmitted to the jaw 103 via the first link 180 and the second link 190.

[0238] Furthermore, the blade wire 307 and guide tube 171 must pass through the end tool hub 160 and be connected to the blade 175, and space is needed within the end tool hub 160 for the blade wire 307 and guide tube 171 to bend, so 1) a space is formed within the end tool hub 160 through which the blade wire 307 / guide tube 171 passes and bends, i.e., a pitch slit 164 and a yaw slit 165, 2) each rotation axis must be formed in two parts, and 3) a pitch round section 166 and a yaw round section 167 are further formed to guide the bending of the blade wire 307 and guide tube 171.

[0239] To express this from another perspective, when one end of the guide tube 171 is fixed within the connecting portion 400 and the other end moves while undergoing pitch and yaw motion, the guide tube 171 bends in the direction that achieves the gentlest curvature (hereinafter referred to as "maximum slow curvature") depending on the change in the distance between the two ends. Only by achieving this natural maximum slow curvature can the blade wire 307 operate smoothly and permanent deformation be prevented.

[0240] Therefore, in order to ensure the maximum slow curvature, pitch slits 164 and yaw slits 165 can be formed along the path of the guide tube 171, and further pitch round portions 166 and yaw round portions 167 can be formed on the end tool hub 160. This results in the guide tube 171 having a shape that is as close as possible to the maximum slow curvature (even if not the maximum slow curvature).

[0241] The following section provides a more detailed explanation of this end tool hub 160 and the jaw-link-jaw-pulley connection structure.

[0242] (End Tool Hub)

[0243] Referring to Figures 9 to 14, the end tool hub 160 includes a main body 161, a first jaw pulley coupling portion 162a, a second jaw pulley coupling portion 162b, a first pitch pulley portion 163a, a second pitch pulley portion 163b, a pitch slit 164, a yaw slit 165, a pitch round portion 166, and a yaw round portion 167.

[0244] A first jaw-pulley coupling portion 162a and a second jaw-pulley coupling portion 162b may be formed on the distal side of the end tool hub 160. Here, the first jaw-pulley coupling portion 162a and the second jaw-pulley coupling portion 162b are formed to face each other, and pulleys 111 and 121 are housed inside them. Here, the first jaw-pulley coupling portion 162a and the second jaw-pulley coupling portion 162b may be formed substantially parallel to a plane perpendicular to the first rotation axis 141, which is the yaw rotation axis.

[0245] The first jaw-pulley coupling portion 162a and the second jaw-pulley coupling portion 162b are connected by the main body portion 161. That is, the first jaw-pulley coupling portion 162a and the second jaw-pulley coupling portion 162b, which are parallel to each other, are connected by the main body portion 161 which is formed in a direction substantially perpendicular to them, and the first jaw-pulley coupling portion 162a, the second jaw-pulley coupling portion 162b and the main body portion 161 form a substantially "U" shape, with the pulleys 111 and 121 housed inside.

[0246] To explain this from another perspective, it can also be described as the first jaw-pulley coupling portion 162a and the second jaw-pulley coupling portion 162b being formed by extending in the X-axis direction from the main body portion 161.

[0247] Here, the first jaw pulley, pulley 111, is positioned adjacent to the first jaw pulley coupling portion 162a of the end tool hub 160, and the second jaw pulley, pulley 121, is positioned adjacent to the second jaw pulley coupling portion 162b of the end tool hub 160, so that a yaw slit 165 can be formed between the first jaw pulley coupling portion 162a and the second jaw pulley coupling portion 162b. At least a part of the blade assembly 170, which will be described later, can be placed within the yaw slit 165. Expressed from another perspective, this can also be described as at least a part of the guide tube 171 of the blade assembly 170 being positioned between the first jaw pulley coupling portion 162a and the second jaw pulley coupling portion 162b. One feature of the present invention is that, by positioning the blade assembly 170, including the guide tube 171, between the first jaw pulley, pulley 111, and the second jaw pulley, pulley 121, it becomes possible to perform cutting operations using the blade 175 along with the pitch and yaw movements of the end tool 100. This will be explained in more detail later.

[0248] On the other hand, a through hole is formed in the first jaw-pulley coupling portion 162a, and the first rotating shaft 141 passes through the first jaw-pulley coupling portion 162a and the pulley 111, axially coupling them. Also, a through hole is formed in the second jaw-pulley coupling portion 162b, and the first rotating shaft 141 passes through the second jaw-pulley coupling portion 162b and the pulley 121, axially coupling them.

[0249] In this case, as described above, the first rotation axis 141, which is the yaw rotation axis, may be formed by dividing it into two parts: a first sub-axis 141a and a second sub-axis 141b, and a guide tube 171 can pass between the first sub-axis 141a and the second sub-axis 141b of the first rotation axis 141.

[0250] Furthermore, a yaw slit 165 can be formed between the first jaw pulley joint 162a and the second jaw pulley joint 162b. By forming the yaw slit 165 inside the end tool hub 160 in this way, the guide tube 171 can pass through the inside of the end tool hub 160.

[0251] To express this from another perspective, the first rotation axis 141 is separated vertically without passing through the end tool hub 160, and a yaw slit 165 can be formed in the vicinity of the first rotation axis 141 on a plane perpendicular to the first rotation axis 141. Thus, the guide tube 171 can flow (i.e., move from side to side) within the yaw slit 165 while passing in the vicinity of the first rotation axis 141.

[0252] On the other hand, a yaw round portion 167 can be further formed on the main body portion 161. The yaw round portion 167 can be formed round with a predetermined curvature. Specifically, when viewed from a plane perpendicular to the first rotation axis 141, which is the yaw rotation axis, the yaw round portion 167 may be formed round with a predetermined curvature. For example, the yaw round portion 167 may be formed in a fan shape and formed along the path through which the guide tube 171 bends in the XY plane. In this way, the yaw round portion 167 can play a role in guiding the path of the guide tube 171 when the end tool 100 performs yaw rotation.

[0253] A first pitch pulley portion 163a and a second pitch pulley portion 163b, which serve as end tool pitch pulleys, may be formed on the proximal side of the end tool hub 160. Here, the first pitch pulley portion 163a and the second pitch pulley portion 163b may be formed facing each other. Here, the first pitch pulley portion 163a and the second pitch pulley portion 163b may be formed substantially parallel to a plane perpendicular to the third rotation axis 143, which is the pitch rotation axis.

[0254] Specifically, one end of the end tool hub 160 is formed in a disc shape like a pulley, and a groove is formed on its outer circumference around which a wire is wound, thereby forming a first pitch pulley portion 163a and a second pitch pulley portion 163b. The aforementioned wires 303 and 304 are connected to the first pitch pulley portion 163a and the second pitch pulley portion 163b, which act as end tool pitch pulleys, and the end tool hub 160 rotates around the third rotation axis 143 while performing a pitching motion.

[0255] On the other hand, although not shown in the diagram, the pitch pulley can also be formed from a separate component from the end tool hub 160 and connected to the end tool hub 160.

[0256] The first pitch pulley portion 163a and the second pitch pulley portion 163b are connected by the main body portion 161. That is, the first pitch pulley portion 163a and the second pitch pulley portion 163b, which are parallel to each other, are connected by the main body portion 161 which is formed in a direction substantially perpendicular to them, so that the first pitch pulley portion 163a, the second pitch pulley portion 163b and the main body portion 161 form a shape that is substantially like the letter "U".

[0257] To explain this from another perspective, it can also be described as the first pitch pulley portion 163a and the second pitch pulley portion 163b being formed by extending from the main body portion 161 in the -X axis direction.

[0258] On the other hand, a through hole is formed in the first pitch pulley portion 163a, allowing the third rotating shaft 143 to pass through the first pitch pulley portion 163a. ​​Also, a through hole is formed in the second pitch pulley portion 163b, allowing the third rotating shaft 143 to pass through the second pitch pulley portion 163b.

[0259] In this case, as described above, the third rotation axis 143, which is the pitch rotation axis, can be formed by dividing it into two parts: a first sub-axis 143a and a second sub-axis 143b, and the guide tube 171 can pass between the first sub-axis 143a and the second sub-axis 143b of the third rotation axis 143.

[0260] A pitch slit 164 can be formed between the first pitch pulley portion 163a and the second pitch pulley portion 163b. By forming the pitch slit 164 in the end tool hub 160 in this way, the guide tube 171 can pass through the inside of the end tool hub 160.

[0261] To express this from another perspective, the third rotation axis 143 is separated to the left and right without passing through the end tool hub 160, and a pitch slit 164 can be formed in the vicinity of the third rotation axis 143 on a plane perpendicular to the third rotation axis 143. Therefore, the guide tube 171 can flow (i.e., move up and down) within the pitch slit 164 while passing in the vicinity of the third rotation axis 143.

[0262] On the other hand, a pitch round portion 166 can be further formed on the main body portion 161. The pitch round portion 166 can be formed round to have a predetermined curvature. Specifically, when viewed from a plane perpendicular to the third rotation axis 143, which is the pitch rotation axis, the pitch round portion 166 may be formed round to have a predetermined curvature. For example, the pitch round portion 166 may be formed in a fan shape and formed along the path through which the guide tube 171 bends on the XZ plane. In this way, the pitch round portion 166 can serve to guide the path of the guide tube 171 when the end tool 100 performs pitch rotation.

[0263] Here, the pitch slit 164 and the yaw slit 165 can be formed to connect with each other. Thus, the guide tube 171 and the blade wire 307 inside it can be positioned to completely penetrate the inside of the end tool hub 160. This allows the blade 175, coupled to one end of the blade wire 307, to perform reciprocating linear motion inside the first jaw 101 and the second jaw 102.

[0264] Thus, the present invention is characterized in that, since the blade wire 307 and guide tube 171 must pass through the end tool hub 160 and be connected to the blade 175, and further, space is required within the end tool hub 160 for the blade wire 307 and guide tube 171 to bend, 1) a space is formed within the end tool hub 160 through which the blade wire 307 / guide tube 171 passes and bends, i.e., a pitch slit 164 and a yaw slit 165 are formed, 2) the rotation axis is formed in two parts, and 3) a pitch round portion 166 and a yaw round portion 167 are further formed to guide the bending of the blade wire 307 / guide tube 171.

[0265] (Jaw-link-jaw-pulley connection structure)

[0266] Referring to Figures 9 to 14, the end tool 100 of the present invention includes a first jaw 101, a second jaw 102, a first link 180, a second link 190, a pulley 111 which is the first jaw pulley, and a pulley 112 which is the second jaw pulley. Hereinafter, pulley 111 will be referred to as the first jaw pulley 111, and pulley 121 will be referred to as the second jaw pulley 121.

[0267] The first jaw pulley 111 and the first link 180 are fixedly connected.

[0268] In detail, the first jaw pulley 111 has a projection 111a, and the first link 180 has a through hole (not shown), and the projection 111a of the first jaw pulley 111 can be fitted into the through hole (not shown) of the first link 180. Then, the first sub-shaft 141a of the first rotating shaft 141 can be sequentially inserted through the first jaw pulley 111 and the first link 180. As a result, the first jaw pulley 111 and the first link 180 are connected at two points, and therefore, the first jaw pulley 111 and the first link 180 are fixedly connected.

[0269] In other words, the first link 180 does not rotate relative to the first jaw pulley 111, but when the first jaw pulley 111 rotates around the first rotation axis 141, the first link 180 also rotates together with the first jaw pulley 111 around the first rotation axis 141.

[0270] On the other hand, the first link 180 and the first jaw 101 are fixedly connected by a fixing member (such as a pin).

[0271] In other words, the first jaw 101 and the first jaw pulley 111 are connected by the first link 180 and are fixed relative to each other, so that one member cannot rotate / move relative to the other.

[0272] As a result, when the first jaw pulley 111 rotates around the first sub-axis 141a of the first rotation axis 141, the first link 180 and the first jaw 101 connected to it also rotate together with the first jaw pulley 111 around the first sub-axis 141a of the first rotation axis 141.

[0273] On the other hand, the second jaw pulley 121 and the second link 190 are axially connected at a single point, and the second link 190 is rotatably connected to the second jaw pulley 121.

[0274] In detail, the second jaw pulley 121 has a projection 121a, and the second link 190 has a through hole 190a, and the projection 121a of the second jaw pulley 121 can be fitted into the through hole 190a of the second link 190. Therefore, when the second jaw pulley 121 rotates, the second link 190 moves while rotating around the projection 121a.

[0275] The second link 190 and the second jaw 102 are axially connected at a single point, and the second link 190 is rotatably connected to the second jaw pulley 121.

[0276] In detail, a through hole 190b is formed in the second link 190, and a through hole 102a is formed in the second jaw 102. A pin-shaped fixing member 146 is inserted through the through holes 190b and 102a, allowing the second link 190 and the second jaw 102 to be axially coupled.

[0277] The actuation rotation shaft 145 can then be sequentially inserted through the second jaw 102, the first link 180, and the first jaw 101. Here, like other rotation shafts, the actuation rotation shaft 145 can also be formed in two parts.

[0278] As a result, when the first jaw pulley 111 remains fixed and only the second jaw pulley 121 rotates around the first rotation axis 141, the second link 190, which is axially coupled to the second jaw pulley 121, moves. When the second link 190 moves, the second jaw 102, which is axially coupled to the second link 190, also moves due to the second link 190, and at this time the second jaw 102 rotates around the actuation rotation axis 145.

[0279] The yaw and actuation movements of the end tool 100 are described below.

[0280] First, when the first jaw pulley 111 and the second jaw pulley 121 rotate together, 1) the first link 180 and the first jaw 101 connected to it also rotate together with the first jaw pulley 111 around the first rotation axis 141, and 2) the second link 190 and the second jaw 102 connected to it also rotate together with the second jaw pulley 121 around the first rotation axis 141, performing a yaw motion.

[0281] On the other hand, with the jaw 103 closed as shown in Figure 16, if only the second jaw pulley 121 rotates in the direction of arrow A in Figure 15, the second link 190 connected to the second jaw pulley 121 moves in the direction of arrow B in Figure 15 due to the second jaw pulley 121. As the second link 190 moves in the direction of arrow B in Figure 15, it pulls the second jaw 102 connected to the second link 190 in the direction of arrow C in Figure 15. Consequently, the second jaw 102 rotates around the actuation rotation axis 145 in the direction of arrow C in Figure 15, performing an actuation operation that opens the jaw 103.

[0282] In other words, when an actuation operation is performed with the operating unit 200, only the second jaw pulley 121 rotates, and when a yaw operation is performed with the operating unit 200, the first jaw pulley 111 and the second jaw pulley 121 rotate together in the same direction.

[0283] To express this from another perspective, when the operating unit 200 performs a yaw motion, the first jaw wire and the second jaw wire are pulled together, causing the first jaw pulley 111 and the second jaw pulley 121 to rotate together, so that the second jaw 102 does not rotate relative to the first jaw 101.

[0284] On the other hand, when an actuation operation is performed at the operating unit 200, only the second jaw wire is pulled, and as a result the first jaw pulley 111 remains fixed while only the second jaw pulley 121 rotates. This causes the second link 190 to be pulled while the actuation rotation axis 145 remains fixed, causing the second jaw 102 to rotate around the actuation rotation axis 145.

[0285] (Cauterization and cutting-related components)

[0286] Referring to Figures 4 to 16, the end tool 100 of the first embodiment of the present invention may include a first jaw 101, a second jaw 102, a first electrode 151, a second electrode 152, a guide tube 171, and a blade 175 for cautery and cutting operations.

[0287] Here, the components related to blade drive, such as the guide tube 171 and the blade 175, can be collectively referred to as the blade assembly 170. In one embodiment of the present invention, by arranging the blade assembly 170, which includes the guide tube 171 and the blade 175, between the first jaw pulley, pulley 111, and the second jaw pulley, pulley 121, it becomes possible to perform cutting operations using the blade 175 along with the pitch and yaw movements of the end tool 100. This will be explained in more detail.

[0288] As described above, the first jaw 101 is connected to the first link 180 and the first jaw pulley 111, and when the first jaw pulley 111 rotates around the first rotation axis 141, the first jaw pulley 111 and the first link 180 rotate together around the first rotation axis 141.

[0289] On the other hand, a first electrode 151 can be formed on the surface of the first jaw 101 that faces the second jaw 102. A second electrode 152 can be formed on the surface of the second jaw 102 that faces the first jaw 101.

[0290] In this case, a slit 151a can be formed in the first electrode 151, and the blade 175 can be moved through this slit 151a. Also, a slit 152a can be formed in the second electrode 152, and the blade 175 can be moved through this slit 152a.

