End tool of surgical instrument and electrocautery surgical instrument equipped with the same

Abstract

The present invention relates to an end tool of a surgical instrument and an electrocautery surgical instrument equipped with the same, and more particularly to an end tool of a surgical instrument equipped with an end tool that can be rotated in two or more directions and operates in a manner intuitively consistent with the operation of an operating part in a surgical instrument that can be attached to a robotic arm or operated manually for use in laparoscopic surgery or various other surgeries, and an electrocautery surgical instrument equipped with the same.

Description

[Technical field]

[0001] The present invention relates to an end tool of a surgical instrument and an electrocautery surgical instrument equipped with the same, and more particularly to an end tool of a surgical instrument equipped with an end tool that can be rotated in two or more directions and operates in a manner intuitively consistent with the operation of an operating part in a surgical instrument that can be attached to a robotic arm or operated manually for use in laparoscopic surgery or various other surgeries, and an electrocautery surgical instrument equipped with the same. [Background technology]

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

[0003] In recent years, electrosurgical instruments have become available that use electrical energy to perform certain surgical tasks. For example, electrosurgical instruments have been developed that include one or more electrodes configured to receive electrical energy in surgical instruments such as graspers, scissors, tweezers, blades, needles, hooks, etc. The electrical energy delivered through the electrodes can be used to coagulate, join, or cut the patient's body tissue. In particular, the use of electrical energy can also allow cutting and hemostasis to be performed simultaneously.

[0004] Electrosurgical instruments are typically divided into two types: monopolar and bipolar. In monopolar electrosurgical instruments, electrical energy of a particular polarity is supplied to one or more electrodes of the instrument; electricity of the other polarity is then electrically connected to the patient. In bipolar electrosurgical instruments, one or more electrodes are electrically connected to a source of electrical energy of a first polarity and one or more electrodes are electrically connected to a source of electrical energy of a second polarity opposite to the first polarity.

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

[0006] The present invention aims to provide an electrocautery surgical instrument that can be attached to a robotic arm or operated manually for use in laparoscopic or various surgical procedures, and that has an end tool that can be rotated in two or more directions and that operates in a manner that is intuitively consistent with the operation of the operating part. [Means for solving the problem]

[0007] One embodiment of the present invention provides an end tool for a surgical instrument, the end tool for the surgical instrument including 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; a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis and formed at a certain distance from the first jaw pulley; a blade assembly including a blade that moves between a proximal portion and a distal portion of the first jaw, at least a portion of which is formed between the first jaw pulley and the second jaw pulley; and a blade wire that is at least partially in contact with the blade assembly and transmits a driving force required for moving the blade to the blade.

[0008] According to an embodiment of the present invention, an end tool of a surgical instrument includes 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, a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis and formed at a certain distance from the first jaw pulley, a blade assembly including a blade that moves between a proximal portion and a distal portion of the first jaw, at least a portion of which is formed between the first jaw pulley and the second jaw pulley, and a blade wire that is at least partially in contact with the blade assembly and transmits a driving force required for moving the blade to the blade.

[0009] The present invention further includes an end tool hub including a first jaw pulley connection portion and a second jaw pulley connection portion formed to face each other, and a guide portion connecting the first jaw pulley connection portion and the second jaw pulley connection portion, wherein the first jaw pulley is positioned adjacent to the first jaw pulley connection portion of the end tool hub, and the second jaw pulley is positioned adjacent to the second jaw pulley connection 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.

[0010] In the present invention, the blade assembly includes a blade pulley, and the blade pulley is disposed between the first jaw pulley and the second jaw pulley.

[0011] In the present invention, the first shaft is inserted through the first jaw pulley connection portion, the first jaw pulley, the blade pulley, the second jaw pulley and the second jaw pulley connection portion in that order.

[0012] The present invention is characterized in that the first jaw pulley, the blade pulley, and the second jaw pulley are sequentially stacked within the end tool hub.

[0013] In the present invention, the first jaw pulley, the blade pulley, and the second jaw pulley are formed to be rotatable independently of each other.

[0014] In the present invention, the rotating shaft further includes a blade auxiliary pulley disposed between the blade pulley and the guide portion.

[0015] In the present invention, the braid wire is located on a common inscribed line of the braid pulley and the braid auxiliary pulley, and the rotation angle of the braid pulley is enlarged by the braid auxiliary pulley.

[0016] The present invention is characterized in that in the guide portion, areas adjacent to the first jaw pulley, the blade pulley and the second jaw pulley are curved so that a cross section thereof has a predetermined curvature.

[0017] In the present invention, the braid wire is located on a common inscribed line of the blade pulley and the guide portion, and the rotation angle of the blade pulley is expanded by the guide portion.

[0018] In the present invention, the blade assembly includes a blade pulley, and the blade pulley is disposed between the first jaw pulley and the second jaw pulley.

[0019] In the present invention, the blade wire is connected to the blade pulley, the blade pulley is connected to the blade, and when the blade pulley is rotated by the blade wire, the blade connected to the blade pulley moves between the proximal and distal portions of the first jaw.

[0020] In the present invention, the blade assembly further includes a blade link connected to the blade pulley and the blade for transmitting the rotation of the blade pulley to the blade.

[0021] The present invention is characterized in that a first electrode is formed on a surface of the first jaw facing the second jaw, and a second electrode is formed on a surface of the second jaw facing the first jaw.

[0022] The present invention is characterized in that cauterization of tissue is performed while a current flows through the first electrode and the second electrode.

[0023] In the present invention, when the cauterization is completed, the blade wire moves, and the blade moves accordingly from the proximal side to the distal side of the first jaw to cut the tissue.

[0024] In the present invention, when the blade is located proximal to the first jaw, at least a portion of the blade is housed in the first jaw, and the blade is moved toward the second jaw by the blade wire.

[0025] In the present invention, the blade is drawn out of the first jaw while moving toward the distal portion of the first jaw.

[0026] 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 around a second axis that forms a predetermined angle with the first axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis that is substantially the same as or parallel to the second axis.

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

[0028] In the present invention, the rotary knives further include a first jaw wire, at least a portion of which is wound around the first jaw pulley and the pair of end tool first jaw pitch main pulleys, and a second jaw wire, at least a portion of which is wound around the second jaw pulley and the pair of end tool second jaw pitch main pulleys.

[0029] According to an embodiment of the present invention, an end tool of a surgical instrument includes 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, a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis, a blade pulley formed to be rotatable about an axis substantially the same as or parallel to the first axis and disposed adjacent to the first jaw pulley or the second jaw pulley, and one or more blades connected to the blade pulley and moving between a proximal end and a distal end of the first jaw in response to rotation of the blade pulley.

[0030] In the present invention, the rotor further includes a blade link connected to the blade pulley and the blade for transmitting the rotation of the blade pulley to the blade.

[0031] The present invention is characterized in that the rotational movement of the blade pulley is converted into a positional movement of the blade by the blade link.

[0032] In the present invention, one end of the blade link is connected to the blade pulley and the other end of the blade link is connected to the blade, and when the blade pulley rotates in one direction, the blade link connected to the blade pulley moves toward a proximal end or a distal end of the first jaw, thereby moving the blade.

[0033] In the present invention, the first jaw is characterized in that a blade receiving portion is formed in which the blade and at least a part of the blade link are received.

[0034] In the present invention, the blade moves along the blade housing portion of the first jaw.

[0035] In the present invention, the second jaw is characterized in that a slit capable of accommodating at least a portion of the blade pulled out from the first jaw is formed in the second jaw.

[0036] The present invention is characterized in that when the blade pulley rotates in either direction, the blade moves toward the proximal side of the first jaw, and when the blade pulley rotates in the other direction, the blade moves toward the distal side of the first jaw.

[0037] In the present invention, the end tool includes a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable around a second axis that forms a predetermined angle with the first axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis that is substantially the same as or parallel to the second axis.

[0038] In the present invention, when the first jaw pulley and the second jaw pulley rotate in the same direction around the second shaft, the blade pulley rotates together with the first jaw pulley and the second jaw pulley.

[0039] In the present invention, the rotating shaft further includes a bladed second auxiliary pulley disposed on one side of the bladed pulley.

[0040] In the present invention, when the first jaw pulley and the second jaw pulley rotate in the same direction around the first shaft, the blade pulley rotates together with the first jaw pulley and the second jaw pulley.

[0041] In the present invention, when the first jaw pulley and the second jaw pulley rotate in different directions around the first axis, the blade pulley rotates together with either the first jaw pulley or the second jaw pulley.

[0042] The present invention is characterized in that while the blade pulley is rotated around the first shaft by the braid wire, the first jaw pulley and the second jaw pulley are not rotated.

[0043] The present invention is characterized in that a first electrode is formed on a surface of the first jaw facing the second jaw, and a second electrode is formed on a surface of the second jaw facing the first jaw.

[0044] The present invention is characterized in that cauterization of tissue is performed while a current flows through the first electrode and the second electrode.