[0291] On the other hand, a spacer 153 can be formed between the first jaw 101 and the first electrode 151, and a spacer 154 can be formed between the second jaw 102 and the second electrode 152. These spacers 153 and 154 may include insulating materials such as ceramics. Alternatively, the first jaw 101 and the second jaw 102 themselves may be made of insulators, and they can be held insulated from each other until they come into contact, without the need for a separate insulator.

[0292] On the other hand, although not shown in the drawings, one or more sensors (not shown) may be further formed on at least one of the first jaw 101 or the second jaw 102. These sensors (not shown) may be formed to position tissue between the first jaw 101 and the second jaw 102 and measure at least some of the current, voltage, resistance, impedance, and temperature while current flows through the first electrode 151 and the second electrode 152 to perform cauterization.

[0293] Alternatively, without the need for separate sensors, the generator (not shown) that supplies power to the electrodes may directly monitor and control at least some of the current, voltage, resistance, impedance, and temperature.

[0294] A sharp edge may be formed in one area of ​​the blade 175 to cut tissue. As at least a portion of the blade 175 moves between the distal 104 and proximal 105 of the end tool 100, tissue located between the first jaw 101 and the second jaw 102 can be cut.

[0295] Herein, the end tool 100 of the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized by comprising a guide tube 171 and a blade 175 positioned between pulleys 111 and 121. Furthermore, by comprising the guide tube 171 and blade 175 in this manner, it is possible to perform both cauterization and cutting with a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movements. This will be explained in more detail as follows.

[0296] Various types of electrocautery surgical instruments have been developed to date. Among these, the vascular resection device called the Advanced Energy Device or vessel sealer adds a sensing function compared to the conventional bipolar cautery method. It supplies power of different polarities to two electrodes, and the heat generated denatures the blood vessel to stop bleeding, after which the hemostatic portion is cut with a blade. In this method, the impedance of the tissue (or blood vessel) is measured while the current is flowing to determine whether cautery is complete, and once cautery is complete, the current supply is automatically stopped, and the tissue is cut with a blade.

[0297] In the case of such bipolar angiectomy devices, a blade must be provided to cut the tissue after ablation, and since the end tool must also be equipped with an instrument for the blade to perform linear reciprocating motion, joint movements such as pitch / yaw motion were almost always impossible.

[0298] On the other hand, there have been attempts to achieve joint movement using a bipolar vascular resection device with a flexed joint formed by connecting multiple segments. However, in this case, the rotation angle is limited, and precise control of the movement relative to the end tool is difficult.

[0299] On the other hand, in contrast to this, in the case of a method that uses ultrasonic vibrations to stop bleeding and cut, it was impossible to incorporate joints due to the physical properties of ultrasound.

[0300] To solve these problems, the end tool 100 of the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized by comprising a guide tube 171 positioned between pulleys 111 and 121, and a blade 175 that moves between a first position and a second position in response to the movement of a blade wire 307 positioned inside the guide tube 171. Furthermore, by providing the guide tube 171 and blade 175 in this manner, the bipolar surgical instrument for cauterizing and cutting tissue is characterized by enabling pitch / yaw / actuation movements in a pulley / wire manner.

[0301] Figure 15 shows the end tool of the electrocautery instrument shown in Figure 2 in the open position, and Figure 16 shows the end tool of the electrocautery instrument shown in Figure 2 in the closed position. Figure 17 shows the blade wire 307 and blade 175 in the first position, Figure 18 shows the blade wire 307 and blade 175 in the second position, and Figure 19 shows the blade wire 307 and blade 175 in the third position.

[0302] Referring to Figures 15 to 19, it can also be described that, with the first jaw 101 and the second jaw 102 closed as in Figure 16, the cutting operation shown in Figures 17 to 19 is performed, and the tissue between the first jaw 101 and the second jaw 102 is cut.

[0303] Here, the first position shown in Figure 17 can be defined as the state in which the blade 175 is retracted to its maximum extent towards the proximal portion 105 of the end tool 100. Alternatively, it can be defined as the state in which the blade 175 is located adjacent to the pulley 111 / pulley 112.

[0304] On the other hand, the third position shown in Figure 19 can be defined as the state in which the blade 175 is fully extended toward the distal end 104 of the end tool 100. Alternatively, it can be defined as the state in which the blade 175 is at its maximum distance from the pulleys 111 / 112.

[0305] First, as shown in Figure 15, with the first jaw 101 and the second jaw 102 open, the tissue to be cut is positioned between the first jaw 101 and the second jaw 102. Then, an actuation operation is performed to close the first jaw 101 and the second jaw 102, as shown in Figure 16.

[0306] Next, with the blade wire 307 and blade 175 in the first position as shown in Figure 17, currents of different polarities are passed through the first electrode 151 and the second electrode 152 to cauterize the tissue between the first jaw 101 and the second jaw 102. At this time, the generator (not shown) that supplies power to the electrodes monitors at least some of the current, voltage, resistance, impedance, and temperature, and the power supply can be stopped when cauterization is complete.

[0307] As the cauterization is completed, the blade wire 307 moves sequentially in the direction of arrow A1 in Figure 18 and arrow A2 in Figure 19. The blade 175, which is connected to the blade wire 307, moves from the first position on the proximal part 105 of the end tool 100 toward the third position on the distal part 104 of the end tool 100, and sequentially reaches the positions shown in Figures 18 and 19.

[0308] In this way, as the blade 175 moves in the X-axis direction, it cuts the tissue between the first jaw 101 and the second jaw 102.

[0309] However, the linear motion of blade 175 here does not mean only a perfectly straight line. Rather, it should be understood to mean a motion that, while not a perfect straight line, is sufficient to cut tissue while maintaining a linear motion overall, such as when the middle section of the straight line is bent at a predetermined angle, or when there is a section with a gentle curvature over a certain distance.

[0310] On the other hand, if the blade wire 307 is pulled in the opposite direction in this state, the blade 175 connected to the blade wire 307 will also return to its first position.

[0311] This invention provides the advantage of enabling cauterization and cutting using a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movements.

[0312] (Operation unit)

[0313] Figures 20 and 21 are perspective views showing the operating section of the surgical instrument shown in Figure 2. Figure 22 is a simplified diagram showing only the pulley and wire configuration that makes up the joint of the electrocautery surgical instrument shown in Figure 2.

[0314] Referring to Figures 2 to 22, the operating section 200 of the electrocautery instrument 10 according to the first embodiment of the present invention includes a first handle 204 that can be grasped by the user, an actuation operating section 203 for controlling the actuation motion of the end tool 100, a yaw operating section 202 for controlling the yaw motion of the end tool 100, and a pitch operating section 201 for controlling the pitch motion of the end tool 100. Here, it can be understood that Figures 20 and 21 show only the components related to the pitch / yaw / actuation motion of the electrocautery instrument 10.

[0315] Furthermore, the operating section 200 of the electrocautery surgical instrument 10 further includes a blade operating section 260 that controls the movement of the blade 175 of the end tool 100 to perform cutting, and a cauterization operating section 270 that controls the supply of electrical energy to the first electrode 151 and the second electrode 152 of the end tool 100 to perform cauterization.

[0316] The operating section 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217, and 218 related to the rotational motion of the first jaw 101. It may also include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational motion of the second jaw 102. Furthermore, the operating section 200 may include pulleys 231, 232, 233, and 234 related to the pitch motion. It may also include a pulley 235, which is an intermediate pulley positioned in the middle of the bent portion 402 of the connecting section 400.

[0317] Here, the drawings show opposing pulleys formed parallel to each other, but the spirit of the present invention is not limited to this, and each pulley can be formed in a variety of positions and sizes suitable for the configuration of the operating part.

[0318] Furthermore, the operating unit 200 of the first embodiment of the present invention may include a rotating shaft 241, a rotating shaft 242, a rotating shaft 243, a rotating shaft 244, a rotating shaft 245, and a rotating shaft 246. Here, the rotating shaft 241 can function as the first jaw actuation rotating shaft of the operating unit, and the rotating shaft 242 can function as the second jaw actuation rotating shaft of the operating unit. The rotating shaft 243 can function as the yaw main rotating shaft of the operating unit, and the rotating shaft 244 can function as the yaw sub-rotating shaft of the operating unit. The rotating shaft 245 can function as the pitch sub-rotating shaft of the operating unit, and the rotating shaft 246 can function as the pitch main rotating shaft of the operating unit.

[0319] The rotating shafts 241 / 242, 243, 244, 245, and 246 can be arranged sequentially from the distal end 205 to the proximal end 206 of the operating section 200.

[0320] One or more pulleys can be fitted to each of these rotating shafts 241, 242, 243, 244, 245, and 246, which will be explained in detail later.

[0321] Pulley 210 functions as the first jaw actuation pulley for the operating section, and pulley 220 functions as the second jaw actuation pulley for the operating section. These components can also be collectively referred to as the operating section actuation pulleys.

[0322] Pulleys 211 and 212 function as the first jaw yaw main pulleys of the operating section, and pulleys 221 and 222 function as the second jaw yaw main pulleys of the operating section. These components can also be collectively referred to as the operating section yaw main pulleys.

[0323] Pulleys 213 and 214 function as the first jaw yaw sub-pulleys for the operating section, and pulleys 223 and 224 function as the second jaw yaw sub-pulleys for the operating section. These components can also be collectively referred to as the operating section yaw sub-pulleys.

[0324] Pulleys 215 and 216 function as the first jaw pitch sub-pulleys of the operating section, and pulleys 225 and 226 function as the second jaw pitch sub-pulleys of the operating section. These components can also be collectively referred to as the operating section pitch sub-pulleys.

[0325] Pulleys 217 and 218 function as the first jaw pitch main pulleys of the operating section, and pulleys 227 and 228 function as the second jaw pitch main pulleys of the operating section. These components can also be collectively referred to as the operating section pitch main pulleys.

[0326] Pulleys 231 and 232 function as the main pulleys for the operating section pitch wire, while pulleys 233 and 234 function as sub-pulleys for the operating section pitch wire.

[0327] The aforementioned components can be classified as follows from the perspective of the control unit for each motion (pitch / yaw / actuation):

[0328] The pitch control unit 201, which controls the pitch motion of the end tool 100, may include pulleys 215, 216, 217, 218, 225, 226, 227, 228, 231, 232, 233, and 234. The pitch control unit 201 may also include rotating shafts 245 and 246. Furthermore, the pitch control unit 201 may further include a pitch frame 208.

[0329] The yaw control unit 202, which controls the yaw motion of the end tool 100, may include pulleys 211, 212, 213, 214, 221, 222, 223, and 224. The yaw control unit 202 may also include rotating shafts 243 and 244. Furthermore, the yaw control unit 202 may further include a yaw frame 207.

[0330] The actuation operation unit 203, which controls the actuation motion of the end tool 100, may include pulleys 210 and 220, and rotating shafts 241 and 242. The actuation operation unit 203 may further include a first actuation operation unit 251 and a second actuation operation unit 256.

[0331] The following sections will describe each component of the operating unit 200 in more detail.

[0332] The first handle 204 is formed so that a user can grasp it with their hand, and in particular can be formed so that a user can grasp the first handle 204 with their palm. An actuation control section 203 and a yaw control section 202 are formed on the first handle 204, and a pitch control section 201 is formed on one side of the yaw control section 202. The other end of the pitch control section 201 is connected to the bent section 402 of the connecting section 400.

[0333] The actuation operation section 203 includes a first actuation operation section 251 and a second actuation operation section 256. The first actuation operation section 251 includes a rotating shaft 241, a pulley 210, a first actuation extension 252, and a first actuation gear 253. The second actuation operation section 256 includes a rotating shaft 242, a pulley 220, a second actuation extension 257, and a second actuation gear 258. Here, the ends of the first actuation extension 252 and the second actuation extension 257 are formed in the shape of a strap and can operate as a second handle.

[0334] Here, the actuation rotation axes 241 and 242 may be formed at a predetermined angle with the XY plane on which the connecting portion 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 control portion 201 or the yaw control portion 202 rotates, the coordinate system of the actuation control portion 203 may change relatively. Of course, the spirit of the present invention is not limited thereto, and the rotation axes 241 and 242 may be formed in various directions to suit the structure of the user's hand that grasps the actuation control portion 203, according to ergonomic design.

[0335] On the other hand, the pulley 210, the first actuation extension 252, and the first actuation gear 253 may be fixedly coupled to each other and formed to rotate together around the rotation axis 241. Here, the pulley 210 may consist of one pulley, or it may consist of two pulleys fixedly coupled to each other.

[0336] Similarly, the pulley 220, the second actuation extension 257, and the second actuation gear 258 may be fixedly coupled to each other and formed to rotate together about the rotation axis 242. Here, the pulley 220 may consist of one pulley or two pulleys fixedly coupled to each other.

[0337] Here, the first actuation gear 253 and the second actuation gear 258 may be formed to mesh with each other, and when one side rotates, they may rotate together in opposite directions.

[0338] Here, either the first actuation operation unit 251 or the second actuation operation unit 256 may be a dummy operation unit to which no wires are connected. The actuation operation in the present invention may be an operation in which the second jaw 102 rotates around the actuation rotation axis 145 while the first jaw 101 is stopped. Therefore, during the actuation operation, only the wires 302 / wires 306 connected to the second jaw 102 may move, while the wires 301 / wires 305 connected to the first jaw 101 may not move. Therefore, the wires 302 / wires 306, which are the second jaw wires connected to the second jaw 102, can be coupled to either the first actuation operation unit 251 or the second actuation operation unit 256, and the wires 301 / wires 305, which are the first jaw wires connected to the first jaw 101, do not have to be coupled to the actuation operation unit 203. In this case, the actuation control unit that is not connected to the second jaw wire may be a dummy control unit.

[0339] The diagram shows that the second jaw wire, wire 302 / wire 306, is connected to the pulley 220 of the second actuation operating unit 256, and that no wire is connected to the pulley 210 of the first actuation operating unit 251. However, it can be said that the reverse configuration is also possible.

[0340] As a result, only the second jaw wire, wire 302 / wire 306, is connected to the actuation operation unit 203. Therefore, when the actuation operation unit 203 is operated, the first jaw 101 remains fixed while the second jaw 102 rotates independently around the actuation rotation axis 145.

[0341] On the other hand, although the figure shows the actuation operation unit 203 including a first actuation operation unit 251 and a second actuation operation unit 256, this is just one example of the actuation operation unit 203 of the present invention, and the actuation operation unit 203 may include only one of the first actuation operation unit 251 and the second actuation operation unit 256. Furthermore, the actuation operation unit 203 may be formed to rotate around another axis (for example, the Y axis) rather than being a strap-like device that rotates around a rotation axis parallel to the Z axis.

[0342] On the other hand, the yaw control unit 202 may include a rotating shaft 243, pulleys 211 and 212 which are the first jaw yaw main pulleys of the control unit, pulleys 221 and 222 which are the second jaw yaw main pulleys of the control unit, and a yaw frame 207. Furthermore, the yaw control unit 202 may further include pulleys 213 and 214 which are the first jaw yaw sub-pulleys of the control unit formed on one side of pulleys 211 and 212, and pulleys 223 and 224 which are the second jaw yaw sub-pulleys of the control unit formed on one side of pulleys 221 and 222. Here, pulleys 213 and 214 and pulleys 223 and 224 may be coupled to a pitch frame 208, which will be described later.

[0343] Here, the figure shows that the yaw control unit 202 includes pulleys 211 and 212 and pulleys 221 and 222, and that pulleys 211 and 212 and pulleys 221 and 222 each comprise two pulleys formed to face each other and rotatably independent of one another. However, the spirit of the present invention is not limited thereto. That is, one or more pulleys of the same or different diameters may be provided depending on the configuration of the yaw control unit 202.

[0344] Specifically, a rotation axis 243, which is the yaw main rotation axis of the actuation operating section 203, is formed on one side of the first handle 204. In this case, the first handle 204 is formed to be rotatable about the rotation axis 243.

[0345] Here, the rotation axis 243 may be formed to make a predetermined angle with the XY plane on which the connecting portion 400 is formed. For example, the rotation axis 243 may be formed in a direction parallel to the Z axis, and in this state, when the pitch operating portion 201 rotates, the coordinate system of the rotation axis 243 may change relatively as described above. Of course, the spirit of the present invention is not limited thereto, and through ergonomic design, the rotation axis 243 can be formed in various directions to suit the structure of the user's hand that grasps the operating portion 200.

[0346] On the other hand, pulleys 211 and 212 and pulleys 221 and 222 are rotatably connected to the rotation axis 243. A first jaw wire, wire 301 or wire 305, may be wound around pulley 211 or pulley 212, and a second jaw wire, wire 302 or wire 306, may be wound around pulleys 221 and pulley 222. In this case, pulleys 211 and 212 and pulleys 221 and pulley 222 may be formed to face each other and consist of two independently rotatable pulleys. Therefore, the wire being wound and the wire being unwound are wound around separate pulleys, respectively, and can operate without interfering with each other.

[0347] Here, the first jaw wires, wire 301 and wire 305, can be fixedly connected to pulley 211 / pulley 212, respectively, by fastening member 324. Specifically, the first jaw wire, wire 305, can be fixedly connected to pulley 211 by fastening member 324, and the first jaw wire, wire 301, can be fixedly connected to pulley 212 by fastening member 324.

[0348] Conversely, the second jaw wires, wires 302 and 306, can be fixedly coupled to the pulley 220 of the actuation operation unit 203 via pulleys 221 / 222.

[0349] The yaw frame 207 rigidly connects the first handle 204, rotation axis 241, rotation axis 242, and rotation axis 243, so that the first handle 204, the yaw control unit 202, and the actuation control unit 203 can rotate together in a yaw motion around the rotation axis 243.

[0350] Here, the pulley 211 or pulley 212 can be fixedly coupled to the yaw frame 207 and configured to rotate together with the yaw frame 207 when the yaw frame 207 rotates.

[0351] The pitch operating section 201 may include a rotating shaft 246, pulleys 217 and 218 which are the operating section's first jaw pitch main pulleys, pulleys 227 and 228 which are the operating section's second jaw pitch main pulleys, and a pitch frame 208. The pitch operating section 201 may further include a rotating shaft 245, pulleys 215 and 216 which are the operating section's first jaw pitch sub-pulleys formed on one side of pulleys 217 and 218, and pulleys 225 and 226 which are the operating section's second jaw pitch sub-pulleys formed on one side of pulleys 227 and 228. The pitch operating section 201 may be connected to the bent portion 402 of the connecting portion 400 via the rotating shaft 246.

[0352] Specifically, the pitch frame 208 serves as the base frame for the pitch control unit 201, and a rotation axis 243 is rotatably coupled to one end of it. That is, the yaw frame 207 is formed to rotate around the rotation axis 243 relative to the pitch frame 208.

[0353] As described above, the yaw frame 207 connects the first handle 204, the rotation axis 243, the rotation axis 241, and the rotation axis 242, and the yaw frame 207 is axially coupled to the pitch frame 208. Therefore, when the pitch frame 208 rotates by pitch around the rotation axis 246, the yaw frame 207, the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243, which are connected to the pitch frame 208, also rotate by pitch. In other words, when the pitch control unit 201 rotates around the rotation axis 246, the actuation control unit 203 and the yaw control unit 202 rotate together with the pitch control unit 201. To put it another way, when the user rotates the first handle 204 by pitch around the rotation axis 246, the actuation control unit 203, the yaw control unit 202, and the pitch control unit 201 all move together.

[0354] Pulleys 217 and 218, and pulleys 227 and 228 are coupled to the rotation axis 246 of the pitch frame 208 so as to be rotatable around the rotation axis 246.

[0355] Here, pulleys 217 and 218 may be formed to face each other and to be independently rotatable. Thus, the wire being wound and the wire being unwound can be wound around separate pulleys and operate without interfering with each other. Similarly, pulleys 227 and 228 may also be formed to face each other and to be independently rotatable. Thus, the wire being wound and the wire being unwound can be wound around separate pulleys and operate without interfering with each other.

[0356] Next, the operation of the pitch wires, wire 303 and wire 304, is as follows.

[0357] The end tool 100 has a first pitch pulley section 1163a and a second pitch pulley section 1163b formed on the end tool hub 160, which serve as end tool pitch pulleys. The operating section 200 has pulleys 231 and 232, which are operating section pitch pulleys, fixedly connected to the pitch frame 208. The 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 performed more easily in response to the pitch operation of the operating section 200. Here, wire 303 is fixedly connected to the pitch frame 208 via pulleys 231 and 233, and wire 304 is fixedly connected to the pitch frame 208 via pulleys 232 and 234. In other words, the pitch rotation of the operating unit 200 causes the pitch frame 208 and the pulleys 231 and 232 to rotate together around the rotation axis 246, resulting in the movement of wires 303 and 304 as well. This allows for the transmission of additional pitch rotation power, separate from the pitch movement of the end tool by the jaw wires 301, 302, 305, and 306.

[0358] The connections between the first handle 204 and the pitch control unit 201, yaw control unit 202, and actuation control unit 203 can be summarized as follows. Rotation axes 241, 242, 243, 244, 245, and 246 may be formed on the first handle 204. In this case, since rotation axes 241 and 242 are formed directly on the first handle 204, the first handle 204 and the actuation control unit 203 may be directly connected. On the other hand, since rotation axis 243 is formed directly on the first handle 204, the first handle 204 and the yaw control unit 202 may be directly connected. On the other hand, since the pitch control unit 201 is formed to be connected to the yaw control unit 202 on one side of the yaw control unit 202, the pitch control unit 201 is not directly connected to the first handle 204, and the pitch control unit 201 and the first handle 204 may be formed to be indirectly connected via the yaw control unit 202.

[0359] Referring to the drawings, in the electrocautery surgical instrument 10 according to the first embodiment of the present invention, the pitch operating section 201 and the end tool 100 can be formed on the same or parallel axis (X axis). That is, the rotation axis 246 of the pitch operating section 201 is formed at one end of the bent portion 402 of the connecting section 400, and the end tool 100 is formed at the other end of the connecting section 400.

[0360] Furthermore, one or more intermediate pulleys 235 can be placed in the middle of the connecting section 400, particularly in the bent section 402, to change or guide the wire's path. These intermediate pulleys 235 are formed so that at least a portion of the wire is wound around them, guiding the wire's path and allowing it to be positioned along the bent shape of the bent section 402.

[0361] Here, the drawing shows that the connecting portion 400 is formed by being curved to have a predetermined curvature, with a bent portion 402. However, the spirit of the present invention is not limited thereto, and the connecting portion 400 may be formed in a straight line or be bent one or more times as needed. Even in such cases, the pitch operating portion 201 and the end tool 100 can be said to be formed on substantially the same or parallel axes. Note that Figure 2 shows that the pitch operating portion 201 and the end tool 100 are formed on axes parallel to the X-axis, but the spirit of the present invention is not limited thereto, and the pitch operating portion 201 and the end tool 100 may be formed on different axes.

[0362] (Actuation motion, yaw motion, pitch motion)

[0363] The actuation, yaw, and pitch movements in this embodiment are described below.

[0364] First, the actuation process is as follows:

[0365] When a user places their index finger in the strap formed on the first actuation extension 252 and their thumb in the strap formed on the second actuation extension 257, and rotates the actuation extensions 252 and 257 using one or both fingers, the pulley 210 and first actuation gear 253, which are fixedly connected to the first actuation extension 252, rotate around the rotation axis 241, and the pulley 220 and second actuation gear 258, which are fixedly connected to the second actuation extension 257, rotate around the rotation axis 242. At this time, the pulleys 210 and 220 rotate in opposite directions. When the pulley 220 rotates, the wires 302 and 306, one end of which is fixedly connected to the pulley 220 by the fastening member 327, move as they rotate together with the pulley 220. This rotational force is then transmitted to the end tool 100 via the power transmission unit 300, causing the second jaw 102 of the end tool 100 to perform actuation.

[0366] Here, actuation refers to the operation in which the second jaw 102 rotates around the actuation rotation axis 145 while the first jaw 101 is stationary, as described above. That is, when the actuation extensions 252 and 257 of the actuation operation unit 203 are rotated toward each other, the end tool 100 is closed as the second jaw 102 rotates clockwise while the first jaw 101 remains fixed. Conversely, when the actuation extensions 252 and 257 of the actuation operation unit 203 are rotated toward each other, the end tool 100 is opened as the second jaw 102 rotates counterclockwise while the first jaw 101 remains fixed.

[0367] In this embodiment, a second handle is configured with a first actuation extension 252 and a second actuation extension 257 for the actuation operation described above, allowing it to be operated by gripping it with two fingers. However, the configuration of the actuation operating unit 203 for the actuation operation of opening and closing the two jaws of the end tool 100 relative to each other may differ from that described above, and other modifications are certainly possible, such as a configuration in which one actuation rotating unit operates two actuation pulleys (pulley 210, pulley 220) in opposite directions relative to each other.

[0368] Next, the yaw motion is as follows:

[0369] When the user holds the first handle 204 and rotates the first handle 204 around the rotation axis 243, the actuation control unit 203 and the yaw control unit 202 will rotate in a yaw motion around the rotation axis 243. That is, when the pulleys 211 and 212 of the yaw control unit 202, to which wires 301 and 305 are fixedly connected, rotate around the rotation axis 243, wires 301 and 305 wrapped around pulleys 211 and 212 move. On the other hand, when the pulley 220 of the second actuation control unit 256, to which wires 302 and 306 are fixedly connected, rotates around the rotation axis 243, wires 302 and 306 wrapped around pulleys 221 and 222 move. At this time, wires 301 and 305 connected to the first jaw 101, and wires 302 and 306 connected to the second jaw 102 are wrapped around pulleys 211 or 212 and 221 and 222 so that the first jaw 101 and the second jaw 102 rotate in the same direction during yaw rotation. This rotational force is then transmitted to the end tool 100 via the power transmission unit 300, causing the two jaws 103 of the end tool 100 to rotate in the same direction during yaw motion.

[0370] 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 the first handle 204, the yaw control unit 202, and the actuation control unit 203 rotate together around the rotation axis 243.

[0371] Next, the pitch movement is as follows:

[0372] When the user holds the first handle 204 and rotates the first handle 204 around the rotation axis 246, the actuation control unit 203, the yaw control unit 202, and the pitch control unit 201 rotate around the rotation axis 246. That is, when the pulleys 211 and 212 of the yaw control unit 202, to which wires 301 and 305 are fixedly connected, rotate around the rotation axis 246, wires 301 and 305, which are wrapped around pulleys 217 and 218, move. Similarly, when the pulley 220 of the second actuation control unit 256, to which wires 302 and 306 are fixedly connected, rotates around the rotation axis 246, wires 302 and 306, which are wrapped around pulleys 227 and 228, move. At this time, as explained with reference to Figure 5, the first jaw wires, wires 301 and 305, move in the same direction to each other, and the second jaw wires, wires 302 and 306, move in the same direction to each other, so that the first jaw 101 and the second jaw 102 can perform pitch rotation. These jaw wires are then wrapped around the operating unit pitch main pulleys, pulleys 217, 218, 227, and 228, respectively. This rotational force is then transmitted to the end tool 100 via the power transmission unit 300, causing the two jaws 103 of the end tool 100 to perform pitch motion.

[0373] At this time, the pitch frame 208 is connected to the yaw frame 207, and the yaw frame 207 is connected to the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243. Therefore, when the pitch frame 208 rotates around the rotation axis 246, the yaw frame 207, the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243, which are connected to the pitch frame 208, rotate together. In other words, when the pitch control unit 201 rotates around the rotation axis 246, the actuation control unit 203 and the yaw control unit 202 rotate together with the pitch control unit 201.

[0374] In summary, an electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), and wires (first jaw wire or second jaw wire) are wound around these pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing the desired movement of the end tool 100. Furthermore, auxiliary pulleys can be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times.

[0375] Figure 22 is a simplified diagram showing only the pulley and wire configuration that constitutes the joint of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in Figure 2. In Figure 22, the intermediary pulley for changing the wire path regardless of joint movement is omitted.

[0376] Referring to Figure 22, the operating section 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217, and 218 related to the rotational motion of the first jaw 101.

[0377] Furthermore, the operating section 200 may include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational motion of the second jaw 122. (Since the arrangement and configuration of each pulley in the operating section 200 are in principle the same as the arrangement and configuration of each pulley in the end tool 100, the specific notation of reference numerals in the drawings is partially omitted.)

[0378] Pulleys 211 and 212 and pulleys 221 and 222 may be formed to rotate independently of each other around the same axis, the rotation axis 243. In this case, pulleys 211 and 212 and pulleys 221 and 222 may be formed as two pulleys that are opposed to each other and are formed to rotate independently.

[0379] Pulleys 213 and 214 and pulleys 223 and 224 may be formed to rotate independently of each other around the same axis, the rotation axis 244. In this case, pulleys 213 and 214 may be formed from two pulleys that are formed facing each other and are formed to rotate independently, and the two pulleys may be formed to have different diameters. Similarly, pulleys 223 and 224 may be formed from two pulleys that are formed facing each other and are formed to rotate independently, and the two pulleys may be formed to have different diameters.

[0380] Pulleys 215 and 216 and pulleys 225 and 226 may be formed to rotate independently of each other around the same axis, the rotation axis 245. In this case, pulleys 215 and 216 may be formed to have different diameters from each other. Similarly, pulleys 225 and 226 may be formed to have different diameters from each other.

[0381] Pulleys 217 and 218 and pulleys 227 and 228 may be formed to rotate independently of each other around the same axis, the rotation axis 246.

[0382] Wire 301 passes sequentially through pulleys 217, 215, and 213 of the operating unit 200, is wound around pulley 211, and is then connected to pulley 212 by fastening member 324. Meanwhile, wire 305 passes sequentially through pulleys 218, 216, and 214 of the operating unit 200, and is connected to pulley 211 by fastening member 324. Therefore, when pulley 211 rotates, wires 301 and 305 are wound around and unwound from pulley 211 accordingly, causing the first jaw 101 to rotate.

[0383] Wire 306 passes sequentially through pulleys 227, 225, 223, and 221 of the operating section 200 and is wound around pulley 220, after which it is connected to pulley 220 by fastening member 327. Meanwhile, wire 302 passes sequentially through pulleys 228, 226, 224, and 222 of the operating section 200 and is connected to pulley 220 by fastening member 327. Therefore, when pulley 220 rotates, wires 302 and 306 are wound around and unwound from pulley 220 accordingly, causing the second jaw 102 to rotate.

[0384] (Conceptual diagram of pulley and wire)

[0385] Figures 24 and 25 show the pulley and wire configurations related to the actuation and yaw movements of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in Figure 2, for the first jaw and the second jaw, respectively. Figure 24 shows only the pulley and wire related to the second jaw, and Figure 25 shows only the pulley and wire related to the first jaw. Figure 23 is a perspective view showing the yaw movement of the surgical instrument of Figure 2. In Figure 23, components related to the cutting movement are omitted.

[0386] First, let's explain the wire operation of actuation.

[0387] Referring to Figure 24, when the second actuation extension 257 rotates in the direction of arrow OPA2 around the rotation axis 242, the pulley 220 connected to the second actuation extension 257 rotates, and both wires 302 and 306 wrapped around the pulley 220 move in the directions W2a and W2b, respectively. As a result, the second jaw 102 of the end tool 100 rotates in the direction of arrow EPA2. Therefore, when the user operates the first actuation extension 252 and the second actuation extension 257 in a direction that brings them closer together, the second jaw 102 of the end tool moves closer to the first jaw 101.

[0388] In this case, since the first jaw wires, wire 301 and wire 305, are not connected to the actuation operation unit 203, wires 301 and wire 305 do not move even when the actuation operation unit 203 is operated, and therefore the first jaw 101 does not rotate.

[0389] Next, we will explain the wire operation for yaw motion.

[0390] First, since the rotation axis 243 is connected to the rotation axes 241 and 242 by a yaw frame (see 207 in Figure 30), the rotation axis 243, rotation axis 241, and rotation axis 242 rotate together as a single unit.

[0391] Referring to Figure 25, when the first handle 204 is rotated around the rotation axis 243 in the direction of arrow OPY1, the pulley 211 and the wires 301 and 305 wrapped around it rotate together around the rotation axis 243. As a result, the wires 301 and 305 wrapped around the pulley 211 move in the directions W1a and W1b, respectively, and consequently the first jaw 101 of the end tool 100 rotates in the direction of arrow EPY1.

[0392] Referring to Figure 24, when the first handle 204 is rotated around the rotation axis 243 in the direction of arrow OPY2, the pulleys 220, 221, and 222, and the wires 302 and 306 wound around them, rotate as a whole around the rotation axis 243. As a result, the wires 302 and 306 wound around pulleys 221 and 222 move to the opposite side of W1a and W1b, respectively, and consequently the first jaw 101 of the end tool 100 rotates in the direction of arrow EPY2.

[0393] Figures 27 and 28 show the pulley and wire configurations related to the pitching motion of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in Figure 2, broken down for the first jaw and the second jaw, respectively. Figure 27 shows only the pulley and wire related to the first jaw, and Figure 28 shows only the pulley and wire related to the second jaw. As shown in Figure 9, there are two pulleys for each pitching motion, and both ends of each wire are wound along the same path, which is represented by a single line in Figures 27 and 28. Figure 26 is a perspective view showing the pitching motion of the surgical instrument of Figure 2. Here, components related to the cutting motion are omitted in Figure 26.