[0045] In the present invention, when the cauterization is completed, the blade pulley rotates, and the blade moves from the first position to the second position accordingly, cutting the tissue.

[0046] The present invention is characterized in that the first jaw pulley, the blade pulley and the second jaw pulley are successively laminated.

[0047] The present invention is characterized in that the blade pulley is formed between the first jaw pulley and the second jaw pulley.

[0048] 23. The present invention relates to a rotary machine, and further relates to a rotary machine having a rotary shaft and a rotary member.

[0049] In the present invention, a plurality of sawtooth portions are formed on the edge portion of the blade.

[0050] In the present invention, the rotary knives further include 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.

[0051] According to an embodiment of the present invention, an end tool of a surgical instrument includes a first jaw and a second jaw that are rotatable independently of each other, a first jaw pulley that is coupled to the first jaw and is formed to be rotatable around a first axis, a first jaw wire at least partially wound around the first jaw pulley, a second jaw pulley that is coupled to the second jaw and is formed to be rotatable around the first axis, a second jaw wire at least partially wound around the second jaw pulley, and a second axis that is formed on one side of the first jaw pulley and is formed to be rotatable around a second axis that forms a predetermined angle with the first axis. the second jaw pulley is formed on one side of the second jaw pulley and is rotatable around an axis that is substantially the same as or parallel to the second axis; a blade pulley that is rotatable around the first axis and is disposed between the first jaw pulley and the second jaw pulley; a blade wire that is at least partially wound around the blade pulley; and a blade that is connected to the blade pulley, at least partially housed in the first jaw, and moves toward the second jaw in response to the rotation of the blade pulley.

[0052] In the present invention, the rotating shaft further includes a blade link connected to the blade pulley and the blade, respectively, for transmitting the rotation of the blade pulley to the blade.

[0053] The present invention is characterized in that the rotational movement of the blade pulley is converted into a positional movement of the blade by the blade link.

[0054] In the present invention, when the blade pulley rotates, the blade link connected to the blade pulley moves, and when the blade link moves, the blade connected to the blade link moves.

[0055] In the present invention, the first jaw is characterized in that a blade receiving portion is formed in which the blade and at least a part of the blade link are received.

[0056] In the present invention, the blade moves along the blade housing portion of the first jaw.

[0057] In the present invention, the second jaw is characterized in that a slit capable of accommodating at least a portion of the blade pulled out from the first jaw is formed in the second jaw.

[0058] The present invention is characterized in that the cutting tool further includes a first guide portion formed on the first jaw and a second guide portion formed on the blade, and a moving path of the blade is guided by the first guide portion and the second guide portion.

[0059] In the present invention, the first jaw is formed with the first guide portion having a groove shape,

[0060] The blade is formed with a protruding second guide portion, and when the second guide portion is engaged with the first guide portion, the second guide portion moves along the first guide portion, thereby moving the blade between the distal portion and the proximal portion of the first jaw.

[0061] In the present invention, the groove-shaped first guide portion is formed so as to be folded one or more times.

[0062] In the present invention, the first guide portion is formed with a certain degree of inclination in a predetermined section, and when the blade passes through the inclined area of ​​the first guide portion, the blade moves toward the distal portion of the first jaw and at the same time moves in a direction protruding from the inside to the outside of the first jaw.

[0063] In the present invention, after the blade passes through the inclined region of the first guide portion, the blade performs a linear motion in the distal direction of the first jaw.

[0064] In the present invention, the blade moves between a first position and a second position in response to rotation of the blade pulley.

[0065] In the present invention, the first position is a position where the blade is housed within the first jaw, and the second position is a position where at least a portion of the blade protrudes outward from the first jaw.

[0066] The present invention is characterized in that, when the blade is located at the first position, the blade does not protrude to the outside from the first jaw.

[0067] In the present invention, the blade is drawn out of the first jaw while moving toward the distal portion of the first jaw.

[0068] In the present invention, the blade is characterized in that it is formed in a four-section link shape in which four links are connected to each other.

[0069] In the present invention, the blade includes an edge portion and a first link formed to face the edge portion, and when the blade pulley rotates, the edge portion and the first link move in opposite directions to each other.

[0070] The present invention is characterized in that the blade is directly connected to the blade pulley.

[0071] In the present invention, when the blade pulley rotates, the blade rotates together with the blade pulley and moves in the direction of a jaw other than the jaw in which the blade is housed.

[0072] According to an embodiment of the present invention, an end tool of a surgical instrument includes 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, a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis, a blade pulley formed to be rotatable about the first axis and disposed adjacent to the first jaw pulley and the second jaw pulley, a plurality of blades that move between a proximal end and a distal end of the first jaw in response to rotation of the blade pulley, and a blade link that is connected to the blade pulley and the plurality of blades, respectively, and transmits the rotation of the blade pulley to the plurality of blades.

[0073] The present invention is characterized in that the movement trajectories of the plurality of blades are substantially the same.

[0074] In the present invention, the plurality of blades includes a first blade and a second blade at least a portion of which is housed within the first jaw and which are disposed adjacent to each other.

[0075] In the present invention, when the blade pulley rotates, the first blade and the second blade rotate relative to the first jaw.

[0076] In the present invention, when the blade link is located at the proximal or distal portion of the first jaw, the first blade and the second blade are retracted into the first jaw.

[0077] In the present invention, when the blade link is positioned between the proximal and distal portions of the first jaw, at least a portion of each of the first blade and the second blade is pulled outward from the first jaw.

[0078] In the present invention, the movement trajectories of the plurality of blades are formed to be different from each other.

[0079] The present invention is characterized in that the movement paths of the blades arranged adjacent to each other are formed so as to overlap at least partially.

[0080] In the present invention, the multiple blades include a first blade, a second blade and a third blade that are at least partially contained within the first jaw and arranged adjacent to one another, and the first blade, second blade and third blade are arranged sequentially from the proximal portion to the distal portion of the first jaw.

[0081] In the present invention, the first blade is fixedly connected to the blade link and moves integrally with the blade link.

[0082] In the present invention, when the blade pulley rotates, the first blade moves substantially in a straight line.

[0083] In the present invention, when the blade pulley rotates, the second blade rotates relative to the first jaw.

[0084] In the present invention, the second blade is axially connected to the first jaw, and when the blade link moves, the second blade rotates relative to the first jaw.

[0085] The present invention is characterized in that the cutting tool further includes a first guide portion formed on the first jaw and a second guide portion formed on the third blade, and a moving path of the third blade is guided by the first guide portion and the second guide portion.

[0086] In the present invention, the first jaw has a groove-shaped first guide portion, and the third blade has a protrusion-shaped second guide portion, and when the second guide portion is engaged with the first guide portion, the second guide portion moves along the first guide portion, thereby moving the third blade between the distal portion and the proximal portion of the first jaw.

[0087] In the present invention, when the blade link is located in the proximal portion of the first jaw, at least a portion of the first blade is pulled out from the first jaw, and the second blade and the third blade are pulled into the first jaw.

[0088] In the present invention, when the blade link is located at the distal portion of the first jaw, at least a portion of each of the first blade and the third blade is pulled outward from the first jaw, and the second blade is pulled into the first jaw.

[0089] The present invention is characterized in that the rotational movement of the blade pulley is converted into positional movement of the plurality of blades by the blade link.

[0090] 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 around a second axis that forms a predetermined angle with the first axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis that is substantially the same as or parallel to the second axis.

[0091] In the present invention, the end tool is formed to be capable of yaw rotation about the first axis and pitch rotation about the second axis.

[0092] In the present invention, the rotary knives further include a first jaw wire at least partially wound around the first jaw pulley, a second jaw wire at least partially wound around the second jaw pulley, and a braid wire at least partially wound around the braid pulley.

[0093] According to an embodiment of the present invention, an end tool of a surgical instrument includes 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, a first jaw wire at least partially wound around the first jaw pulley, a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis, a second jaw wire at least partially wound around the second jaw pulley, a blade pulley formed to be rotatable about the first axis and disposed adjacent to the first jaw pulley and the second jaw pulley, a blade wire at least partially wound around the blade pulley, a blade that moves between a proximal end and a distal end of the first jaw in response to rotation of the blade pulley, and a blade link assembly including a plurality of blade links and connected to the blade pulley and the blade to transmit rotation of the blade pulley to the blade.

[0094] In the present invention, when the blade pulley rotates, the blade moves while the length of the blade link assembly changes.

[0095] The present invention is characterized in that the rotational motion of the blade pulley is converted into linear motion of the blade by the blade link assembly.

[0096] The present invention is characterized in that at least a portion of the blade is located within the first jaw, and at least a portion of the blade is located within the second jaw.

[0097] In the present invention, at least a portion of the plurality of blade links rotate about a predetermined rotation axis when the blade pulley rotates, and at the same time move linearly between the proximal and distal portions of the first jaw.

[0098] In the present invention, the plurality of blade links are arranged so as to repeatedly cross in an X shape.