[0394] Referring to Figure 27, when the first handle 204 is rotated around the rotation axis 246 in the direction of arrow OPP1, the pulleys 211, 215, 217, etc., and the wire 301 wound around them, all rotate around the rotation axis 246. At this time, as shown in Figure 22, the first jaw wires, wires 301 and 305, are wound on the upper side of pulleys 217 and 218, so they move in the direction of arrow W1. As a result, as explained with reference to Figure 5, the first jaw 101 of the end tool 100 rotates in the direction of arrow EPP1.

[0395] Referring to Figure 28, when the first handle 204 is rotated around the rotation axis 246 in the direction of arrow OPP2, the pulleys 220, 225, 227, etc., and the wire 302 wound around them, all rotate around the rotation axis 246. At this time, as shown in Figure 22, the second jaw wires, wires 302 and 306, are wound on the underside of pulleys 227 and 228, so they move in the direction of arrow W2. As a result, as explained with reference to Figure 5, the second jaw 102 of the end tool 100 rotates in the direction of arrow EPP2.

[0396] Therefore, actuation, yaw, and pitch operations can be controlled independently of each other.

[0397] As explained with reference to Figure 1, the actuation control unit 203, the yaw control unit 202, and the pitch control unit 201 are configured similarly to the joint configuration of an end tool, with their rotation axes located behind each control unit, allowing the user to perform intuitive and consistent operations.

[0398] In particular, an electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (first jaw wire or second jaw wire) is wound around these pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing the desired operation of the end tool 100. Furthermore, auxiliary pulleys can be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times, the wires wound around the pulleys do not come into contact with each other, the paths of the wires wound around the pulleys and the wires unwound are safely formed, and the safety and efficiency of wire power transmission can be improved.

[0399] On the other hand, as described above, the yaw control unit 202 and the actuation control unit 203 are formed directly on the first handle 204. Therefore, when the first handle 204 rotates around the rotation axis 246, the yaw control unit 202 and the actuation control unit 203 also rotate together with the first handle 204. As a result, the coordinate system of the yaw control unit 202 and the actuation control unit 203 is not fixed, but continues to change relative to each other in accordance with the rotation of the first handle 204. That is, in Figure 2, etc., the yaw control unit 202 and the actuation control unit 203 are shown to be parallel to the Z axis. However, when the first handle 204 rotates, the yaw control unit 202 and the actuation control unit 203 are no longer parallel to the Z axis. In other words, the coordinate system of the yaw control unit 202 and the actuation control unit 203 has changed in accordance with the rotation of the first handle 204. However, for the sake of explanation in this specification, unless otherwise stated, the coordinate systems of the yaw control unit 202 and the actuation control unit 203 are described based on the state in which the first handle 204 is positioned perpendicular to the connecting unit 400, as shown in Figure 2.

[0400] (End tool pitch, yaw, cutting motion)

[0401] Figures 29 and 30 show the process of opening and closing the end tool of the electrocautery instrument shown in Figure 2 while it is rotated by -90° yaw. Figures 31 and 32 show the process of opening and closing the end tool of the electrocautery instrument shown in Figure 2 while it is rotated by +90° yaw.

[0402] As shown in Figures 29 to 32, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed to perform normal opening and closing operations, i.e., actuation operations, even when the jaws are rotated by +90° to -90° yaw.

[0403] Figures 33 and 34 show the process of the cutting operation performed by the end tool of the electrocautery surgical instrument shown in Figure 2 while it is rotated by +90° yaw.

[0404] As shown in Figures 33 and 34, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so that it can perform a normal cutting operation even when the jaw is rotated by +90° yaw.

[0405] Figure 35 shows the end tool of the electrocautery instrument shown in Figure 2 rotated by -90° pitch, and Figure 36 shows the end tool of the electrocautery instrument shown in Figure 2 rotated by +90° pitch. Figure 37 is an incision perspective view of the end tool of the electrocautery instrument shown in Figure 36. Figures 38 and 39 show the process of performing a cutting operation with the end tool of the electrocautery instrument shown in Figure 2 rotated by -90° pitch.

[0406] As shown in Figures 35 to 39, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so that it can perform a normal cutting operation even when the jaw is rotated by -90°.

[0407] On the other hand, Figure 40 shows the jaw rotating by -90° pitch and simultaneously by +90° yaw, while Figures 41, 42, and 43 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument shown in Figure 2, illustrating how the cutting operation is performed with the jaw rotating by -90° pitch and simultaneously by +90° yaw.

[0408] As shown in Figures 40 to 43, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so that it can perform a normal cutting operation even when the jaws are rotated by -90° pitch and +90° yaw simultaneously.

[0409] (First modified example of the first embodiment - Jaw opening and closing in the vertical direction)

[0410] The following describes an end tool 1100 for a surgical instrument according to a first modification of the first embodiment of the present invention. In this case, the end tool 1100 for a surgical instrument according to the first modification of the first embodiment of the present invention differs in the opening and closing direction of the jaws 103 compared to the end tool for a surgical instrument according to the first embodiment of the present invention described above (see 100 in Figure 2, etc.). This configuration, which differs from the first embodiment, will be explained in detail later.

[0411] Figures 44, 45, 46, and 47 show the end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention, Figure 48 is an exploded perspective view of the end tool of Figure 44, and Figures 49 and 50 show the process of the end tool of the electrocautery surgical instrument of Figure 44 performing a cutting operation. Here, Figure 47 shows the state with the first jaw and the second jaw removed.

[0412] Referring to Figures 44 to 50, the end tool 1100 of the first modified embodiment of the present invention includes a pair of jaws for performing a gripping action, namely a first jaw 1101 and a second jaw 1102, where each of the first jaw 1101 and the second jaw 1102, or the component encompassing the first jaw 1101 and the second jaw 1102, can be called a jaw 1103.

[0413] On the other hand, the end tool 1100 includes a plurality of pulleys, including pulley 1111 associated with the rotational motion of the first jaw 1101. In this embodiment, the pulleys associated with the rotational motion of the first jaw 1101 are substantially the same as pulleys 111, 112, 113, 114, 115, and 116 described in Figure 8 of the first embodiment, so a detailed description thereof is omitted here.

[0414] On the other hand, the end tool 1100 includes a plurality of pulleys, including a pulley 1121 associated with the rotational motion of the second jaw 1102. In this embodiment, the pulleys associated with the rotational motion of the second jaw 1102 are substantially the same as the pulleys 121, 122, 123, 124, 125, and 126 described in Figure 8 of the first embodiment, so a detailed description thereof is omitted here.

[0415] Furthermore, the end tool 1100 of the first embodiment of the present invention may include rotating shafts 1141, 1142, 1143, and 1144. Here, rotating shafts 1141 and 1142 can be inserted through the end tool hub 1160, and rotating shafts 1143 and 1144 can be inserted through the pitch hub 1150. The rotating shafts 1141, 1142, 1143, and 1144 can be arranged sequentially from the distal end 1104 to the proximal end 1105 of the end tool 1100.

[0416] Furthermore, the end tool 1100 of the first embodiment of the present invention may include an end tool hub 1160 and a pitch hub 1150.

[0417] Rotating shafts 1141 and 1142 are inserted through the end tool hub 1160, and at least portions of pulleys 1111 and 1121, which are axially coupled to the rotating shaft 1141, and the first jaws 1101 and second jaws 1102, which are coupled to them, may be housed inside the end tool hub 1160.

[0418] On the other hand, a first pitch pulley portion 1163a and a second pitch pulley portion 1163b, which function as end tool pitch pulleys, may be formed at one end of the end tool hub 1160. Wires (see 303 in Figure 6) and wires (see 304 in Figure 6) are connected to the first pitch pulley portion 1163a and the second pitch pulley portion 1163b, which function as end tool pitch pulleys, and the end tool hub 1160 performs a pitch motion while rotating around the rotation axis 1143.

[0419] Rotating shafts 1143 and 1144 are inserted through the pitch hub 1150, and the rotating shaft 1143 allows the pitch hub 1150 to be axially coupled with the end tool hub 1160. Therefore, the end tool hub 1160 can be formed to rotate at a pitch relative to the pitch hub 1150 around the rotating shaft 1143.

[0420] On the other hand, the end tool 1100 of the first embodiment of the present invention may further include components such as a first electrode 1151, a second electrode 1152, a guide tube 1171, and a blade 1175 for cautery and cutting operations. Here, the components such as the guide tube 1171 and the blade 1175 related to the driving of the blade can be collectively referred to as the blade assembly (see 170 in Figure 6). The first embodiment of the present invention is characterized in that the blade assembly (see 170 in Figure 6), including the blade 1175, is positioned between the pulley 1111, which is a first jaw pulley, and the pulley 1121, which is a second jaw pulley, thereby enabling the end tool 1100 to perform cutting operations using the blade along with pitch and yaw movements. In this embodiment, the components for performing cautery and cutting operations are substantially the same as those described in the first embodiment, so a detailed description thereof is omitted here.

[0421] An electrocautery instrument according to a first modification of the first embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306, and a bladed wire 307, similar to the first embodiment of the present invention shown in Figure 13, etc.

[0422] Furthermore, the electrocautery surgical instrument according to the first modification of this first embodiment may include fastening members 321, 322, 323, 324, 326, and 327 that are coupled to each end of each wire to connect the wire and the pulley, similar to the first embodiment of the present invention shown in Figure 13, etc.

[0423] The first link 1180 and the second link 1190 of the first embodiment of the present invention will be described in more detail below.

[0424] The end tool 1100 of the first embodiment of the present invention is characterized in that the actuation rotation axis 1145 and the yaw rotation axis 1141 are arranged perpendicular to each other. Therefore, the opening and closing direction of the jaws 1103 is vertical. And as a result, the arrangement direction of the blades 1175 is also vertical.

[0425] In other words, in the first embodiment of the present invention shown in Figure 3, the actuation rotation axis 145 and the yaw rotation axis 141 are formed parallel to each other, and these two axes may also be formed parallel to the Z axis. Therefore, the opening and closing of the jaw 103 is performed on the XY plane perpendicular to the Z axis.

[0426] In contrast, in the first modified end tool 1100 of the first embodiment of the present invention, the yaw rotation axis 1141 is formed parallel to the Z axis, while the actuation rotation axis 1145 is formed parallel to the Y axis. That is, the actuation rotation axis 1145 and the yaw rotation axis 1141 are arranged perpendicularly. The opening and closing of the jaw 1103 is performed on the XZ plane perpendicular to the Y axis.

[0427] More specifically, the end tool 1100 of the present invention includes a first jaw 1101, a second jaw 1102, a first link 1180, a second link 1190, a pulley 1111 which is the first jaw pulley, and a pulley 1121 which is the second jaw pulley. Hereinafter, pulley 1111 will be referred to as the first jaw pulley 1111, and pulley 1121 will be referred to as the second jaw pulley 1121.

[0428] The first jaw pulley 1111 and the first link 1180 are fixedly connected.

[0429] In detail, the first jaw pulley 1111 has a projection 1111a, and the first link 1180 has a through hole (not shown), and the projection 1111a of the first jaw pulley 1111 can be fitted into the through hole (not shown) of the first link 1180. Then, the first rotating shaft 1141 can be sequentially inserted through the first jaw pulley 1111 and the first link 1180. As a result, the first jaw pulley 1111 and the first link 1180 are connected at two points, and therefore the first jaw pulley 1111 and the first link 1180 are fixedly connected.

[0430] In other words, since the first link 1180 does not rotate relative to the first jaw pulley 1111, when the first jaw pulley 1111 rotates around the first rotation axis 1141, the first link 1180 also rotates together with the first jaw pulley 1111 around the first rotation axis 1141.

[0431] On the other hand, the first link 1180 and the first jaw 1101 are fixedly connected by a fixing member (such as a pin).

[0432] In other words, the first jaw 1101 and the first jaw pulley 1111 are connected by the first link 1180, and are relatively fixed to each other, so that one member cannot rotate / move relative to the other.

[0433] As a result, when the first jaw pulley 1111 rotates around the first rotation axis 1141, the first link 1180 and the first jaw 1101 connected to it also rotate together with the first jaw pulley 1111 around the first rotation axis 1141.

[0434] On the other hand, the second jaw pulley 1121 and the second link 1190 are axially connected at a single point, and the second link 1190 is connected so that it can rotate or move relative to the second jaw pulley 1121.

[0435] In detail, the second jaw pulley 1121 has a projection 1121a, and the second link 1190 has a through hole 1190a, and the projection 1121a of the second jaw pulley 1121 can be fitted into the through hole 1190a of the second link 1190. Therefore, when the second jaw pulley 1121 rotates, the second link 1190 moves while rotating around the projection 1121a.

[0436] The second link 1190 and the second jaw 1102 are axially connected at a single point, so that the second link 1190 can rotate or move relative to the second jaw pulley 1121.

[0437] In detail, a guide pin 1190b is formed in the second link 1190, and a through hole 1102a is formed in the second jaw 1102. The guide pin 1190b is inserted through the through hole 1102a, allowing the second link 1190 and the second jaw 1102 to be axially coupled.

[0438] The actuation rotation shaft 1145 can then be sequentially inserted through the second jaw 1102, the first link 1180, and the first jaw 1101. Here, like other rotation shafts, the actuation rotation shaft 1145 can also be formed in two parts.

[0439] Here, the yaw rotation axis 1141 is formed parallel to the Z axis, while the actuation rotation axis 1145 may be formed parallel to the Y axis. That is, the actuation rotation axis 1145 and the yaw rotation axis 1141 are positioned perpendicular to each other. Therefore, the opening and closing of the jaw 1103 is performed on the XZ plane perpendicular to the Y axis.

[0440] As a result, when the second jaw pulley 1121 rotates around the first rotation axis 1141 while the first jaw pulley 1111 is fixed, the second link 1190, which is axially coupled to the second jaw pulley 1121, moves. When the second link 1190 moves, the second jaw 1102, which is axially coupled to the second link 1190, also moves due to the second link 1190, and at this time the second jaw 1102 rotates around the actuation rotation axis 1145.

[0441] The following describes the yaw and actuation movements of the end tool 1100.

[0442] First, when the first jaw pulley 1111 and the second jaw pulley 1121 rotate together, 1) the first link 1180 and the first jaw 1101 connected to it also rotate together with the first jaw pulley 1111 around the first rotation axis 1141, and 2) the second link 1190 and the second jaw 1102 connected to it also rotate together with the second jaw pulley 1121 around the first rotation axis 1141, performing a yaw motion.

[0443] On the other hand, when the jaw 1103 is closed as shown in Figure 44, if only the second jaw pulley 1121 rotates in the direction of arrow A in Figure 45, the second link 1190 connected to the second jaw pulley 1121 moves in the direction of arrow B in Figure 45 due to the second jaw pulley 1121. As the second link 1190 moves in the direction of arrow B in Figure 45, it pulls the second jaw 1102 connected to the second link 1190 in the direction of arrow C in Figure 45. Therefore, the second jaw 1102 rotates around the actuation rotation axis 1145 in the direction of arrow C in Figure 45, performing the actuation operation that opens the jaw 1103.

[0444] In other words, when an actuation operation is performed with the operating unit 200, only the second jaw pulley 1121 rotates, and when a yaw operation is performed with the operating unit 200, the first jaw pulley 1111 and the second jaw pulley 1121 rotate together in the same direction.

[0445] To express this from another perspective, when the operating unit 200 performs a yaw motion, the first jaw wire and the second jaw wire are pulled together, causing the first jaw pulley 1111 and the second jaw pulley 1121 to rotate together, so no rotation of the second jaw 1102 relative to the first jaw 1101 occurs.

[0446] On the other hand, when an actuation operation is performed at the operating unit 200, only the second jaw wire is pulled, and as a result the first jaw pulley 1111 remains fixed while only the second jaw pulley 1121 rotates. This causes the second link 1190 to be pulled while the actuation rotation axis 1145 remains fixed, and the second jaw 1102 rotates around the actuation rotation axis 1145.

[0447] Thus, the end tool 1100 of the first embodiment of the present invention is characterized in that the actuation rotation axis 1145 and the yaw rotation axis 1141 are arranged perpendicular to each other. As a result, the opening and closing direction of the jaws 1103 and the orientation of the blade 1175 are also perpendicular, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0448] (Second modification of the first embodiment - engraving)

[0449] The following describes an end tool 1200 for a surgical instrument according to a second modification of the first embodiment of the present invention. Here, the end tool 1200 for a surgical instrument according to the second modification of the first embodiment of the present invention differs from the end tool for a surgical instrument according to the first embodiment of the present invention (see 100 in Figure 2, etc.) in the configuration of the end tool hub 1260, which acts as an auxiliary pulley. This configuration, which differs from the first embodiment, will be explained in detail later.

[0450] Figures 51 and 52 show the end tool of an electrocautery surgical instrument according to a second modification of the first embodiment of the present invention. Figure 53 is a perspective view showing the end tool hub of the electrocautery surgical instrument end tool of Figure 51, Figures 54 and 55 are incised perspective views of the end tool hub of Figure 53, and Figures 56 and 57 are perspective views of the end tool hub of Figure 53. Here, Figure 52 shows the end tool hub in a detached state.

[0451] Referring to Figures 51 to 57, the end tool 1200 of the second modified embodiment of the present invention includes a pair of jaws for performing a gripping action, namely a first jaw 1201 and a second jaw 1202, where each of the first jaw 1201 and the second jaw 1202, or the component encompassing the first jaw 1201 and the second jaw 1202, may be called a jaw 1203.

[0452] On the other hand, the end tool 1200 includes a plurality of pulleys, including a pulley 1211 associated with the rotational motion of the first jaw 1201. The pulleys associated with the rotational motion of the first jaw 1201 in this embodiment are substantially the same as the pulleys 113, 114, 115, and 116 described in Figure 8 of the first embodiment, so a detailed description thereof is omitted here.

[0453] On the other hand, the end tool 1200 includes a plurality of pulleys, including a pulley 1221 associated with the rotational motion of the second jaw 1202. In this embodiment, the pulleys associated with the rotational motion of the second jaw 1202 are substantially the same as the pulleys 123, 124, 125, and 126 described in Figure 8 of the first embodiment, so a detailed description thereof is omitted here.

[0454] Furthermore, the end tool 1200 of the second modification of the first embodiment of the present invention may include a rotating shaft 1241, a rotating shaft 1243, and a rotating shaft 1244. Here, the rotating shaft 1241 can be inserted through the end tool hub 1260, and the rotating shafts 1243 and 1244 can be inserted through the pitch hub 1250. The rotating shafts 1241, 1243, and 1244 can be arranged sequentially from the distal end 1204 to the proximal end 1205 of the end tool 1200.

[0455] Furthermore, the end tool 1200 of the second modified example of the first embodiment of the present invention may further include a first link 1280 and a second link 1290.

[0456] The pulley 1211 is connected to the first jaw 1201 via the first link 1280, and when the pulley 1211 rotates around the first rotation axis 1241, the first jaw 1201 can also rotate around the first rotation axis 1241 along with it.

[0457] On the other hand, the pulley 1221 is connected to the second jaw 1202 via the second link 1290, and when the pulley 1221 rotates around the first rotation axis 1241, the connected second jaw 1202 can rotate around the first rotation axis 1241 or the actuation rotation axis 1245.

[0458] Furthermore, the end tool 1200 of the second modified embodiment of the present invention may include an end tool hub 1260 and a pitch hub 1250.

[0459] A rotating shaft 1241, described later, is inserted through the end tool hub 1260, and at least a portion of the pulleys 1211 and 1221, which are axially coupled to the rotating shaft 1241, and the first jaws 1201 and second jaws 1202, which are coupled to them, can be housed inside the end tool hub 1260. Herein, one embodiment of the present invention is characterized in that a wire guide portion 1268 that serves as an auxiliary pulley is formed in the end tool hub 1260. That is, a first wire guide portion 1268a and a second wire guide portion 1268b that guide the paths of the wires 305 and 302 may be formed in the end tool hub 1260. The wire guide portion 1268 of the end tool hub 1260 can act as an auxiliary pulley (see 112 and 122 in Figure 9) in the first embodiment, allowing the wire path to be altered. The first wire guide portion 1268a and the second wire guide portion 1268b of the end tool hub 1260, which thus act as an auxiliary pulley, will be described in more detail later.

[0460] On the other hand, a first pitch pulley portion 1263a and a second pitch pulley portion 1263b, which function as end tool pitch pulleys, may be formed at one end of the end tool hub 1260. Wires (see 303 in Figure 6) and wires (see 304 in Figure 6) are connected to the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which function as end tool pitch pulleys, and the end tool hub 1260 performs a pitch motion while rotating around the rotation axis 1243.

[0461] Rotating shafts 1243 and 1244 are inserted through the pitch hub 1250, and the rotating shaft 1243 allows the pitch hub 1250 to be axially coupled with the end tool hub 1260 and the pulley 1231. Therefore, the end tool hub 1260 and the pulley 1231 can be formed to rotate at a pitch relative to the pitch hub 1250 with the rotating shaft 1243 as the center.

[0462] On the other hand, the end tool 1200 of the second modification of the first embodiment of the present invention may further include components such as a first electrode 1251, a second electrode 1252, a guide tube 1271, and a blade (see 175 in Figure 6) for cautery and cutting operations. Here, the components such as the guide tube 1271 and the blade (see 175 in Figure 6) related to driving the blade can be collectively referred to as the blade assembly (see 170 in Figure 6). One modification of the present invention is characterized in that a blade assembly (see 170 in Figure 6) including a blade (see 175 in Figure 6) is placed between a pulley 1211 which is a first jaw pulley and a pulley 1221 which is a second jaw pulley, thereby enabling cutting operations using the blade along with pitch and yaw movements of the end tool 1200. In this embodiment, the components for performing cautery and cutting operations are substantially the same as those described in the first embodiment, so a detailed description thereof is omitted here.

[0463] An electrocautery instrument according to a second modification of the first embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306, and a bladed wire 307, similar to the first embodiment of the present invention shown in Figure 13, etc.

[0464] Furthermore, the electrocautery surgical instrument according to the second modification of the first embodiment may include fastening members 321, 322, 323, 324, 326, and 327 that are connected to each end of each wire to connect the wire and the pulley, similar to the first embodiment of the present invention shown in Figure 13, etc.

[0465] In the following, we will describe in more detail an end tool hub 1260, a second modification of the first embodiment of the present invention, with particular emphasis on the wire guide portion 1268 of the end tool hub 1260, which serves as an auxiliary pulley.

[0466] Referring to Figures 51 to 57, the end tool hub 1260 includes a main body 1261, a first jaw pulley coupling 1262a, a second jaw pulley coupling 1262b, a first pitch pulley 1263a, a second pitch pulley 1263b, a pitch slit 1264, a yaw slit 1265, a pitch round 1266, a yaw round 1267, and a wire guide 1268. The wire guide 1268 may include a first wire guide 1268a and a second wire guide 1268b.

[0467] A first jaw-pulley coupling portion 1262a and a second jaw-pulley coupling portion 1262b may be formed on the distal side of the end tool hub 1260. Here, the first jaw-pulley coupling portion 1262a and the second jaw-pulley coupling portion 1262b are formed to face each other, and pulleys 1211 and 1221 are housed inside them. Here, the first jaw-pulley coupling portion 1262a and the second jaw-pulley coupling portion 1262b may be formed substantially parallel to a plane perpendicular to the first rotation axis 1241, which is the yaw rotation axis.

[0468] The first jaw-pulley coupling portion 1262a and the second jaw-pulley coupling portion 1262b are connected by the main body portion 1261. That is, the first jaw-pulley coupling portion 1262a and the second jaw-pulley coupling portion 1262b, which are parallel to each other, are connected by the main body portion 1261 which is formed in a direction substantially perpendicular to them, so that the first jaw-pulley coupling portion 1262a, the second jaw-pulley coupling portion 1262b and the main body portion 1261 form a roughly "U" shape, and the pulleys 1211 and 1221 are housed inside.

[0469] To explain this from another perspective, it can also be described as the first jaw-pulley coupling portion 1262a and the second jaw-pulley coupling portion 1262b extending in the X-axis direction from the main body portion 1261.

[0470] Here, the first jaw pulley, pulley 1211, is positioned adjacent to the first jaw pulley coupling portion 1262a of the end tool hub 1260, and the second jaw pulley, pulley 1221, is positioned adjacent to the second jaw pulley coupling portion 1262b of the end tool hub 1260, so that a yaw slit 1265 can be formed between the first jaw pulley coupling portion 1262a and the second jaw pulley coupling portion 1262b. At least a part of the blade assembly 1270, which will be described later, can be placed within the yaw slit 1265. In other words, at least a part of the guide tube 1271 of the blade assembly 1270 can be placed between the first jaw pulley coupling portion 1262a and the second jaw pulley coupling portion 1262b. One feature of the present invention is that by positioning the blade assembly 1270, which includes the guide tube 1271, between the first jaw pulley, pulley 1211, and the second jaw pulley, pulley 1221, it becomes possible to perform cutting operations using the blade 1275 along with the pitch and yaw movements of the end tool 1200.

[0471] On the other hand, a through hole is formed in the first jaw-pulley coupling portion 1262a, and the first rotating shaft 1241 passes through the first jaw-pulley coupling portion 1262a and the pulley 1211, axially coupling them. Also, a through hole is formed in the second jaw-pulley coupling portion 1262b, and the first rotating shaft 1241 passes through the second jaw-pulley coupling portion 1262b and the pulley 1221, axially coupling them.

[0472] In this case, as described above, the first rotation axis 1241, which is the yaw rotation axis, can be formed by dividing it into two parts: a first sub-axis 1241a and a second sub-axis 1241b, and a guide tube 1271 can pass between the first sub-axis 1241a and the second sub-axis 1241b of the first rotation axis 1241.

[0473] Furthermore, a yaw slit 1265 can be formed between the first jaw pulley joint 1262a and the second jaw pulley joint 1262b. By forming the yaw slit 1265 inside the end tool hub 1260 in this way, the guide tube 1271 can pass through the inside of the end tool hub 1260.

[0474] To express this from another perspective, the first rotation axis 1241 is separated vertically without passing through the end tool hub 1260, and a yaw slit 1265 can be formed in the vicinity of the first rotation axis 1241 on a plane perpendicular to the first rotation axis 1241. Therefore, the guide tube 1271 can flow (i.e., move left and right) within the yaw slit 1265 while passing in the vicinity of the first rotation axis 1241.

[0475] On the other hand, a yaw round portion 1267 may be further formed on the main body portion 1261. The yaw round portion 1267 can be formed round to have a predetermined curvature. Specifically, when viewed on a plane perpendicular to the first rotation axis 1241, which is the yaw rotation axis, the yaw round portion 1267 may be formed round to have a predetermined curvature. In this way, the yaw round portion 1267 can serve to guide the path of the guide tube 1271 when the end tool 1200 performs yaw rotation.

[0476] A wire guide portion 1268 is formed on one side of the main body portion 1261 to guide the path of the wire passing through the end tool hub 1260. Here, the wire guide portion 1268 includes a first wire guide portion 1268a and a second wire guide portion 1268b. Here, the first wire guide portion 1268a may be formed on the inner surface of the first jaw pulley coupling portion 1262a. And the second wire guide portion 1268b may be formed on the inner surface of the second jaw pulley coupling portion 1262b.

[0477] Here, the wire guide portion 1268 may be formed in a cylindrical shape with a substantially semicircular cross-section. This semicircular portion can be positioned to protrude in the direction of the pulleys 1211 and 1221. Expressed from another perspective, the wire guide portion 1268 can be said to be formed to protrude toward the space formed by the first jaw-pulley coupling portion 1262a, the second jaw-pulley coupling portion 1262b, and the main body portion 1261. Expressed from yet another perspective, the region of the wire guide portion 1268 adjacent to the first jaw-pulley coupling portion 1262a and the second jaw-pulley coupling portion 1262b can be said to be formed with a curved cross-section having a predetermined curvature.

[0478] Alternatively, from another perspective, the wire guide portion 1268 can be said to function as a kind of pulley member, with the wires 305 and 302 wrapped around its outer surface, guiding the paths of the wires 305 and 302. However, the wire guide portion 1268 is not a member that rotates around a predetermined axis like a pulley in the true sense, but is formed to be fixed as part of the end tool hub 1260, although it can be said to perform a function somewhat similar to a pulley by having wires wrapped around it.

[0479] Here, the drawing shows the wire guide portion 1268 as being formed in a cylindrical shape with a substantially semicircular cross-section. That is, at least a portion of the cross-section of the wire guide portion 1268 on the XY plane is shown to form a predetermined arc shape. However, the spirit of the present invention is not limited thereto, and it can be said that the wire guide portion can be formed in various shapes and sizes suitable for guiding the paths of wires 305 and 302, such as being formed with a predetermined curvature, like an ellipse or a parabola, or with the corners of a polygonal prism rounded to a certain extent.

[0480] Here, guide grooves can be further formed in the portion of the wire guide portion 1268 that contacts the wires 305 and 302 to better guide the paths of the wires 305 and 302. The guide grooves can be formed in the shape of grooves that are recessed to some extent from the protruding surface of the wire guide portion 1268.

[0481] Here, the drawing shows that the guide groove is formed on the entire arcuate surface of the wire guide portion 1268, but the spirit of the present invention is not limited to this, and it can be said that the guide groove may be formed on only a part of the arcuate surface of the wire guide portion 1268 as needed.

[0482] By further forming guide grooves in the wire guide portion 1268 in this manner, unnecessary friction with the wire can be reduced, thereby improving the durability of the wire.

[0483] A first pitch pulley portion 1263a and a second pitch pulley portion 1263b, which serve as end tool pitch pulleys, may be formed on the proximal side of the end tool hub 1260. Here, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b may be formed facing each other. Here, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b may be formed substantially parallel to a plane perpendicular to the third rotation axis 1243, which is the pitch rotation axis.

[0484] Specifically, one end of the end tool hub 1260 is formed in a disc shape like a pulley, and a groove is formed on its outer circumference around which a wire is wound, thereby forming a first pitch pulley portion 1263a and a second pitch pulley portion 1263b. The aforementioned wires 303 and 304 are connected to the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which act as end tool pitch pulleys, and the end tool hub 1260 rotates around the third rotation axis 1243 while performing a pitching motion.

[0485] On the other hand, although not shown in the diagram, the pitch pulley can also be formed from a separate component from the end tool hub 1260 and coupled to the end tool hub 1260.

[0486] The first pitch pulley portion 1263a and the second pitch pulley portion 1263b are connected by the main body portion 1261. That is, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which are parallel to each other, are connected by the main body portion 1261 which is formed in a direction substantially perpendicular to them, so that the first pitch pulley portion 1263a, the second pitch pulley portion 1263b, and the main body portion 1261 form a shape that is roughly like the letter "U".

[0487] To explain this from another perspective, it can also be described as the first pitch pulley portion 1263a and the second pitch pulley portion 1263b being formed by extending in the X-axis direction from the main body portion 1261.

[0488] On the other hand, a through hole is formed in the first pitch pulley portion 1263a, allowing the third rotating shaft 1243 to pass through the first pitch pulley portion 1263a. Furthermore, a through hole is formed in the second pitch pulley portion 1263b, allowing the third rotating shaft 1243 to pass through the second pitch pulley portion 1263b.

[0489] In this case, as described above, the third rotation axis 1243, which is the pitch rotation axis, can be formed by dividing it into two parts: a first sub-axis 1243a and a second sub-axis 1243b, and a guide tube 1271 can pass between the first sub-axis 1243a and the second sub-axis 1243b of the third rotation axis 1243.

[0490] A pitch slit 1264 can be formed between the first pitch pulley portion 1263a and the second pitch pulley portion 1263b. By forming the pitch slit 1264 in the end tool hub 1260 in this way, the guide tube 1271 can pass through the inside of the end tool hub 1260.

[0491] To express this from another perspective, the third rotation axis 1243 is separated to the left and right without passing through the end tool hub 1260, and a pitch slit 1264 can be formed in the vicinity of the third rotation axis 1243 on a plane perpendicular to the third rotation axis 1243. Therefore, the guide tube 1271 can flow (i.e., move up and down) within the pitch slit 1264 while passing in the vicinity of the third rotation axis 1243.

[0492] On the other hand, a pitch round portion 1266 can be further formed on the main body portion 1261. The pitch round portion 1266 can be formed round to have a predetermined curvature. Specifically, when viewed on a plane perpendicular to the third rotation axis 1243, which is the pitch rotation axis, the pitch round portion 1266 may be formed round to have a predetermined curvature. In this way, the pitch round portion 1266 can serve to guide the path of the guide tube 1271 when the end tool 1200 performs pitch rotation.

[0493] Here, the pitch slit 1264 and the yaw slit 1265 can be formed to connect with each other. Thus, the guide tube 1271 and the blade wire 307 inside it can be positioned to completely penetrate the inside of the end tool hub 1260. This allows the blade 1275, coupled to one end of the blade wire 307, to perform reciprocating linear motion inside the first jaw 1201 and the second jaw 1202.

[0494] Thus, the present invention is characterized in that, since the blade wire 307 and guide tube 1271 must pass through the end tool hub 1260 and be connected to the blade 1275, and further, space is required within the end tool hub 1260 for the blade wire 307 and guide tube 1271 to be bent, 1) a space is formed within the end tool hub 1260 through which the blade wire 307 / guide tube 1271 passes and bends, namely a pitch slit 1264 and a yaw slit 1265; 2) the rotation axis is formed in two parts; and 3) a pitch round portion 1266 and a yaw round portion 1267 are further formed to guide the bending of the blade wire 307 / guide tube 1271.