[0099] In the present invention, when the blade pulley rotates, the blade link assembly is compressed or pulled.

[0100] The present invention is characterized in that the cutting tool further includes a first guide portion formed on the first jaw and a second guide portion formed on the blade, and a moving path of the blade is guided by the first guide portion and the second guide portion.

[0101] The present invention is characterized in that the jaw assembly further includes a first link guide portion formed on the first jaw and a second link guide portion formed on the blade link assembly, and a moving path of the blade link assembly is guided by the first link guide portion and the second link guide portion.

[0102] In the present invention, the blade link assembly moves along a first link guide portion, and the blade connected to the blade link assembly moves linearly.

[0103] In the present invention, the blade link assembly includes a first blade link connected to the blade pulley, a second blade link axially coupled to the first jaw and connected to the first blade link, and a third blade link connected to the second blade link and the blade.

[0104] In the present invention, the first blade is coupled to a region between both ends of the second blade link.

[0105] In the present invention, the end tool includes a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable around a second axis that forms a predetermined angle with the first axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis that is substantially the same as or parallel to the second axis.

[0106] In the present invention, the end tool is formed to be capable of yaw rotation about the first axis and pitch rotation about the second axis.

[0107] According to an embodiment of the present invention, there is provided an end tool including a first jaw and a second jaw each rotatably formed, and rotatable in two or more directions; an operation unit for controlling the rotation of the end tool in the two or more directions; a power transmission unit including a first jaw wire connected to the operation unit and transmitting the rotation of the operation unit to the first jaw, and a second jaw wire connected to the operation unit and transmitting the rotation of the operation unit to the second jaw; and a connection unit extending in a first direction (X-axis), having one end connected to the end tool and the operation unit connected to the other end, for connecting the operation unit and the end tool, wherein the end tool includes a first electrode coupled to the first jaw, and a second jaw wire coupled to the operation unit. the first jaw pulley is coupled to the first jaw and formed to be rotatable about a first axis; the second jaw pulley is coupled to the second jaw and formed to be rotatable about an axis substantially the same as or parallel to the first axis; a blade pulley is formed to be rotatable about an axis substantially the same as or parallel to the first axis and is disposed adjacent to the first jaw pulley or the second jaw pulley; and a blade is connected to the blade pulley and moves between a proximal portion and a distal portion of the first jaw in response to rotation of the blade pulley.

[0108] In the present invention, at least a part of the operation portion is formed to extend toward the end tool.

[0109] In the present invention, when the operating unit 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 unit.

[0110] The present invention is characterized in that the direction in which the end tool is formed at the one end of the connection portion and the direction in which the operating portion is formed at the other end of the connection portion are the same direction based on the extension axis (X-axis) of the connection portion.

[0111] In the present invention, the operation portion is formed so as to extend in a direction away from a user who holds the electrocautery surgical instrument.

[0112] In the present invention, an end of the operation portion is formed on the end tool side so that the end of a user's finger gripping the operation portion faces the end tool.

[0113] In the present invention, the connection portion includes a folding portion that is formed so as to be folded one or more times while connecting the end tool and the operation portion.

[0114] In the present invention, the bending portion is characterized in that the cross section is formed in an approximately semicircular shape, and the forming direction of the operating portion at the end of the bending portion is substantially identical to the forming direction of the end tool at the position where the connection portion and the end tool are connected.

[0115] In the present invention, at least a part of the operating portion is formed so as to be housed within the bent portion in at least one of the operating states of the operating portion.

[0116] In the present invention, the end tool further includes an end tool jaw auxiliary pulley formed on one side of the first jaw pulley and the second jaw pulley and rotatable about a second axis.

[0117] In the present invention, the two strands of the first jaw wire wound around the first jaw pulley by the end tool jaw auxiliary pulley are arranged on one side with respect to a plane perpendicular to the second axis and passing through the first axis, and the two strands of the second jaw wire wound around the second jaw pulley by the end tool jaw auxiliary pulley are arranged on the other side with respect to a plane perpendicular to the second axis and passing through the first axis.

[0118] In the present invention, one of the first jaw wires wound around the first jaw pulley is formed to pass between the first jaw pulley and the end tool jaw auxiliary pulley, and one of the second jaw wires wound around the second jaw pulley is formed to pass between the second jaw pulley and the end tool jaw auxiliary pulley.

[0119] In the present invention, the first jaw wire is located on an inscribed line between the first jaw pulley and the end tool jaw auxiliary pulley, and the second jaw wire is located on an inscribed line between the first jaw pulley and the end tool jaw auxiliary pulley.

[0120] In the present invention, the rotor further includes a blade link connected to the blade pulley and the blade for transmitting the rotation of the blade pulley to the blade.

[0121] The present invention is characterized in that the rotational movement of the blade pulley is converted into a positional movement of the blade by the blade link.

[0122] In the present invention, the first jaw pulley and the second jaw pulley are spaced apart from each other by a certain distance, and the blade pulley is disposed between the first jaw pulley and the second jaw pulley.

[0123] The present invention is characterized in that the first jaw pulley, the blade pulley and the second jaw pulley are successively laminated.

[0124] The present invention is characterized in that cauterization of tissue is performed while a current flows through the first electrode and the second electrode.

[0125] In the present invention, when the cauterization is completed, the blade pulley rotates, and the blade cuts the tissue while moving between the proximal and distal portions of the first jaw accordingly.

[0126] In the present invention, the end tool includes a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable around a second axis that forms a predetermined angle with the first axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis that is substantially the same as or parallel to the second axis.

[0127] In the present invention, the end tool is formed to be capable of yaw rotation about the first axis and pitch rotation about the second axis.

[0128] In the present invention, when the first jaw pulley and the second jaw pulley rotate in the same direction around the second shaft, the blade pulley rotates together with the first jaw pulley and the second jaw pulley.

[0129] In the present invention, when the first jaw pulley and the second jaw pulley rotate in the same direction around the first shaft, the blade pulley rotates together with the first jaw pulley and the second jaw pulley.

[0130] In the present invention, when the first jaw pulley and the second jaw pulley rotate in different directions around the first axis, the blade pulley rotates together with either the first jaw pulley or the second jaw pulley.

[0131] The present invention is characterized in that while the blade pulley is rotated around the first shaft by the braid wire, the first jaw pulley and the second jaw pulley are not rotated.

[0132] According to an embodiment of the present invention, the method includes the steps of: placing tissue between a first jaw and a second jaw of an end tool of an electrocautery surgical instrument; rotating a first jaw pulley to which the first jaw is coupled and a second jaw pulley to which the second jaw is coupled in opposite directions about a first axis to close the first jaw and the second jaw; passing a current through a first electrode connected to the first jaw and a second electrode connected to the second jaw to cauterize the tissue between the first jaw and the second jaw; and cutting the tissue while a blade of a blade assembly, at least a portion of which is disposed between the first jaw pulley and the second jaw pulley, moves from a proximal portion to a distal portion of the first jaw.

[0133] In the present invention, the blade assembly further includes a blade pulley at least a portion of which is disposed between the first jaw pulley and the second jaw pulley, and a blade link connecting the blade pulley and the blade, and the step of cutting the tissue includes a step of rotating the blade pulley, a step of the blade link coupled to the blade pulley moving from the proximal portion to the distal portion of the first jaw in response to the rotation of the blade pulley, and a step of the blade coupled to the blade link moving from the proximal portion to the distal portion of the first jaw in response to the movement of the blade link.

[0134] In the present invention, the rotational movement of the blade pulley is converted into a positional movement of the blade by the blade link.

[0135] In the present invention, the surgical instrument further includes a blade wire coupled to the blade pulley and rotating the blade pulley, and the step of cutting the tissue is performed by rotating the blade pulley by the blade wire.

[0136] In the present invention, the first jaw pulley and the second jaw pulley are spaced apart from each other by a certain distance, and the blade pulley is disposed between the first jaw pulley and the second jaw pulley.

[0137] The present invention is characterized in that the first jaw pulley, the blade pulley and the second jaw pulley are successively laminated.

[0138] 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 around a second axis that forms a predetermined angle with the first axis, and a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis that is substantially the same as or parallel to the second axis.

[0139] In the present invention, the end tool is formed to be capable of yaw rotation about the first axis and pitch rotation about the second axis.

[0140] In the present invention, when the first jaw pulley or the second jaw pulley rotates around the first axis or the second axis by the first jaw wire or the second jaw wire, the blade pulley rotates together with the first jaw pulley or the second jaw pulley, and while the blade pulley is rotating by the blade wire, the first jaw pulley and the second jaw pulley may not rotate.

[0141] The present invention is characterized in that when the blade pulley rotates in either direction, the blade moves from the proximal portion of the first jaw in the distal direction, and when the blade pulley rotates in the other direction, the blade moves from the distal portion of the first jaw in the proximal direction.

[0142] In the present invention, the step of cutting the tissue is performed while the blade moves from the first jaw to the second jaw.