[0495] The role and function of the wire guide section 1268 will be explained in more detail below.

[0496] The wire guide section 1268 can increase the rotation radius of the first jaw 1201 and the second jaw 1202 by contacting the wires 305 and 302 and changing their arrangement paths to a certain extent.

[0497] In other words, if auxiliary pulleys are not provided, the first jaw pulley, pulley 1211, and the second jaw pulley, pulley 1221, can only rotate up to a right angle. However, in a second modification of the first embodiment of the present invention, by further providing a wire guide portion 1268 to the end tool hub 1260, the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0498] This allows the two jaws of the end tool 1200 to spread apart for actuation while rotated 90° yaw. In other words, the configuration of the wire guide section 1268 of the end tool hub 1260 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0499] Furthermore, by forming a wire guide section 1268 on the conventional end tool hub 1260 without adding any separate structures such as auxiliary pulleys, it is possible to expand the rotation range without adding any parts or manufacturing processes.

[0500] In this way, by eliminating the need for additional structures to increase 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 during pitching motion is shortened, resulting in the effect of making it easier to perform surgical movements in confined spaces.

[0501] This can be explained in more detail as follows:

[0502] In the end tool 1200 of a surgical instrument according to a second modification of the first embodiment of the present invention, a wire guide portion 1268 that can change the wire path is formed on the inner wall of the end tool hub 1260, thereby changing the wire arrangement path without the need for a separate structure. By forming the wire guide portion 1268 on the end tool hub 1260 in this way and changing the arrangement paths of wires 305 and 302 to a certain extent, the tangential direction of wires 305 and 302 is changed, and therefore the rotation angle of fastening members 323 and 326 that connect each wire to the pulley is widened.

[0503] In other words, the fastening member 326 that connects the wire 302 and the pulley 1221 can rotate until it is positioned on the common internal tangent line between the pulley 1221 and the wire guide portion 1268. Similarly, the fastening member that connects the wire 305 and the pulley 1211 (see 323 in Figure 6) can rotate until it is positioned on the common internal tangent line between the pulley 1211 and the wire guide portion 1268, thereby increasing the rotation angle of the fastening member (see 323 in Figure 6).

[0504] To explain this from a different perspective, the wires 301 and 305, which are wrapped around the pulley 1211 by the wire guide section 1268, are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis. At the same time, the wires 302 and 306, which are wrapped around the pulley 1221 by the wire guide section 1268, are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0505] In other words, pulleys 1213 and 1214 are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis, while pulleys 1223 and 1224 are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0506] In other words, wire 305 is located on the inner tangent line between pulley 1211 and wire guide portion 1268, and the rotation angle of pulley 1211 is increased by the wire guide portion 1268. Also, wire 302 is located on the inner tangent line between pulley 1221 and wire guide portion 1268, and the rotation angle of pulley 1221 is increased by the wire guide portion 1268.

[0507] Compared to the surgical instrument of the first embodiment, which has a separate auxiliary pulley, this modified surgical instrument, which has a wire guide portion 1268 formed on the inner wall of the end tool hub 1260 that allows the wire path to be changed without the formation of an auxiliary pulley, can shorten the length of the end tool. By shortening the length of the end tool in this way, it becomes easier for the surgeon to operate when performing surgery in the narrow surgical space inside the human body, and the side effects of surgery can be reduced.

[0508] With this invention, the rotational radii of the first jaw pulley, pulley 1211, and the second jaw pulley, pulley 1221, are widened, which has the effect of widening the yaw range in which normal opening / closing actuation and cutting operations can be performed.

[0509] (Third modification of the first embodiment - Jaw opening and closing in vertical direction, engraving)

[0510] The following describes an end tool 1300 for a surgical instrument according to a third modification of the first embodiment of the present invention. In this case, the end tool 1300 for a surgical instrument according to the third modification of the first embodiment of the present invention differs in the opening and closing direction of the jaws 1303 compared to the end tool for a surgical instrument according to the first embodiment of the present invention described above (see 100 in Figure 2, etc.). Furthermore, the configuration of the end tool hub 1360, which acts as an auxiliary pulley, differs in the end tool 1300 for a surgical instrument according to the third modification of the first embodiment of the present invention compared to the end tool for a surgical instrument according to the first embodiment of the present invention described above (see 100 in Figure 2, etc.).

[0511] In other words, the end tool 1300 of the surgical instrument according to the third modification of the first embodiment of the present invention can be seen as a combination of the features of the first modification shown in Figure 44, etc., and the features of the second modification shown in Figure 51, etc. This configuration, which differs from the first embodiment, will be explained in detail later.

[0512] Figures 58 and 59 show the end tool of an electrocautery instrument according to a third modification of the first embodiment of the present invention, Figure 60 is a perspective view showing the end tool hub of the electrocautery instrument end tool of Figure 58, and Figure 61 is an incised perspective view of the end tool hub of Figure 60.

[0513] The first link 1380 and the second link 1390 of the third modification of the first embodiment of the present invention will be described in more detail below.

[0514] The end tool 1300 of the third modification of the first embodiment of the present invention is characterized in that the actuation rotation axis 1345 and the yaw rotation axis 1341 are arranged perpendicular to each other. Therefore, the opening and closing direction of the jaws 1303 is vertical. As a result, the arrangement direction of the blades 1375 is also vertical.

[0515] In other words, in the first embodiment of the present invention shown in Figure 3, the actuation rotation axis 145 and the yaw rotation axis 141 are formed parallel to each other, and these two axes may be formed parallel to the Z axis. Therefore, the opening and closing of the jaw 103 is performed on the XY plane perpendicular to the Z axis.

[0516] In contrast, in the end tool 1300 of the third modification of the first embodiment of the present invention, the yaw rotation axis 1341 is formed parallel to the Z axis, while the actuation rotation axis 1345 is formed parallel to the Y axis. That is, the actuation rotation axis 1345 and the yaw rotation axis 1341 are arranged perpendicular to each other. The opening and closing of the jaw 1303 is performed on the XZ plane perpendicular to the Y axis.

[0517] Here, the end tool 1300 of the present invention includes a first jaw 1301, a second jaw 1302, a first link 1380, a second link 1390, a pulley 1311 which is the first jaw pulley, and a pulley 1321 which is the second jaw pulley. The specific configuration of each component is the same as in the first modified example shown in Figure 44, etc., so a detailed explanation is omitted.

[0518] The following describes the yaw and actuation movements of the end tool 1300.

[0519] First, when the first jaw pulley 1311 and the second jaw pulley 1321 rotate together, 1) the first link 1380 and the first jaw 1301 connected to it also rotate together with the first jaw pulley 1311 around the first rotation axis 1341, and 2) the second link 1390 and the second jaw 1302 connected to it also rotate together with the second jaw pulley 1321 around the first rotation axis 1341, performing a yaw motion.

[0520] On the other hand, when only the second jaw pulley 1321 rotates, the second link 1390 connected to the second jaw pulley 1321 moves due to the second jaw pulley 1321. As the second link 1390 moves, it pulls the second jaw 1302 connected to it, and therefore the second jaw 1302 rotates around the actuation rotation axis 1345, performing actuation.

[0521] In other words, when an actuation operation is performed with the operating unit 200, only the second jaw pulley 1321 rotates, and when a yaw operation is performed with the operating unit 200, the first jaw pulley 1311 and the second jaw pulley 1321 rotate together in the same direction.

[0522] To express this from another perspective, when the operating unit 200 performs a yaw motion, the first jaw wire and the second jaw wire are pulled together, causing the first jaw pulley 1311 and the second jaw pulley 1321 to rotate together, so no rotation of the second jaw 1302 relative to the first jaw 1301 occurs.

[0523] On the other hand, when actuation is performed at the operating unit 200, only the second jaw wire is pulled, and as a result the first jaw pulley 1311 remains fixed while only the second jaw pulley 1321 rotates. Consequently, the actuation rotation axis 1345 remains fixed while the second link 1390 is pulled, causing the second jaw 1302 to rotate around the actuation rotation axis 1345.

[0524] Thus, the end tool 1300 of the third modification of the first embodiment of the present invention is characterized in that the actuation rotation axis 1345 and the yaw rotation axis 1341 are arranged perpendicular to each other. As a result, the opening and closing direction of the jaws 1303 and the orientation of the blade 1375 are also perpendicular, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0525] In the following, we will describe in more detail the end tool hub 1360, which is a third modification of the first embodiment of the present invention, with particular emphasis on the first wire guide portion 1368a and the second wire guide portion 1368b of the end tool hub 1360, which serve as auxiliary pulleys.

[0526] Referring to Figures 58 to 61, the end tool hub 1360 includes a main body 1361, a first jaw pulley coupling 1362a, a second jaw pulley coupling 1362b, a first pitch pulley 1363a, a second pitch pulley 1363b, a pitch slit 1364, a yaw slit 1365, a pitch round 1366, a yaw round 1367, and a wire guide 1368. Here, the wire guide 1368 includes a first wire guide 1368a and a second wire guide 1368b. The specific configuration of each component is the same as in the second modified example shown in Figure 51, etc., so a detailed explanation is omitted.

[0527] The role and function of the wire guide section 1368 will be explained in more detail below.

[0528] The wire guide section 1368 can increase the rotation radius of the first jaw 1301 and the second jaw 1302 by contacting the wires 305 and 302 and changing their arrangement paths to a certain extent.

[0529] In other words, if auxiliary pulleys are not provided, the first jaw pulley, pulley 1311, and the second jaw pulley, pulley 1321, can only rotate up to a right angle. However, in the third modification of the first embodiment of the present invention, by further providing the end tool hub 1360 with a wire guide portion 1368, the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0530] This allows the two jaws of the end tool 1300 to spread apart for actuation while rotated 90° yaw. In other words, the configuration of the wire guide section 1368 of the end tool hub 1360 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible. In other words, the configuration of the wire guide section 1368 of the end tool hub 1360 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0531] Furthermore, by forming a wire guide section 1368 on the conventional end tool hub 1360 without adding any separate structures such as auxiliary pulleys, it is possible to expand the range of rotation without adding any parts or manufacturing processes.

[0532] In this way, the need for additional structures to increase the rotation angle is eliminated, 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 during pitching motion is shortened, resulting in the effect of making it easier to perform surgical movements in confined spaces.

[0533] With this invention, the rotational radii of the first jaw pulley, pulley 1311, and the second jaw pulley, pulley 1321, are widened, which has the effect of widening the yaw range in which normal opening / closing actuation and cutting operations can be performed.

[0534] <Second Embodiment of an Instrument for Electrocautery Surgery>

[0535] The following describes the end tool 500 of a surgical instrument according to a second embodiment of the present invention. In this case, the end tool 500 of the surgical instrument according to the second embodiment of the present invention differs in the opening and closing direction of the jaws 503 compared to the end tool of the surgical instrument according to the first embodiment of the present invention (see 100 in Figure 2, etc.). This configuration, which differs from the first embodiment, will be explained in detail later.

[0536] Figure 62 is a perspective view showing an electrocautery instrument according to a second embodiment of the present invention, Figures 63, 64, 65, 66, 67, and 68 are perspective views showing the end tool of the electrocautery instrument of Figure 62, and Figures 69 to 70 are plan views showing the end tool of the electrocautery instrument of Figure 62. Figures 71 and 72 are perspective views showing the end tool hub of the electrocautery instrument of Figure 62, and Figure 73 is an incised perspective view of the end tool hub of Figure 71. Figure 74 is an exploded perspective view showing the jaw-link-jaw pulley of the electrocautery instrument of Figure 62, and Figures 75, 76, 77, and 78 are perspective views showing the second jaw pulley of the electrocautery instrument of Figure 62. Figures 79 and 80 are plan views showing the opening and closing operation of the end tool of the electrocautery instrument shown in Figure 62, Figure 81 is a diagram showing the jaw opening and closing process of the first embodiment of the present invention shown in Figure 2, etc., and Figure 82 is a diagram showing the jaw opening and closing process of the second embodiment of the present invention. Figure 83 is a diagram showing the case where the pin-slot type structure of the second embodiment of the present invention is configured with a general pulley instead of a multi-layer pulley. Figures 84, 85, 86, and 87 are perspective views showing the opening and closing operation of the end tool of the electrocautery instrument shown in Figure 62, and Figures 88, 89, and 90 are perspective views showing the cutting operation of the end tool of the electrocautery instrument shown in Figure 62.

[0537] Referring to Figures 62 to 90, the end tool 500 of the second embodiment of the present invention includes a pair of jaws for performing a gripping action, namely a first jaw 501 and a second jaw 502, where each of the first jaw 501 and the second jaw 502, or the component encompassing the first jaw 501 and the second jaw 502, may be referred to as jaw 503.

[0538] On the other hand, the end tool 500 includes a plurality of pulleys, including a pulley 511 associated with the rotational motion of the first jaw 501. In this embodiment, the pulleys associated with the rotational motion of the first jaw 501 are substantially the same as the pulleys 111, 112, 113, 114, 115, and 116 described in Figure 8 of the first embodiment, so a detailed description thereof is omitted here.

[0539] On the other hand, the end tool 500 includes a plurality of pulleys, including a pulley 521 associated with the rotational motion of the second jaw 502. The pulleys associated with the rotational motion of the second jaw 502 in this embodiment are substantially the same as the pulleys 121, 122, 123, 124, 125, and 126 described in Figure 8 of the first embodiment, so a detailed description thereof is omitted here.

[0540] Furthermore, the end tool 500 of the second embodiment of the present invention may include a rotating shaft 541, a rotating shaft 542, a rotating shaft 543, and a rotating shaft 544. Here, the rotating shafts 541 and 542 can be inserted through the end tool hub 560, and the rotating shafts 543 and 544 can be inserted through the pitch hub 550. The rotating shafts 541, 542, 543, and 544 can be arranged sequentially from the distal end 504 to the proximal end 505 of the end tool 500.

[0541] On the other hand, the end tool 500 may further be equipped with an actuation rotation axis 545. More specifically, the actuation rotation axis 545 may be provided at the joint between the first jaw 501 and the second jaw 502, and the actuation operation may be performed while the second jaw 502 rotates around the actuation rotation axis 545 with the first jaw 501 fixed. Here, the actuation rotation axis 545 can be positioned distal to the first rotation axis 541, on the 504 side.

[0542] Here, each rotation axis may include two axes: a first sub-axis and a second sub-axis. Alternatively, it may be said that each rotation axis is formed by being divided into two parts. Since the rotation axis in this embodiment has substantially the same configuration as the rotation axis in the first embodiment, a detailed explanation is omitted here.

[0543] Furthermore, the end tool 500 of the second embodiment of the present invention may include an end tool hub 560 and a pitch hub 550.

[0544] Rotating shafts 541 and 542 are inserted through the end tool hub 560, and at least portions of pulleys 511 and 521, which are axially coupled to the rotating shaft 541, and the first jaws 501 and second jaws 502 coupled to them, may be housed inside the end tool hub 560.

[0545] On the other hand, a first pitch pulley portion 563a and a second pitch pulley portion 563b, which function as end tool pitch pulleys, may be formed at one end of the end tool hub 560. Wires 303 and 304 are connected to the first pitch pulley portion 563a and the second pitch pulley portion 563b, which function as end tool pitch pulleys, and the end tool hub 560 performs a pitching motion while rotating around the rotation axis 543.

[0546] Rotating shafts 543 and 544 are inserted through the pitch hub 550, and the rotating shaft 543 allows the pitch hub 550 to be axially coupled with the end tool hub 560. Therefore, the end tool hub 560 can be formed to rotate at a pitch relative to the pitch hub 550 with respect to the rotating shaft 543.

[0547] In this embodiment, the end tool hub 560 and the pitch hub 550 are substantially the same as the components described in the first embodiment, so a detailed description thereof is omitted here.

[0548] On the other hand, the end tool 500 of the second embodiment of the present invention may further include components such as a first electrode 551, a second electrode 552, a guide tube 571, and a blade 575 for cautery and cutting operations. Here, the components such as the guide tube 571 and the blade 575 related to the driving of the blade can be collectively referred to as the blade assembly 570. One modification of the present invention is characterized in that the blade assembly 570 including the blade 575 is positioned between a pulley 511 which is a first jaw pulley and a pulley 521 which is a second jaw pulley, thereby enabling the end tool 500 to perform cutting operations using the blade along with pitch and yaw movements. In this embodiment, the components for performing cautery and cutting operations are substantially the same as those described in the first embodiment, so a detailed description thereof is omitted here.