[0143] The present invention is characterized in that the instrument further includes a blade wire that is at least partially in contact with the blade assembly and transmits the driving force required to move the blade to the blade, and the step of cutting the tissue is performed by moving the blade by the blade wire.

[0144] Other aspects, features and advantages in addition to those described above will become apparent from the following drawings, claims and detailed description of the invention. Effect of the Invention

[0145] With the present invention, the direction in which the surgeon operates the operating part and the direction in which the end tool operates are intuitively the same, thereby improving convenience for the surgeon and achieving the effects of improving the accuracy, reliability, and speed of the surgery. [Brief description of the drawings]

[0146] [Figure 1a] FIG. 1a is a conceptual diagram of the pitch motion of a conventional surgical instrument. [Figure 1b] FIG. 1b is a conceptual diagram of yaw motion. [Figure 1c] FIG. 1c is a conceptual diagram of the pitch motion of another conventional surgical instrument. [Figure 1d] FIG. 1d is a conceptual diagram of yaw motion. [Figure 1e] FIG. 1e is a conceptual diagram of the pitch motion of a surgical instrument according to the present invention. [Figure 1f] FIG. 1f is a conceptual diagram of yaw motion. [Diagram 2] FIG. 2 is a perspective view showing an electrocautery surgical instrument according to a first embodiment of the present invention. [Diagram 3] 3 is a side view of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 4] 4 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 2; FIG. [Diagram 5] 5 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 2; FIG. [Figure 6] 6 is an exploded perspective view of an endotool of the electrocautery surgical instrument of FIG. 2; FIG. [Figure 7] 7 is a bottom perspective view of an end tool of the electrocautery surgical instrument of FIG. 2; FIG. [Figure 8] 8 is a bottom perspective view of an end tool of the electrocautery surgical instrument of FIG. 2; FIG. [Figure 9] 9 is a side view of an endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 10] 10 is a side view of an endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 11] 11 is a perspective view of a guide member of an endotool of the electrocautery surgical instrument of FIG. 2; FIG. [Figure 12] 12 is a perspective view of an endotool hub of the electrocautery surgical instrument of FIG. 2; FIG. [Figure 13] 13 is a plan view of an endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 14] 14 is a plan view of an endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 15] 15 is a side view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 2 with the jaws in a neutral position; FIG. [Figure 16] 16 is a side view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 2 with the jaws in a neutral position; FIG. [Figure 17] 17 is a side view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 2 with the jaws in a neutral position; FIG. [Figure 18] FIG. 18 is a diagram showing the process of cauterization and cutting using the electrocautery surgical instrument of the present invention. [Figure 19] FIG. 19 is a diagram showing the process of cauterization and cutting using the electrocautery surgical instrument of the present invention. [Figure 20] FIG. 20 is a diagram showing the process of cauterization and cutting using the electrocautery surgical instrument of the present invention. [Figure 21] FIG. 21 is a diagram showing the process of cauterization and cutting using the electrocautery surgical instrument of the present invention. [Figure 22]FIG. 22 is a diagram showing the process of cauterization and cutting using the electrocautery surgical instrument of the present invention. [Diagram 23] 23 is a perspective view showing an operating portion of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 24] 24 is a perspective view showing an operating portion of the electrocautery surgical instrument of FIG. 2. FIG. [Diagram 25] FIG. 25 is a diagram simply illustrating only the configuration of pulleys and wires that form the joints of the electrocautery surgical instrument shown in FIG. [Figure 26] 26 is a perspective view illustrating the yaw movement of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 27] FIG. 27 is a diagram illustrating the configurations of pulleys and wires related to the actuation and yaw movements of the electrocautery surgical instrument shown in FIG. 2, with the first and second jaws resolved. [Figure 28] FIG. 28 is a diagram illustrating the configurations of pulleys and wires related to the actuation and yaw movements of the electrocautery surgical instrument shown in FIG. 2, with the first and second jaws resolved. [Figure 29] FIG. 29 is a diagram illustrating the configurations of pulleys and wires related to the cutting operation of the electrocautery surgical instrument shown in FIG. 2, with the first jaw and the second jaw respectively resolved. [Diagram 30] FIG. 30 is a diagram illustrating the configuration of pulleys and wires related to the cutting operation of the electrocautery surgical instrument shown in FIG. 2, with the first jaw and the second jaw respectively resolved. [Diagram 31] FIG. 31 is a diagram illustrating the configurations of pulleys and wires related to the cutting operation of the electrocautery surgical instrument shown in FIG. 2, with the first jaw and the second jaw respectively resolved. [Diagram 32] 32 is a perspective view illustrating the pitch movement of the electrocautery surgical instrument of FIG. 2. FIG. [Diagram 33]FIG. 33 is a diagram illustrating the configurations of pulleys and wires related to the pitch motion of the electrocautery surgical instrument shown in FIG. 2, with each of the first jaw and the second jaw resolved. [Diagram 34] FIG. 34 is a diagram illustrating the configurations of pulleys and wires related to the pitch motion of the electrocautery surgical instrument shown in FIG. 2, with the first jaw and the second jaw respectively resolved. [Diagram 35] FIG. 35 is a diagram illustrating the configurations of pulleys and wires related to the pitch motion of the electrocautery surgical instrument shown in FIG. 2, with each of the first and second jaws resolved. [Diagram 36] FIG. 36 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been rotated in yaw. [Figure 37] FIG. 37 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been rotated in yaw. [Figure 38] FIG. 38 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaw has been yaw-rotated by +90°. [Figure 39] FIG. 39 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaw has been yaw-rotated by +90°. [Diagram 40] FIG. 40 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaw is yaw-rotated by +90°. [Diagram 41] FIG. 41 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaw is yaw-rotated by −90°. [Diagram 42] FIG. 42 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, showing the process of performing the cutting operation in a state where the jaw is yaw-rotated by −90°. [Diagram 43] FIG. 43 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaw is yaw-rotated by −90°. [Diagram 44] FIG. 44 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been pitch-rotated. [Diagram 45] FIG. 45 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, showing the process of performing the cutting operation with the jaws rotated by −90°. [Figure 46] FIG. 46 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, showing the process of performing the cutting operation with the jaws rotated by −90°. [Figure 47] FIG. 47 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, showing the process of performing the cutting operation with the jaws rotated by −90°. [Figure 48] FIG. 48 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaws are pitch-rotated by +90°. [Figure 49] FIG. 49 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, illustrating the process of performing the cutting operation in a state where the jaws are pitch-rotated by +90°. [Figure 50] FIG. 50 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, showing the process of performing the cutting operation with the jaws rotated by +90°. [Figure 51] FIG. 51 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been rotated in pitch and yaw directions. [Figure 52]FIG. 52 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, in which the jaws are rotated by −90° in pitch and +90° in yaw at the same time to perform the cutting operation. [Diagram 53] FIG. 53 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, in which the jaws are rotated by −90° pitch and +90° yaw at the same time to perform the cutting operation. [Figure 54] FIG. 54 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, in which the jaws are rotated by −90° in pitch and +90° in yaw at the same time to perform the cutting operation. [Figure 55] FIG. 55 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, in which the jaws are rotated by −90° in pitch and −90° in yaw at the same time to perform the cutting operation. [Figure 56] FIG. 56 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, in which the jaws are rotated by −90° in pitch and −90° in yaw at the same time to perform the cutting operation. [Figure 57] FIG. 57 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, in which the jaws are rotated -90° in pitch and -90° in yaw at the same time to perform the cutting operation. [Figure 58] FIG. 58 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 59] FIG. 59 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 60] FIG. 60 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 61]FIG. 61 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 62] FIG. 62 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 63] FIG. 63 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 64] FIG. 64 is a perspective view showing an end tool of an electric cautery surgical instrument according to a third embodiment of the present invention. [Figure 65] FIG. 65 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 66] FIG. 66 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 67] FIG. 67 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modified example of the first embodiment of the present invention. [Figure 68] FIG. 68 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 69] FIG. 69 is a perspective view showing an end tool of an electric cautery surgical instrument according to a second embodiment of the present invention. [Figure 70] 70 is a plan view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 69; FIG. [Figure 71] 71 is a plan view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 69; FIG. [Figure 72] 72 is a plan view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 69; FIG. [Figure 73] FIG. 73 is a perspective view showing an end tool of an electric cautery surgical instrument according to a third embodiment of the present invention. [Figure 74] FIG. 74 is a perspective view showing an end tool of an electric cautery surgical instrument according to a third embodiment of the present invention. [Figure 75] FIG. 75 is a perspective view showing an end tool of an electrocautery surgical instrument according to a fourth embodiment of the present invention, with the jaws shown in a closed state. [Figure 76] FIG. 76 is a perspective view of the endotool of the electrocautery surgical instrument of FIG. 75 with the jaws in an open position. [Figure 77] FIG. 77 is a perspective view of the endotool of the electrocautery surgical instrument of FIG. 75, shown with the blade extended. [Figure 78] FIG. 78 is a perspective view of the end tool of the electrocautery surgical instrument of FIG. 75, showing primarily the electrodes and wires. [Figure 79] FIG. 79 is a perspective view of the end tool of the electrocautery surgical instrument of FIG. 75, showing primarily the blade assembly. [Figure 80] 80 is an exploded perspective view of an endotool of the electrocautery surgical instrument of FIG. 75; FIG. [Figure 81] 81 is an exploded perspective view of an endotool of the electrocautery surgical instrument of FIG. 75; FIG. [Figure 82] 82 is a side view of the endotool of the electrocautery surgical instrument of FIG. 75; FIG. [Figure 83] 83 is a perspective view of an endotool of the electrocautery surgical instrument of FIG. 75 with a second jaw partially cut away; FIG. [Figure 84] FIG. 84 is a side view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 75 with the jaws in a closed position. [Figure 85]FIG. 85 is a side view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 75 with the jaws in a closed position. [Figure 86] FIG. 86 is a side view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 75 with the jaws in a closed position. [Figure 87] FIG. 87 is a side view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the movement trajectory of each blade. [Figure 88] FIG. 88 is a perspective view illustrating the yaw movement of the electrocautery surgical instrument of FIG. [Figure 89] FIG. 89 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaw rotated +90° in yaw. [Figure 90] FIG. 90 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaw rotated +90° in yaw. [Figure 91] FIG. 91 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaw rotated +90° in yaw. [Figure 92] FIG. 92 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, showing the process of the cutting operation in a state where the jaws are yaw-rotated by −90°. [Figure 93] FIG. 93 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, showing the process of the cutting operation in a state where the jaws are yaw-rotated by −90°. [Figure 94] FIG. 94 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, showing the process of the cutting operation in a state where the jaws are yaw-rotated by −90°. [Figure 95] FIG. 95 is a perspective view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 75 has been pitch-rotated. [Figure 96] FIG. 96 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaws rotated by −90°. [Figure 97] FIG. 97 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaws rotated by −90°. [Figure 98] FIG. 98 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaws rotated by −90°. [Figure 99] FIG. 99 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaws rotated by +90°. [Figure 100] FIG. 100 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaws rotated by +90°. [Figure 101] FIG. 101 is a plan view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, illustrating the process of performing the cutting operation with the jaws rotated by +90°. [Figure 102] FIG. 102 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 75 has been rotated in pitch and yaw directions. [Figure 103] FIG. 103 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, in which the jaws are rotated in pitch by −90° and simultaneously rotated in yaw by +90° to perform the cutting operation. [Figure 104]FIG. 104 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, in which the jaws are rotated in pitch by −90° and simultaneously rotated in yaw by +90° to perform the cutting operation. [Figure 105] FIG. 105 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, in which the jaws are rotated in pitch by −90° and simultaneously rotated in yaw by +90° to perform the cutting operation. [Figure 106] FIG. 106 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, in which the jaws are rotated -90° in pitch and at the same time rotated -90° in yaw to perform the cutting operation. [Figure 107] FIG. 107 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, in which the jaws are rotated -90° in pitch and at the same time rotated -90° in yaw to perform the cutting operation. [Figure 108] FIG. 108 is a perspective view showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 75, in which the jaws are rotated -90° in pitch and at the same time rotated -90° in yaw to perform the cutting operation. [Figure 109] FIG. 109 is a perspective view showing an end tool of an electric cautery surgical instrument according to a fifth embodiment of the present invention. [Figure 110] FIG. 110 is a perspective view showing an end tool of an electric cautery surgical instrument according to a fifth embodiment of the present invention. [Figure 111] FIG. 111 is a perspective view showing an end tool of an electric cautery surgical instrument according to a fifth embodiment of the present invention. [Figure 112] FIG. 112 is a perspective view showing an end tool of an electric cautery surgical instrument according to a fifth embodiment of the present invention. [Figure 113] FIG. 113 is an exploded perspective view of an endotool of the electrocautery surgical instrument of FIG. 109; [Fig. 114] FIG. 114 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. [Fig. 115] FIG. 115 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. [Fig. 116] FIG. 116 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. [Figure 117] FIG. 117 is a perspective view illustrating the yaw movement of the electrocautery surgical instrument of FIG. [Fig. 118] FIG. 118 is a perspective view illustrating the pitch action of the electrocautery surgical instrument of FIG. [Figure 119] FIG. 119 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 109 has been rotated in pitch and yaw directions. [Figure 120] FIG. 120 is a perspective view showing an end tool of an electric cautery surgical instrument according to a sixth embodiment of the present invention. [Figure 121] 121 is a side cross-sectional view of an endotool of the electrocautery surgical instrument of FIG. 119; FIG. [Figure 122] 122 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 119; FIG. [Figure 123] 123 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 119; FIG. [Figure 124] 124 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 119; FIG. [Fig. 125] FIG. 125 is a perspective view showing an end tool of an electric cautery surgical instrument according to the seventh embodiment of the present invention. [Fig. 126] FIG. 126 is a perspective view showing an end tool of an electric cautery surgical instrument according to the seventh embodiment of the present invention. [Figure 127]127 is a perspective view of a blade link assembly of the endotool of the electrocautery surgical instrument of FIG. 125; FIG. [Figure 128] 128 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 125; FIG. [Figure 129] 129 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 125; FIG. [Fig. 130] FIG. 130 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 125. [Fig. 131] FIG. 131 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 125. [Fig. 132] 132 is a perspective view illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG. 125. FIG. BEST MODE FOR CARRYING OUT THEINVENTION

[0147] The present invention can be modified in various ways and can have various embodiments, and a specific embodiment will be illustrated in the drawings and described in detail. However, it is not intended to limit the present invention to the specific embodiment, and it should be understood that it includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may hinder the gist of the present invention, the detailed description will be omitted.

[0148] Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0149] The terms used in this application are merely used to describe certain embodiments and are not intended to limit the present invention. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this application, terms such as "include" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0150] Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0151] Furthermore, in describing various embodiments of the present invention, it is not necessary to interpret or implement each embodiment independently, and it should be understood that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described separately.

[0152] The electrocautery surgical instrument of the present invention is characterized in that when the operating unit is rotated in one direction for at least one of the pitch, yaw, and actuation movements, the end tool intuitively rotates in the same direction as the operating direction of the operating unit.

[0153] FIG. 1a is a conceptual diagram of pitch motion of a conventional surgical instrument, and FIG. 1b is a conceptual diagram of yaw motion.

[0154] Referring to FIG. 1a, when performing a pitch operation of a conventional surgical instrument, the end tool 120a is formed in front of the rotation center 121a of the end tool, and the operating unit 110a is formed behind the rotation center 111a of the operating unit. In this state, when the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and the operating unit 110a 1b, when performing the yaw operation of the conventional surgical instrument, the end tool 120a is formed forward of the rotation center 121a of the end tool, and the operating unit 110a is formed rearward of the rotation center 111a of the operating unit. In this state, when the operating unit 110a is rotated clockwise, the end tool 120a also rotates clockwise, and the operating unit 110a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. In this case, from the viewpoint of the left-right direction of the user, when the user moves the operation unit 110a to the left, the end tool 120a moves to the right, and when the user moves the operation unit 110a to the right, the end tool 120a moves to the left. As a result, the user's operation direction and the movement direction of the end tool are reversed, which can cause a user error, and there has been a problem that the user's operation is not easy.

[0155] FIG. 1c is a conceptual diagram of the pitch motion of another conventional surgical instrument, and FIG. 1d is a conceptual diagram of the yaw motion.

[0156] Referring to FIG. 1c, some of the conventional surgical instruments are formed in a mirror symmetrical shape, and when performing a pitch operation, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation unit 110b is formed behind the rotation center 111b of the operation unit. When the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operation unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the viewpoint of the rotation direction of the operation unit and the end tool, the rotation direction in which the user rotates the operation unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there is a problem that the user may be confused about the operation direction, and the joint operation is not intuitive, which may cause mistakes. Also, referring to FIG. 1d, when performing the yaw operation, the end tool 120b is formed in front of the rotation center 121b of the end tool, and the operation unit 110b is formed behind the rotation center 111b of the operation unit. When the operation unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operation unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the viewpoint of the rotation direction of the operation unit and the end tool, the rotation direction in which the user rotates the operation unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there is a problem that the user may be confused about the operation direction, and the operation of the joint is not intuitive and may cause mistakes. Thus, in the pitch or yaw operation of the user of the conventional surgical instrument, the operation direction of the user and the movement direction of the end tool do not match each other in either the viewpoint of the rotation direction or the viewpoint of the left and right direction. This is because the joint configuration of the endotool and the operating part differ from each other in the joint configuration of the conventional surgical instruments, that is, the endotool is formed forward of the rotation center of the endotool, whereas the operating part is formed rearward of the rotation center of the operating part.In order to solve this problem, a surgical instrument according to an embodiment of the present invention shown in Figures 1e and 1f is characterized in that an end tool 120c is formed forward of a rotation center 121c of the end tool, and an operating unit 110c is also formed forward of a rotation center 111c of the operating unit, so that the operation of the operating unit 110c and the end tool 120c intuitively coincides. Expressing this characteristic in another way, unlike the existing example in which the operating unit approaches the user side with respect to its own joint (i.e., away from the end tool) as shown in Figures 1a, 1b, 1c, and 1d, the surgical instrument according to an embodiment of the present invention shown in Figures 1e and 1f is formed so that at least a part of the operating unit approaches the end tool (rather than its own joint) based on its own joint at a certain moment or more in the operation process.