[0549] The electrocautery instrument according to the second embodiment of the present invention may include wires 301, 302, 303, 304, 305, 306, and a bladed wire 307, similar to the first embodiment of the present invention shown in Figure 13, etc.

[0550] (Jaw-link-pulley connection structure)

[0551] The following describes in more detail the jaw-link-pulley connection structure of the second embodiment of the present invention.

[0552] Referring to Figures 64 to 70, the end tool 500 of the second embodiment of the present invention includes a first jaw 501, a second jaw 502, a first link 580, a second link 590, a pulley 511 which is the first jaw pulley, and a pulley 521 which is the second jaw pulley. Hereinafter, pulley 511 will be referred to as the first jaw pulley 511, and pulley 521 will be referred to as the second jaw pulley 521.

[0553] Specifically, the second jaw pulley 521 can be formed as a kind of multi-layer pulley. In other words, the second jaw pulley 521 can be formed as two pulleys joined together, with two grooves formed on its outer surface.

[0554] Here, a first joint 521a can be formed on one surface of the second jaw pulley 521, and a second joint 521b can be formed on the other surface of the second jaw pulley 521. In this case, the positions of the first joint 521a and the second joint 521b are such that the wires 302 and 306 overlap. In other words, the second jaw pulley 521 can be formed so that at least a portion of the wires 302 and 306 wrapped around it overlap.

[0555] To express this from another perspective, the first coupling portion 521a and the second coupling portion 521b can be arranged asymmetrically when viewed from the XY plane, and can be positioned so as to be biased towards one of the regions of the second jaw pulley 521.

[0556] To express this from another perspective, the first joint 521a can be formed in a position where the wire 302 is wrapped around the outer surface of the second jaw pulley 521 by an angle between 90° and 360°. Similarly, the second joint 521b can be formed in a position where the wire 306 is wrapped around the outer surface of the second jaw pulley 521 by an angle between 90° and 360°.

[0557] A fastening member 332 is connected to one end of the wire 302, and this fastening member 332 can be connected to the first joint portion 521a of the second jaw pulley 521. A fastening member 333 is connected to one end of the wire 306, and this fastening member 333 can be connected to the second joint portion 521b of the second jaw pulley 521.

[0558] This can be explained from a different perspective as follows:

[0559] When wire 306 is referred to as the second jaw wire R and wire 302 as the second jaw wire L, the first coupling portion 521a to which the second jaw wire R306 is connected is formed on the opposite side from the side to which the second jaw wire R306 is input, thereby increasing the length to which the second jaw wire R306 is wrapped around the second jaw pulley 521 and increasing the rotation angle of the second jaw pulley 521.

[0560] Furthermore, the second coupling portion 521b to which the second jaw wire L302 is connected is formed on one side opposite to the other side to which the second jaw wire L302 is input, thereby increasing the length to which the second jaw wire L302 is wrapped around the second jaw pulley 521, and thus increasing the rotation angle of the second jaw pulley 521.

[0561] These first and second connecting parts 521a and 521b allow for an increase in the rotational radius of the second jaw pulley 521. By thus increasing the length over which wire 302 / wire 306 is wrapped around the second jaw pulley 521, a longer stroke of the second link 590 can be ensured. This will be explained in more detail later.

[0562] The first jaw pulley 511 and the first link 580 may be formed integrally.

[0563] In detail, a first jaw pulley 511 is formed at one end of the first link 580. A slot 580a may be formed along the longitudinal direction at the other end of the first link 580. The guide pin 590b of the second link 590, which will be described later, can be fitted into this slot 580a. Furthermore, a through hole 580b into which the actuation rotating shaft 545 is inserted and a coupling hole 580c into which the first jaw 501 is connected may be formed on one side of the slot 580a.

[0564] Although not shown in the diagram, the first jaw pulley 511 and the first link 580 are formed from separate components, and the first jaw pulley 511 and the first link 580 can also be fixedly connected.

[0565] Then, the first sub-shaft 541a of the first rotating shaft 541 can be sequentially inserted through the first jaw pulley 511.

[0566] Since the first jaw pulley 511 and the first link 580 are integrally formed or fixedly connected in this manner, the first link 580 does not rotate relative to the first jaw pulley 511. When the first jaw pulley 511 rotates around the first rotation axis 541, the first link 580 also rotates together with the first jaw pulley 511 around the first rotation axis 541.

[0567] On the other hand, the first link 580 and the first jaw 501 are fixedly connected by a fixing member (such as a pin).

[0568] In other words, the first jaw 501 and the first jaw pulley 511 are connected by the first link 580 and are fixed relative to each other, so that one member cannot rotate / move relative to the other.

[0569] As a result, when the first jaw pulley 511 rotates around the first sub-axis 541a of the first rotation axis 541, the first link 580 and the first jaw 501 connected to it also rotate together with the first jaw pulley 511 around the first sub-axis 541a of the first rotation axis 541.

[0570] On the other hand, a slot 502a may be formed in the second jaw 502 along its longitudinal direction. The guide pin 590b of the second link 590, which will be described later, can be fitted into this slot 502a.

[0571] On the other hand, a through hole 590a can be formed at one end of the second link 590. A guide pin 590b may be formed protruding from the other end of the second link 590.

[0572] The second jaw pulley 521 and the second link 590 are axially coupled at a single point, and the second link 590 is rotatably coupled to the second jaw pulley 521. In detail, the second jaw pulley 521 has a projection 521c formed thereon, which can be fitted into a through hole 590a of the second link 590. Therefore, when the second jaw pulley 521 rotates, the second link 590 moves while rotating around the projection 521c.

[0573] On the other hand, the guide pin 590b formed at the other end of the second link 590 can be fitted into the slot 580a of the first link 580 and the slot 502a of the second jaw 502.

[0574] Here, the second jaw 502 and the first link 580 are axially coupled, and the second jaw 502 and the second link 590 are pin-slot coupled. When the second jaw pulley 521 rotates, the second link 590 connected to it allows the second jaw 502 to rotate around the rotation axis 545, which is the actuation rotation axis.

[0575] In detail, a through hole 580b is formed in the first link 580, and a through hole 502b is also formed in the second jaw 502. The actuation rotating shaft 545 is sequentially inserted through the second jaw 502 and the first link 580, thereby axially connecting the first link 580 and the second jaw 502. Here, as with other rotating shafts, the actuation rotating shaft 545 can also be formed in two parts.

[0576] As a result, when the first jaw pulley 511 remains fixed and only the second jaw pulley 521 rotates around the first rotation axis 541, the second link 590, which is axially coupled to the second jaw pulley 521, moves. At this time, the guide pin 590b of the second link 590 moves linearly along the slot 580a of the first link 580, and the guide pin 590b of the second link 590 pushes the slot 502a of the second jaw 502, causing the second jaw 502 to rotate around the actuation rotation axis 545.

[0577] The following describes the yaw and actuation movements of the End Tool 500.

[0578] First, when the first jaw pulley 511 and the second jaw pulley 521 rotate together, 1) the first link 580 and the first jaw 501 connected to it also rotate together with the first jaw pulley 511 around the first rotation axis 541, and 2) the second link 590 and the second jaw 502 connected to it also rotate together with the second jaw pulley 521 around the first rotation axis 541, performing a yaw motion.

[0579] On the other hand, with jaw 503 closed as shown in Figure 80, if only the second jaw pulley 521 rotates in the direction of arrow A in Figure 79, the second link 590 connected to the second jaw pulley 521 moves in the direction of arrow B in Figure 79 due to the second jaw pulley 521. As the second link 590 moves in the direction of arrow B in Figure 79, it pulls the second jaw 502 connected to the second link 590 in the direction of arrow C in Figure 79. Consequently, the second jaw 502 rotates around the actuation rotation axis 545 in the direction of arrow C in Figure 79, performing an actuation operation that opens jaw 503.

[0580] In other words, when an actuation operation is performed with the operating unit 200, only the second jaw pulley 521 rotates, and when a yaw operation is performed with the operating unit 200, the first jaw pulley 511 and the second jaw pulley 521 rotate together in the same direction.

[0581] To express this from another perspective, when the operating unit 200 performs a yaw motion, the first jaw wire and the second jaw wire are pulled together, causing the first jaw pulley 511 and the second jaw pulley 521 to rotate together, so that the second jaw 502 does not rotate relative to the first jaw 501.

[0582] On the other hand, when actuation is performed at the operating unit 200, only the second jaw wire is pulled, and as a result the first jaw pulley 511 remains fixed while only the second jaw pulley 521 rotates. This causes the second link 590 to be pulled while the actuation rotation axis 545 remains fixed, and the second jaw 502 rotates around the actuation rotation axis 545.

[0583] Herein, the end tool 500 of the second embodiment of the present invention is characterized by employing a pin-slot type structure in order to ensure grip force during actuation.

[0584] In detail, in a pin-slot structure, the second link 590 must travel a longer distance to rotate the second jaw 502 as well. (That is, a longer stroke is required for the second link 590.) And for the second link 590 to travel a longer distance, the second jaw pulley 521 must rotate more. To put this in other words, if the second jaw pulley 521 rotates more to rotate the second jaw 502 as well, then more force is applied to the second jaw 502 by the amount of rotation of the second jaw pulley 521, thus amplifying the grip force during actuation.

[0585] Furthermore, in order to rotate the second jaw pulley 521 more, the second jaw pulley 521 is formed in a multi-layer structure as described above, and the length to which wires 302 and 306 are wrapped around the second jaw pulley 521 is increased, thereby ensuring a longer stroke of the second link 590.

[0586] With this configuration, the rotation angle of the second jaw pulley 521 during jaw opening and closing is larger in the second embodiment of the present invention compared to the first embodiment.

[0587] Figure 81 is a diagram showing the jaw opening and closing process of the first embodiment of the present invention shown in Figure 2, etc., and Figure 82 is a diagram showing the jaw opening and closing process of the second embodiment of the present invention.

[0588] Referring to Figures 81 and 82, in order to rotate the second jaw 502 by the same angle θ1, the second jaw pulley 121 in the first embodiment only needs to rotate by an angle θ2, but the second jaw pulley 521 in the second embodiment must rotate by an angle θ3. Therefore, the second jaw pulley 521 in the second embodiment must rotate more than in the first embodiment. In other words, it can be said that the operating angle of the second jaw pulley 521 in the second embodiment is greater than the operating angle of the second jaw pulley 121 in the first embodiment.

[0589] Thus, since the second jaw pulley 521 rotates more in the second embodiment compared to the first embodiment, the travel distance of the second link 590 becomes longer. Therefore, because the second jaw pulley 521 rotates more in order to rotate the second jaw 502 at the same angle (θ1), a greater force is applied to the second jaw 502.

[0590] On the other hand, Figure 83 shows the case where the pin-slot type structure of the second embodiment of the present invention is configured with a general pulley instead of a multi-layer pulley.

[0591] When the pin-slot type structure of the second embodiment of the present invention is configured with a general pulley instead of a multi-layer pulley, the jaw 503 can be opened and closed in the neutral state (i.e., the end tool is parallel to the connecting portion) as shown in Figures 83a and 83b. However, when yaw motion is performed with the jaw 503 open as shown in Figure 83c, the range of motion (angle) may be limited. In other words, in the state shown in Figure 83c, the jaw pulley hits the auxiliary pulley and cannot rotate further, thus limiting the rotation angle.

[0592] In contrast, when a pin-slot type structure is applied to a multi-layer pulley as in the second embodiment of the present invention, as shown in Figure 91, the jaws can be opened and closed normally, i.e., actuation can be performed even when they are yaw-rotated by +90° to -90°.

[0593] (End tool pitch, yaw, cutting motion)

[0594] Figures 91 and 92 show the process of opening and closing the end tool of the electrocautery instrument shown in Figure 62 while it is rotated by -90° yaw. Figures 93 and 94 show the process of opening and closing the end tool of the electrocautery instrument shown in Figure 62 while it is rotated by +90° yaw.

[0595] As shown in Figures 91 to 94, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is formed so that it can perform normal opening and closing operations, i.e., actuation operations, even when the jaws are rotated by +90° to -90° yaw.

[0596] Figures 95 and 96 illustrate the process of performing a cutting operation with the end tool of the electrocautery surgical instrument shown in Figure 62 rotated by +90° yaw.

[0597] As shown in Figures 95 and 96, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is formed so that it can perform a normal cutting operation even when the jaw is rotated by +90° yaw.

[0598] Figure 97 shows the end tool of the electrocautery instrument shown in Figure 62 rotated by -90° pitch, and Figure 98 shows the end tool of the electrocautery instrument shown in Figure 62 rotated by +90° pitch. Figure 99 is an incision perspective view of the end tool of the electrocautery instrument shown in Figure 98. Figures 100, 101, and 102 show the process of performing a cutting operation with the end tool of the electrocautery instrument shown in Figure 62 rotated by -90° pitch.

[0599] As shown in Figures 97 to 102, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is formed so that it can perform a normal cutting operation even when the jaw is rotated by -90°.

[0600] On the other hand, Figure 103 shows the jaw rotating by -90° pitch and simultaneously by +90° yaw, and Figures 104, 105, and 106 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 62, illustrating how the cutting operation is performed with the jaw rotating by -90° pitch and simultaneously by +90° yaw.

[0601] As shown in Figures 103 to 106, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is formed so that it can perform a normal cutting operation even when the jaws are rotated by -90° pitch and simultaneously by +90° yaw.

[0602] (First modified example of the second embodiment - Jaw opening and closing in the vertical direction)

[0603] The following describes an end tool 2100 for a surgical instrument according to a first modification of the second embodiment of the present invention. In this case, the end tool 2100 for a surgical instrument according to the first modification of the second embodiment of the present invention differs in the opening and closing direction of the jaws 2103 compared to the end tool for a surgical instrument according to the second embodiment of the present invention described above (see 500 in Figure 62, etc.).

[0604] In other words, the end tool 2100 of the surgical instrument according to the first modification of the second embodiment of the present invention can be seen as a combination of the features of the first modification of the first embodiment of the present invention shown in Figure 44, etc., with the features of the second embodiment of the present invention shown in Figure 62, etc.

[0605] Figures 107, 108, 109, and 110 show the end tool of an electrocautery instrument according to a first modification of the second embodiment of the present invention; Figures 111, 112, and 113 show the process of the end tool of the electrocautery instrument of Figure 107 performing a cutting operation; and Figure 114 shows the end tool of the electrocautery instrument of Figure 107.

[0606] The first link 2180 and the second link 2190 of the first modified example of the second embodiment of the present invention will be described in more detail below.

[0607] The end tool 2100 of the first modification of the second embodiment of the present invention is characterized in that the actuation rotation axis 2145 and the yaw rotation axis 2141 are arranged perpendicular to each other. Therefore, the opening and closing direction of the jaws 2103 is vertical. And as a result, the arrangement direction of the blades 2175 is also vertical.

[0608] In other words, in the second embodiment of the present invention shown in Figure 62, the actuation rotation axis 545 and the yaw rotation axis 541 are formed parallel to each other, and these two axes may be formed parallel to the Z axis. Therefore, the opening and closing of the jaw 503 is performed on the XY plane perpendicular to the Z axis.

[0609] In contrast, in the end tool 2100 of the first modification of the second embodiment of the present invention, the yaw rotation axis 2141 is formed parallel to the Z axis, while the actuation rotation axis 2145 is formed parallel to the Y axis. That is, the actuation rotation axis 2145 and the yaw rotation axis 2141 are arranged perpendicular to each other. The opening and closing of the jaws 2103 is performed on the XZ plane perpendicular to the Y axis.

[0610] Here, the end tool 2100 of the present invention includes a first jaw 2101, a second jaw 2102, a first link 2180, a second link 2190, a pulley 2111 which is the first jaw pulley, and a pulley 2121 which is the second jaw pulley. The specific configuration of each component is the same as the first modified example of the first embodiment of the present invention shown in Figure 44, etc., so a detailed explanation thereof is omitted.

[0611] The following describes the yaw and actuation movements of the end tool 2100.

[0612] First, when the first jaw pulley 2111 and the second jaw pulley 2121 rotate together, 1) the first link 2180 and the first jaw 2101 connected to it also rotate together with the first jaw pulley 2111 around the first rotation axis 2141, and 2) the second link 2190 and the second jaw 2102 connected to it also rotate together with the second jaw pulley 2121 around the first rotation axis 2141, performing a yaw motion.

[0613] On the other hand, when only the second jaw pulley 2121 rotates, the second link 2190 connected to the second jaw pulley 2121 moves due to the second jaw pulley 2121. As the second link 2190 moves, it pulls the second jaw 2102 connected to the second link 2190, and therefore the second jaw 2102 rotates around the actuation rotation axis 2145, performing actuation.

[0614] In other words, when an actuation operation is performed with the operating unit 200, only the second jaw pulley 2121 rotates, and when a yaw operation is performed with the operating unit 200, the first jaw pulley 2111 and the second jaw pulley 2121 rotate together in the same direction.