[0157] In other words, in the case of conventional surgical instruments such as those shown in Figs. 1a, 1b, 1c, and 1d, the end tool is located forward of its own center of rotation, while the operating unit is formed rearward of its own center of rotation, and the operation of the operating unit, which moves the rearward while the front is fixed, moves the end tool, which moves forward while the rear is fixed, so that the structure is not intuitively consistent. This causes inconsistencies between the operation of the operating unit and the operation of the end tool in terms of the left-right direction or the rotation direction, which may confuse the user, making it difficult to intuitively and quickly operate the operating unit, and may induce mistakes. In contrast, in the surgical instrument according to one embodiment of the present invention, both the end tool and the operating unit move based on a rotation center formed at the rear, so that it can be said that the operations intuitively match each other in terms of structure. In other words, just as the moving part of the end tool moves based on a rotation center formed at the rear, the moving part of the operating unit also moves based on a corresponding rotation center formed at the rear, so that it can be said that the operations intuitively match each other in terms of structure. This allows the user to intuitively and quickly steer the end tool direction, and has the advantage of significantly reducing the possibility of mistakes. A specific mechanism that enables such a function will be described below.

[0158] <First embodiment of electrocautery surgical instrument> Fig. 2 is a perspective view showing an electrocautery surgical instrument according to a first embodiment of the present invention, and Fig. 3 is a side view of the electrocautery surgical instrument of Fig. 2. Figs. 4 and 5 are perspective views showing an end tool of the electrocautery surgical instrument of Fig. 2, Fig. 6 is an exploded perspective view showing the end tool of the electrocautery surgical instrument of Fig. 2, and Figs. 7 and 8 are bottom perspective views showing the end tool of the electrocautery surgical instrument of Fig. 2. Figs. 9 and 10 are side views showing the end tool of the electrocautery surgical instrument of Fig. 2, Fig. 11 is a perspective view showing a guide member of the end tool of the electrocautery surgical instrument of Fig. 2, Fig. 12 is a perspective view showing an end tool hub of the end tool of the electrocautery surgical instrument of Fig. 2, and Figs. 13 and 14 are plan views showing the end tool of the electrocautery surgical instrument of Fig. 2.

[0159] First, referring to FIG. 2 and FIG. 3, an electrocautery surgical instrument 10 according to a first embodiment of the present invention includes an end tool 100, an operating section 200, a power transmission section 300, and a connection section 400.

[0160] Here, the connection part 400 is formed in a hollow shaft shape and can accommodate one or more wires and electric cables therein. The operation part 200 is coupled to one end of the connection part 400, and the end tool 100 is coupled to the other end, and the connection part 400 can play a role of connecting the operation part 200 and the end tool 100. Here, the connection part 400 of the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that it includes a straight part 401 and a bent part 402, and the straight part 401 is formed on the side coupled to the end tool 100, and the bent part 402 is formed on the side coupled to the operation part 200. As a result of the operation part 200 side end of the connection part 400 being bent, the pitch operation part 201, the yaw operation part 202, and the actuation operation part 203 are formed on an extension line of the end tool 100 or adjacent to the extension line. In other words, at least a part of the pitch operation unit 201 and the yaw operation unit 202 is accommodated in a recess formed by the bent portion 402. Due to such a shape of the bent portion 402, the shapes and operations of the operation unit 200 and the end tool 100 can be more intuitively matched.

[0161] Meanwhile, the plane on which the bent portion 402 is formed may be the pitch plane, i.e., substantially the same plane as the XZ plane in Fig. 2. In this way, the bent portion 402 is formed on substantially the same plane as the XZ plane, so that interference between the operating parts can be reduced. Of course, for intuitive operation of the end tool and the operating part, configurations of other shapes than the XZ plane may be possible.

[0162] Meanwhile, a connector 410 may be formed at the bent portion 402. The connector 410 may be connected to an external power source (not shown), and may be connected to the jaw 103 via electric wires 411 and 412, so that electrical energy supplied from the external power source (not shown) may be transmitted to the jaw 103. Here, the connector 410 may be a bipolar type having two electrodes, or may be a monopolar type having one electrode.

[0163] The operating unit 200 is formed at one end of the connecting unit 400 and is provided with an interface that can be directly operated by a doctor, for example, in the shape of forceps, a stick, a lever, etc., and when the doctor operates it, the endotool 100 connected to the interface and inserted into the body of the surgical patient performs a predetermined operation to perform surgery. Here, Fig. 2 shows that the operating unit 200 is formed in the shape of a handle that can be rotated while being pinched by fingers, but the idea of ​​the present invention is not limited to this, and it can be said that various types of operating units that can be connected to the endotool 100 and operate the endotool 100 are possible.

[0164] The endotool 100 is formed at the other end of the connection part 400 and is inserted into a surgical site to perform an operation required for surgery. As an example of such an endotool 100, a pair of jaws 103 for performing a gripping operation can be used as shown in FIG. 2. However, the idea of ​​the present invention is not limited thereto, and various devices for surgery can be used as the endotool 100. For example, a one-arm cauterization configuration can also be used as the endotool. Such an endotool 100 is connected to the operating part 200 by the power transmission part 300, and the driving force of the operating part 200 is transmitted via the power transmission part 300 to perform an operation required for surgery, such as gripping, cutting, and suturing.

[0165] 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 or more directions. For example, the end tool 100 can be formed to perform a pitch motion around the Y axis of FIG. 2, and a yaw motion and an actuation motion around the Z axis of FIG. 2.

[0166] Here, the pitch, yaw and actuation movements used in the present invention are defined as follows.

[0167] First, the pitch motion means a motion of the end tool 100 rotating in an up-down direction with respect to the extension direction of the connection part 400 (X-axis direction in FIG. 2), that is, a motion of rotating around the Y-axis in FIG. 2. In other words, it means a motion of the end tool 100 formed extending from the connection part 400 in the extension direction of the connection part 400 (X-axis direction in FIG. 2) rotating up-down around the Y-axis with respect to the connection part 400.

[0168] Next, the yaw motion means a motion of the end tool 100 rotating left and right with respect to the extension direction of the connection part 400 (X-axis direction in FIG. 2), i.e., a motion of rotating around the Z-axis in FIG. 2. In other words, it means a motion of the end tool 100 formed extending from the connection part 400 in the extension direction of the connection part 400 (X-axis direction in FIG. 2) rotating left and right around the Z-axis with respect to the connection part 400. In other words, it means a motion of two jaws 103 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0169] Meanwhile, the actuation movement refers to the movement in which the end tool 100 rotates around the same rotation axis as the yaw movement, but the two jaws 103 rotate in opposite directions to each other, narrowing or opening the jaws. That is, it refers to the movement in which the two jaws 103 formed on the end tool 100 rotate in opposite directions to each other around the Z axis.

[0170] The power transmission unit 300 connects the operating unit 200 and the end tool 100 and serves to transmit the driving force of the operating unit 200 to the end tool 100, and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0171] The end tool 100, the operating section 200, the power transmission section 300, and the like of the electrocautery surgical instrument 10 shown in FIG. 2 will be described later.

[0172] (Intuitive Drive) The intuitive operation of the electrocautery surgical instrument 10 of the present invention will now be described.

[0173] First, while holding first handle 204 in the palm of the hand, the user can rotate first handle 204 about the Y-axis (i.e., rotation axis 246 in FIG. 25) to perform a pitch movement, and rotate first handle 204 about the Z-axis (i.e., rotation axis 243 in FIG. 25) to perform a yaw movement. In addition, the user can operate actuation operation unit 203 with the thumb and index finger inserted into ring-shaped first actuation extension portion 252 and / or second actuation extension portion 257 formed at one end of actuation operation unit 203 to perform an actuation movement.

[0174] Here, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that when the operating unit 200 is rotated in one direction relative to the connecting unit 400, the end tool 100 rotates in the intuitively same direction as the operating direction of the operating unit 200. In other words, when the first handle 204 of the operating unit 200 is rotated in one direction, the end tool 100 also rotates in the intuitively same direction as the one direction to perform a pitch motion or a yaw motion. Here, the intuitively same direction can be additionally explained as the moving direction of the finger of the user holding the operating unit 200 and the moving direction of the end tool 100 are substantially the same direction. Of course, the same direction here does not have to be a direction that completely coincides on the three-dimensional coordinate system. For example, it can be understood that the sameness is such that when the user's finger moves to the left, the end tool's end also moves to the left, and when the user's finger moves down, the end tool 100 also moves down.

[0175] For this reason, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operating part 200 and the endotool 100 are formed in the same direction based on a plane perpendicular to the extension axis (X-axis) of the connecting part 400. That is, when viewed based on the YZ plane in FIG. 2, the operating part 200 is formed extending in the +X-axis direction, and at the same time, the endotool 100 is also formed extending in the +X-axis direction. In other words, it can be said that the forming direction of the endotool 100 at one end of the connecting part 400 and the forming direction of the operating part 200 at the other end of the connecting part 400 are the same direction based on the YZ plane. In other words, it can be said that the operating part 200 is formed in a direction away from the torso of the user who holds it, that is, toward the direction in which the endotool 100 is formed. That is, the first handle 204, the first actuation operation unit 251, the second actuation operation unit 256, etc., which are gripped and moved by the user for the actuation operation, the yaw operation, and the pitch operation, are formed so that the moving parts for performing each operation extend in the +X-axis direction from the rotation center of each joint for that operation. This allows the operation unit 200 to be configured in the same way as the moving parts of the end tool 100 are formed so that they extend in the +X-axis direction from the rotation center of each joint for that operation, and as described in Fig. 1, the user's operation direction and the operation direction of the end tool coincide with each other in both the rotation direction and the left-right direction, and as a result, the same operation can be intuitively performed.

[0176] In particular, in the case of conventional surgical instruments, the direction in which the user operates the operating part and the actual operating direction of the end tool are different and do not intuitively match, which makes it difficult for the surgeon to operate intuitively, takes a long time to become skilled at moving the end tool in the desired direction, and in some cases causes malfunctions that can harm the patient.

[0177] In order to solve such problems, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operation direction of the operating unit 200 and the operating direction of the end tool 100 are intuitively the same direction, and for this reason, like the end tool 100, the operating unit 200 has a feature in which the parts that actually move for the actuation movement, yaw movement, and pitch movement are formed to extend in the +X-axis direction from the rotation center of the joint corresponding to each movement.

[0178] The end tool 100, the operating section 200, the power transmission section 300, etc. of the electrocautery surgical instrument 10 shown in FIG. 2 will be described in more detail below.

[0179] (Power transmission section) The power transmission section 300 of the electrocautery surgical instrument 10 of FIG. 2 will now be described in more detail.

[0180] 2 to 25, etc., the power transmission portion 300 of the electrocautery surgical instrument 10 according to one embodiment of the present invention can include wire 301, wire 302, wire 303, wire 304, wire 305, wire 306, wire 307 and wire 308.

[0181] Here, the wire 301 and the wire 305 can function as a pair to serve as a first jaw wire. The wire 302 and the wire 306 can function as a pair to serve as a second jaw wire. Here, a component including the wires 301 and 305 that are the first jaw wires and the wires 302 and 306 that are the second jaw wires can be referred to as a jaw wire. Also, the wires 303 and 304 can function as a pair to serve as pitch wires. Also, the wires 307 and 308 can function as a pair to serve as blade wires.

[0182] Furthermore, the power transmission unit 300 of the electrocautery surgical instrument 10 according to an embodiment of the present invention may include fastening members 321, fastening member fixtures 323, fastening members 324, fastening members 326, fastening members 327, and fastening members 329, which are coupled to each end of each wire in order to couple the wire with the pulley. Here, each fastening member may have various shapes, such as a ball shape or a tube shape, as necessary.

[0183] Here, on the end tool 100 side, fastening member 321 can play the role of a pitch wire end tool fastening member, fastening member 323 can play the role of a first jaw wire end tool fastening member, fastening member 326 can play the role of a second jaw wire end tool fastening member, and fastening member 329 can play the role of a blade wire end tool fastening member.

[0184] Also, on the operation unit 200 side, the fastening member 324 can serve as a first jaw wire operation unit fastening member, and the fastening member 327 can serve as a second jaw wire operation unit fastening member. Although not shown in the figure, the operation unit 200 side can further be formed with a pitch wire operation unit fastening member and a blade wire operation unit fastening member.

[0185] The connection relationship between the wire, the fastening member and the pulley will be described in detail below.

[0186] First, the first jaw wire, wire 301 and wire 305, may be one single wire. A fastening member 323, which is a first jaw wire end tool fastening member, is sandwiched at the midpoint of the first jaw wire, which is a single wire, and the fastening member 323 is crimped and fixed, and then both strands of the first jaw wire with the fastening member 323 at the center may be called wire 301 and wire 305, respectively.

[0187] Alternatively, the first jaw wires 301 and 305 may be formed of separate wires, and the wires 301 and 305 may be connected by the fastening member 323 .

[0188] Then, by connecting this fastening member 323 to the pulley 111, the wire 301 and the wire 305 can be fixedly connected to the pulley 111. This allows the pulley 111 to rotate depending on whether the wire 301 and the wire 305 are pulled or released.

[0189] Meanwhile, a first jaw wire operating portion fastening member 324 may be coupled to the ends of the wires 301 and 305 opposite to the position where the fastening member 323 is fastened.

[0190] In addition, by connecting the first jaw wire operating portion fastening member 324 to the pulley 210 in this manner, the wire 301 and the wire 305 can be fixedly connected to the pulley 210. As a result, when the pulley 210 is rotated by a motor or by human power, the wire 301 and the wire 305 are pulled or loosened, so that the pulley 111 of the end tool 100 can rotate.

[0191] Similarly, wire 302 and wire 306, which are second jaw wires, are respectively coupled to fastening member 326 and second jaw wire operation section fastening member 327, which are second jaw wire end tool fastening members. Fastening member 326 is coupled to pulley 121, and second jaw wire operation section fastening member 327 is coupled to pulley 220. As a result, when pulley 220 is rotated by a motor or human power, wires 302 and 306 are pulled or loosened, allowing pulley 121 of end tool 100 to rotate.

[0192] Similarly, wire 303 and wire 304, which are pitch wires, are coupled to fastening member 321, which is a pitch wire end tool fastening member, and a pitch wire operation unit fastening member (not shown), respectively. Fastening member 321 is coupled to pulley 131, and the pitch wire operation unit fastening member (not shown) is coupled to pulley 231. As a result, when pulley 231 is rotated by a motor or human power, wires 303 and 304 are pulled or loosened, allowing pulley 131 of end tool 100 to rotate.

[0193] Similarly, wire 307 and wire 308, which are blade wires, are respectively coupled to fastening member 329, which is a blade wire end tool fastening member, and a blade wire operation part fastening member (not shown). Fastening member 329 is coupled to blade pulley 161, and the blade wire operation part fastening member (not shown) is coupled to a pulley (see 269 in FIG. 29). As a result, when pulley 269 is rotated by a motor or by human power, wires 307 and 308 are pulled or loosened, allowing blade pulley 161 of end tool 100 to rotate.

[0194] (End Tool) The endotool 100 of the electrocautery surgical instrument 10 of FIG. 2 will now be described in more detail.

[0195] Figures 4 and 5 are perspective views showing the endotool of the electrocautery surgical instrument of Figure 2, Figure 6 is an exploded perspective view showing the endotool of the electrocautery surgical instrument of Figure 2, and Figures 7 and 8 are bottom perspective views showing the endotool of the electrocautery surgical instrument of Figure 2. Also, Figures 9 and 10 are side views showing the endotool of the electrocautery surgical instrument of Figure 2, and Figures 13 and 14 are plan views showing the endotool of the electrocautery surgical instrument of Figure 2.

[0196] Here, Fig. 4 shows a state in which the end tool hub 180 and the pitch hub 107 are coupled, and Fig. 5 shows a state in which the end tool hub 180 has been removed. Fig. 7 shows a state in which the first jaw 101 and the second jaw 102 have been removed, and Fig. 8 shows a state in which the first jaw 101, the second jaw 102 and the blade 171 have been removed. Meanwhile, Fig. 13 is a view mainly showing the wire, and Fig. 14 is a view mainly showing the pulley.

[0197] 4 to 13, an end tool 100 according to a first embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, may be referred to as a jaw 103.

[0198] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, and 116 for rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, and 126 for rotational movement of the second jaw 102.

[0199] Here, although the drawings show the first jaw 101 and the pulley 111 being integrally formed, the idea of ​​the present invention is not limited thereto, and the first jaw 101 and the pulley 111 may be formed from separate members and then coupled together. Also, although the drawings show the second jaw 102 and the pulley 121 being integrally formed, the idea of ​​the present invention is not limited thereto, and the second jaw 102 and the pulley 121 may be formed from separate members and then coupled together.

[0200] Here, although the figures show opposing pulleys formed parallel to one another, the spirit of the present invention is not limited in this respect, and it will be appreciated that each pulley may be formed in a variety of positions and sizes suited to the configuration of the end tool.

[0201] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107 .