[0615] To put this in another way, when the operating unit 200 performs a yaw motion, the first jaw wire and the second jaw wire are pulled together, causing the first jaw pulley 2111 and the second jaw pulley 2121 to rotate together, so no rotation of the second jaw 2102 relative to the first jaw 2101 occurs.

[0616] On the other hand, when actuation is performed at the operating unit 200, only the second jaw wire is pulled, and as a result the first jaw pulley 2111 remains fixed while only the second jaw pulley 2121 rotates. This causes the second link 2190 to be pulled while the actuation rotation axis 2145 remains fixed, and the second jaw 2102 rotates around the actuation rotation axis 2145.

[0617] Thus, the end tool 2100 of the first modification of the second embodiment of the present invention is characterized in that the actuation rotation axis 2145 and the yaw rotation axis 2141 are arranged perpendicular to each other. As a result, the opening and closing direction of the jaws 2103 and the positioning direction of the blade 2175 are also perpendicular, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0618] (Second modification of the second embodiment - engraving)

[0619] The following describes an end tool 2200 for a surgical instrument according to a second modification of the second embodiment of the present invention. Herein, the end tool 2200 for a surgical instrument according to the second modification of the second embodiment of the present invention differs in the configuration of the end tool hub 2260, which acts as an auxiliary pulley, compared to the end tool for a surgical instrument according to the second embodiment of the present invention described above (see 500 in Figure 62, etc.).

[0620] In other words, the end tool 2200 of the surgical instrument according to the second modification of the second embodiment of the present invention can be seen as a combination of the features of the second modification of the first embodiment of the present invention shown in Figure 51, etc., with the features of the second embodiment of the present invention shown in Figure 62, etc.

[0621] Figures 115 and 116 show the end tool of an electrocautery instrument according to a second modification of the second embodiment of the present invention; Figure 117 is a perspective view showing the end tool hub of the electrocautery instrument end tool of Figure 115; Figures 118 and 119 are incision perspective views of the end tool hub of Figure 117; and Figures 120 and 121 are perspective views of the end tool hub of Figure 117.

[0622] In the following, a second modified example of the end tool hub 2260 of the second embodiment of the present invention will be described in more detail, with particular emphasis on the first wire guide portion 2268a and the second wire guide portion 2268b of the end tool hub 2260, which serve as auxiliary pulleys.

[0623] Referring to Figures 115 to 120, the end tool hub 2260 includes a main body 2261, a first jaw pulley coupling portion 2262a, a second jaw pulley coupling portion 2262b, a first pitch pulley portion 2263a, a second pitch pulley portion 2263b, a pitch slit 2264, a yaw slit 2265, a pitch round portion 2266, a yaw round portion 2267, and a wire guide portion 2268. Here, the wire guide portion 2268 includes a first wire guide portion 2268a and a second wire guide portion 2268b. The specific configuration of each component is the same as that of the second modified example of the first embodiment of the present invention shown in Figure 51, etc., so a detailed explanation is omitted.

[0624] The role and function of the wire guide section 2268 will be explained in more detail below.

[0625] The wire guide section 2268 can increase the rotation radius of the first jaw 2201 and the second jaw 2202 by contacting the wires 305 and 302 and changing their arrangement paths to a certain extent.

[0626] In other words, if auxiliary pulleys are not provided, the first jaw pulley, pulley 2211, and the second jaw pulley, pulley 2221, can only rotate up to a right angle. However, in a second modification of the second embodiment of the present invention, by further providing a wire guide portion 2268 to the end tool hub 2260, the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0627] This allows the two jaws of the end tool 2200 to spread apart for actuation while rotated 90° yaw. In other words, the configuration of the wire guide section 2268 of the end tool hub 2260 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0628] Furthermore, by forming a wire guide section 2268 on the conventional end tool hub 2260 without adding any separate structures such as auxiliary pulleys, it is possible to expand the range of rotation without adding any parts or manufacturing processes.

[0629] In this way, the need for additional structures to increase the rotation angle is eliminated, 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 during pitching motion is also shortened, resulting in the effect of making it easier to perform surgical movements in confined spaces.

[0630] With this invention, the rotational radii of the first jaw pulley, pulley 2211, and the second jaw pulley, pulley 2221, are widened, which has the effect of widening the yaw range in which normal opening / closing actuation and cutting operations can be performed.

[0631] (Third modification of the second embodiment - Jaw opening and closing in the vertical direction, engraving)

[0632] The following describes an end tool 2300 for a surgical instrument according to a third modification of the second embodiment of the present invention. In this case, the end tool 2300 for a surgical instrument according to the third modification of the second embodiment of the present invention differs in the opening and closing direction of the jaws 2303 compared to the end tool for a surgical instrument according to the second embodiment of the present invention described above (see 500 in Figure 62, etc.). Furthermore, the end tool 2300 for a surgical instrument according to the third modification of the second embodiment of the present invention differs in the configuration of the end tool hub 2360, which acts as an auxiliary pulley, compared to the end tool for a surgical instrument according to the second embodiment of the present invention described above (see 500 in Figure 62, etc.).

[0633] In other words, the end tool 2300 of the surgical instrument according to the third modification of the second embodiment of the present invention can be seen as a combination of the features of the first modification of the second embodiment shown in Figure 107, etc., and the features of the second modification of the second embodiment shown in Figure 115, etc. The configuration, which differs from the second embodiment, will be explained in detail later.

[0634] Figures 122 and 123 show the end tool of an electrocautery instrument according to a third modification of the second embodiment of the present invention, and Figure 124 is a perspective view showing the end tool hub of the electrocautery instrument end tool of Figure 122.

[0635] The first link 2380 and the second link 2390 of the third modified example of the second embodiment of the present invention will be described in more detail below.

[0636] The end tool 2300 of the third modification of the second embodiment of the present invention is characterized in that the actuation rotation axis 2345 and the yaw rotation axis 2341 are arranged perpendicular to each other. Therefore, the opening and closing direction of the jaws 2303 is vertical. And as a result, the arrangement direction of the blades 2375 is also vertical.

[0637] In other words, in the second embodiment of the present invention shown in Figure 62, the actuation rotation axis 545 and the yaw rotation axis 541 are formed parallel to each other, and these two axes may also be formed parallel to the Z axis. Therefore, the opening and closing of the jaw 503 is performed on the XY plane perpendicular to the Z axis.

[0638] In contrast, in the end tool 2300 of the third modified example of the second embodiment of the present invention, the yaw rotation axis 2341 is formed parallel to the Z axis, while the actuation rotation axis 2345 is formed parallel to the Y axis. That is, the actuation rotation axis 2345 and the yaw rotation axis 2341 are arranged perpendicularly. The opening and closing of the jaws 2303 is performed on the XZ plane perpendicular to the Y axis.

[0639] Here, the end tool 2300 of the present invention includes a first jaw 2301, a second jaw 2302, a first link 2380, a second link 2390, a pulley 2311 which is the first jaw pulley, and a pulley 2321 which is the second jaw pulley. The specific configuration of each component is the same as the first modified example of the second embodiment shown in Figure 107, etc., so a detailed explanation thereof is omitted.

[0640] The following describes the yaw and actuation movements of the end tool 2300.

[0641] First, when the first jaw pulley 2311 and the second jaw pulley 2321 rotate together, 1) the first link 2380 and the first jaw 2301 connected to it also rotate together with the first jaw pulley 2311 around the first rotation axis 2341, and 2) the second link 2390 and the second jaw 2302 connected to it also rotate together with the second jaw pulley 2321 around the first rotation axis 2341, performing a yaw motion.

[0642] On the other hand, when only the second jaw pulley 2321 rotates, the second link 2390 connected to the second jaw pulley 2321 moves due to the second jaw pulley 2321. As the second link 2390 moves, it pulls the second jaw 2302 connected to the second link 2390, and therefore the second jaw 2302 rotates around the actuation rotation axis 2345, performing actuation.

[0643] In other words, when an actuation operation is performed with the operating unit 200, only the second jaw pulley 2321 rotates, and when a yaw operation is performed with the operating unit 200, the first jaw pulley 2311 and the second jaw pulley 2321 rotate together in the same direction.

[0644] To express this from another perspective, when the operating unit 200 performs a yaw motion, the first jaw wire and the second jaw wire are pulled together, causing the first jaw pulley 2311 and the second jaw pulley 2321 to rotate together, so no rotation of the second jaw 2302 relative to the first jaw 2301 occurs.

[0645] On the other hand, when actuation is performed at the operating unit 200, only the second jaw wire is pulled, and as a result the first jaw pulley 2311 remains fixed while only the second jaw pulley 2321 rotates. This causes the second link 2390 to be pulled while the actuation rotation axis 2345 remains fixed, and the second jaw 2302 rotates around the actuation rotation axis 2345.

[0646] Thus, the end tool 2300 of the third modification of the second embodiment of the present invention is characterized in that the actuation rotation axis 2345 and the yaw rotation axis 2341 are arranged perpendicular to each other. As a result, the opening and closing direction of the jaws 2303 and the orientation of the blade 2375 are also perpendicular, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0647] In the following, we will describe in more detail an end tool hub 2360, a third modified example of the second embodiment of the present invention, with particular emphasis on the first wire guide portion 2368a and the second wire guide portion 2368b of the end tool hub 2360, which serve as auxiliary pulleys.

[0648] Referring to Figures 122 to 124, the end tool hub 2360 includes a main body 2361, a first jaw pulley coupling portion 2362a, a second jaw pulley coupling portion 2362b, a first pitch pulley portion 2363a, a second pitch pulley portion 2363b, a pitch slit 2364, a yaw slit 2365, a pitch round portion 2366, a yaw round portion 2367, and a wire guide portion 2368. Here, the wire guide portion 2368 includes a first wire guide portion 2368a and a second wire guide portion 2368b. The specific configuration of each component is the same as the second modified example of the second embodiment shown in Figure 115, etc., so a detailed explanation is omitted.

[0649] The role and function of the wire guide section 2368 will be explained in more detail below.

[0650] The wire guide section 2368 can increase the rotation radius of the first jaw 2301 and the second jaw 2302 by contacting the wires 305 and 302 and changing their arrangement paths to a certain extent.

[0651] In other words, if auxiliary pulleys are not provided, the first jaw pulley, pulley 2311, and the second jaw pulley, pulley 2321, can only rotate up to a right angle. However, in the third modification of the second embodiment of the present invention, by further providing the end tool hub 2360 with a wire guide portion 2368, the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0652] This allows the two jaws of the end tool 2300 to spread apart for actuation while rotated 90° yaw. In other words, the configuration of the wire guide section 2368 of the end tool hub 2360 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0653] Furthermore, by forming a wire guide section 2368 on the conventional end tool hub 2360 without adding any separate structures such as auxiliary pulleys, it is possible to expand the range of rotation without adding any parts or manufacturing processes.

[0654] In this way, the need for additional structures to increase the rotation angle is eliminated, 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 during pitching motion is also shortened, resulting in the effect of making it easier to perform surgical movements in confined spaces.

[0655] With this invention, the rotational radii of the first jaw pulley, pulley 2311, and the second jaw pulley, pulley 2321, are widened, which has the effect of widening the yaw range in which normal opening / closing actuation and cutting operations can be performed.

[0656] Thus, the present invention has been described with reference to one embodiment shown in the drawings, which is merely illustrative, and a person with ordinary skill in the art will understand that various modifications and variations of the embodiment are possible therefrom. Therefore, the true scope of technical protection of the present invention should be determined by the technical idea of ​​the appended claims. [Explanation of Symbols]

[0657] 10 Surgical Instruments 100 end tools 200 Operation section 300 Power transmission section 400 Connecting Section

Claims

1. In endo-tools of surgical instruments, A first jaw and a second jaw that can rotate independently of each other, A first jaw pulley is connected to the first jaw and is formed to allow the end tool to perform a yaw motion by rotating around a first rotation axis, A second jaw pulley is connected to the second jaw and is formed to allow the yaw motion and actuation motion of the end tool by rotating about an axis substantially identical to or parallel to the first rotation axis, An end tool hub is provided, in which the first rotating shaft is inserted through one end, and a third rotating shaft, different from the first rotating shaft, is inserted through the other end, and at least a portion of the first jaw pulley and the second jaw pulley are housed inside. A blade, at least a portion of which is housed inside the first jaw or the second jaw, and which is formed to be movable between the proximal and distal portions of the first jaw or the second jaw, A guide tube is formed that penetrates the end tool hub and extends toward the blade side, An end tool for a surgical instrument, comprising a blade wire, one end of which is connected to the blade and which transmits the driving force necessary for the movement of the blade to the blade, and at least a portion of which is disposed within the guide tube.

2. The aforementioned end tool hub is The main body and A first jaw-pulley coupling portion and a second jaw-pulley coupling portion are formed extending in one direction from the main body portion and facing each other, An end tool for a surgical instrument according to claim 1, comprising a first pitch pulley portion and a second pitch pulley portion formed extending from the main body portion in a direction opposite to the aforementioned one direction and formed to face each other.

3. The first jaw pulley is positioned adjacent to the first jaw pulley coupling portion of the end tool hub, The second jaw pulley is positioned adjacent to the second jaw pulley coupling portion of the end tool hub, The end tool of a surgical instrument according to claim 2, characterized in that at least a portion of the guide tube is positioned between the first jaw pulley and the second jaw pulley.

4. The end tool of a surgical instrument according to claim 2, characterized in that a yaw slit is formed between the first jaw pulley joint and the second jaw pulley joint, through which the guide tube can pass.

5. The end tool of a surgical instrument according to claim 4, characterized in that a yaw round portion having a predetermined curvature is formed on one side of the yaw slit, and guides the yaw bending path of the guide tube.

6. The first rotating shaft includes a first sub-shaft formed on the first jaw-pulley coupling side and a second sub-shaft formed on the second jaw-pulley coupling side. The end tool of a surgical instrument according to claim 4, characterized in that the yaw slit is formed between the first sub-axis and the second sub-axis of the first rotation axis.

7. The end tool for a surgical instrument according to claim 2, characterized in that a pitch slit is formed between the first pitch pulley portion and the second pitch pulley portion, through which the guide tube can pass.

8. The end tool of a surgical instrument according to claim 7, characterized in that a pitch round portion having a predetermined curvature is formed on one side of the pitch slit, and guides the pitch direction bending path of the guide tube.

9. The third rotating shaft includes a first sub-shaft formed on the first pitch pulley side and a second sub-shaft formed on the second pitch pulley side. The end tool of a surgical instrument according to claim 7, characterized in that the pitch slit is formed between the first sub-axis and the second sub-axis of the third rotation axis.

10. A yaw slit is formed between the first jaw pulley joint and the second jaw pulley joint, through which the guide tube can pass. A pitch slit is formed between the first pitch pulley portion and the second pitch pulley portion, through which the guide tube can pass. The end tool of a surgical instrument according to claim 2, characterized in that the yaw slit and the pitch slit are formed to be connected to each other.

11. A first jaw wire, in which at least a portion is wrapped around the first jaw pulley, The end tool of a surgical instrument according to claim 2, further comprising a second jaw wire, at least in part, which is wrapped around the second jaw pulley.

12. The end tool of a surgical instrument according to claim 11, further comprising a first jaw auxiliary pulley and a second jaw auxiliary pulley disposed between the first jaw pulley and the second jaw pulley and the main body of the end tool hub.

13. The end tool of a surgical instrument according to claim 12, characterized in that the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley is increased by the first jaw auxiliary pulley.

14. The end tool for a surgical instrument according to claim 11, characterized in that a first wire guide portion and a second wire guide portion are formed in the main body portion in regions adjacent to the first jaw pulley and the second jaw pulley, respectively, with their cross-sections curved to have a predetermined curvature.

15. The end tool of a surgical instrument according to claim 14, characterized in that the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first wire guide portion, and the rotation angle of the first jaw pulley is increased by the first wire guide portion.

16. A first electrode is formed on the surface of the first jaw facing the second jaw. The end tool of a surgical instrument according to claim 1, characterized in that a second electrode is formed on the surface of the second jaw facing the first jaw.

17. The end tool of a surgical instrument according to claim 16, characterized in that cauterization of tissue is performed while an electric current flows through the first electrode and the second electrode.

18. The end tool of a surgical instrument according to claim 17, characterized in that, once the cauterization is complete, the blade wire moves, and accordingly the blade cuts the tissue while moving from the proximal side to the distal side of the first jaw.

19. The end tool of a surgical instrument according to claim 1, characterized in that at least a portion of the guide tube is positioned between the first jaw pulley and the second jaw pulley.

20. The end tool of a surgical instrument according to claim 1, characterized in that the guide tube is formed to house at least a portion of the blade wire and to be bendable to a certain extent.

Images