[0202] The end tool hub 180 has a rotating shaft 141 and a rotating shaft 142, which will be described later, inserted therethrough, and can further accommodate at least a portion of the pulley 111 and the pulley 121 axially coupled to the rotating shaft 141 therein. The end tool hub 180 can also accommodate at least a portion of the pulley 112 and the pulley 122 axially coupled to the rotating shaft 142 therein.

[0203] In particular, and with reference to FIG. 12, end tool hub 180 includes a first jaw pulley coupling portion 181 , a second jaw pulley coupling portion 182 , a guide portion 183 and a pitch pulley coupling portion 185 .

[0204] In detail, first jaw pulley coupling part 181 and second jaw pulley coupling part 182 are formed to face each other, and pulley 111, pulley 121, and blade pulley 161 are housed therein. Further, first jaw pulley coupling part 181 and second jaw pulley coupling part 182 are each formed with a through hole, and rotating shaft 141 passes through first jaw pulley coupling part 181, pulley 111, blade pulley 161, pulley 121, and second jaw pulley coupling part 182 to axially couple them.

[0205] The first jaw pulley coupling portion 181 and the second jaw pulley coupling portion 182 are connected by a guide portion 183. That is, the first jaw pulley coupling portion 181 and the second jaw pulley coupling portion 182, which are parallel to each other, are coupled by the guide portion 183 formed in a direction substantially perpendicular thereto, and the first jaw pulley coupling portion 181, the second jaw pulley coupling portion 182, and the guide portion 183 are substantially " C The pulley 111, the pulley 121 and the blade pulley 161 are housed inside the pulley 111.

[0206] Here, the pulley 111, which is the first jaw pulley, is disposed adjacent to the first jaw pulley coupling portion 181 of the end tool hub 180, and the pulley 121, which is the second jaw pulley, is disposed adjacent to the second jaw pulley coupling portion 182 of the end tool hub 180, so that a blade assembly accommodating portion 177 can be formed between the first jaw pulley coupling portion 181 and the second jaw pulley coupling portion 182. At least a part of the blade assembly 170, which will be described later, can be formed in the blade assembly accommodating portion 177. In other words, it can also be expressed that at least a part of the blade pulley 161 and the blade link 173 of the blade assembly 170 is disposed between the first jaw pulley coupling portion 181 and the second jaw pulley coupling portion 182. In this manner, one of the features of the present invention is that the blade assembly 170 including the blade 171 is disposed between the pulley 111 which is the first jaw pulley and the pulley 121 which is the second jaw pulley, and thus it is possible to perform not only the pitch movement and yaw movement of the end tool 100 but also the cutting movement using the blade 171. This will be described in more detail later.

[0207] Meanwhile, a pulley 131 that functions as an end tool pitch pulley may be formed at one end of the end tool hub 180. As shown in FIG. 4, the pulley 131 may be formed integrally with the end tool hub 180. That is, one end of the end tool hub 180 may be formed in a disk shape like a pulley, and a groove around which a wire can be wound may be formed on the outer circumferential surface. Alternatively, the pulley 131 may be formed of a member separate from the end tool hub 180 and connected to the end tool hub 180. The above-mentioned wires 303 and 304 are connected to the pulley 131 that functions as an end tool pitch pulley, and the pulley 131 rotates around the rotation axis 143 to perform a pitch motion.

[0208] Rotation shafts 143 and 144, which will be described later, are inserted through the pitch hub 107, and the pitch hub 107 can be axially coupled to the end tool hub 180 and the pulley 131 by the rotation shaft 143. Therefore, the end tool hub 180 and the pulley 131 can be formed to be rotatable relative to the pitch hub 107 around the rotation shaft 143.

[0209] Furthermore, pitch hub 107 can accommodate at least a portion of pulley 113, pulley 114, pulley 123, and pulley 124 axially coupled to rotation shaft 143 therein. Furthermore, pitch hub 107 can accommodate at least a portion of pulley 115, pulley 116, pulley 125, and pulley 126 axially coupled to rotation shaft 144 therein.

[0210] Furthermore, the end tool 100 according to the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141 and the rotating shaft 142 may be inserted through the end tool hub 180, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0211] The rotating shafts 141, 142, 143, and 144 may be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100. Therefore, in order from the distal end 104, the rotating shaft 141 may be referred to as the first pin, the rotating shaft 142 as the second pin, the rotating shaft 143 as the third pin, and the rotating shaft 144 as the fourth pin.

[0212] Here, rotation axis 141 can function as the end tool jaw pulley rotation axis, rotation axis 142 can function as the end tool jaw auxiliary pulley rotation axis, rotation axis 143 can function as the end tool pitch rotation axis, and rotation axis 144 can function as the end tool pitch auxiliary rotation axis of end tool 100.

[0213] Each of the rotating shafts 141, 142, 143, 144 may have one or more pulleys fitted thereto, which will be described in detail below.

[0214] Pulley 111 functions as an end tool first jaw pulley and pulley 121 functions as an end tool second jaw pulley. Pulley 111 may also be referred to as the first jaw pulley and pulley 121 may also be referred to as the second jaw pulley, and these two components may be collectively referred to as the end tool jaw pulleys or simply the jaw pulleys.

[0215] Pulley 111 and pulley 121, which are end tool jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 141, which is an end tool jaw pulley rotation axis. At this time, pulley 111 and pulley 121 are formed with a certain distance between them, and a blade assembly receiving portion 177 may be formed therebetween. At least a part of a blade assembly 170, which will be described later, may be disposed in this blade assembly receiving portion 177.

[0216] Here, in the drawing, the pulley 111 and the pulley 121 are formed to rotate around one rotation axis 141, but it goes without saying that each end tool jaw pulley can be formed to be rotatable around a different axis. Here, a first jaw 101 is fixedly connected to the pulley 111 to rotate together with the pulley 111, and a second jaw 102 is fixedly connected to the pulley 121 to rotate together with the pulley 121. Yaw operation and actuation operation of the end tool 100 are performed according to the rotation of the pulley 111 and the pulley 121. That is, when the pulley 111 and the pulley 121 rotate in the same direction around the rotation axis 141, a yaw operation is performed, and when the pulley 111 and the pulley 121 rotate in opposite directions around the rotation axis, an actuation operation is performed.

[0217] Here, the first jaw 101 and the pulley 111 may be formed of separate members and coupled to each other, or the first jaw 101 and the pulley 111 may be formed as a single body. Similarly, the second jaw 102 and the pulley 121 may be formed of separate members and coupled to each other, or the second jaw 102 and the pulley 121 may be formed as a single body.

[0218] Pulley 112 functions as an end tool first jaw auxiliary pulley and pulley 122 functions as an end tool second jaw auxiliary pulley, and these two components may be referred to collectively as end tool jaw auxiliary pulleys or simply auxiliary pulleys.

[0219] In detail, the pulleys 112 and 122, which are the end tool jaw auxiliary pulleys, may be additionally provided on one side of the pulleys 111 and 121. That is, the pulley 112, which is the auxiliary pulley, may be disposed between the pulleys 111 and 113 / 114. Also, the pulley 122, which is the auxiliary pulley, may be disposed between the pulleys 121 and 123 / 124. The pulleys 112 and 122 may be formed to be rotatable independently of each other about the rotation shaft 142. Here, the pulleys 112 and 122 are formed to rotate about one rotation shaft 142 in the drawing, but it goes without saying that the pulleys 112 and 122 may be formed to be rotatable about different shafts. Such auxiliary pulleys will be described in more detail later.

[0220] Pulleys 113 and 114 function as an end tool first jaw pitch main pulley, and pulleys 123 and 124 function as an end tool second jaw pitch main pulley, and these two components can be collectively referred to as the end tool jaw pitch main pulleys.

[0221] Pulleys 115 and 116 function as end tool first jaw pitch sub-pulleys, and pulleys 125 and 126 function as end tool second jaw pitch sub-pulleys, and these two components may be collectively referred to as end tool jaw pitch sub-pulleys.

[0222] The components involved in the rotation of pulley 111 will be described below.

[0223] Pulley 113 and pulley 114 function as end tool first jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 which is a first jaw wire is wound around pulley 113, and a wire 305 which is a first jaw wire is wound around pulley 114.

[0224] Pulley 115 and pulley 116 function as end tool first jaw pitch sub pulleys. That is, they function as sub rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 which is the first jaw wire is wound around pulley 115, and a wire 305 which is the first jaw wire is wound around pulley 116.

[0225] Here, pulleys 113 and 114 are disposed on one side of pulleys 111 and 112 so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other about a rotation axis 143 which is an end tool pitch rotation axis. In addition, pulleys 115 and 116 are disposed on one side of pulleys 113 and 114 so as to face each other. Here, pulleys 115 and 116 are formed to be rotatable independently of each other about a rotation axis 144 which is an end tool pitch auxiliary rotation axis. Here, in the drawing, pulleys 113, 115, 114, and 116 are all shown to be rotatable about the Y-axis direction, but the idea of ​​the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0226] Wire 301, which is the first jaw wire, is wound successively so that at least a portion of it comes into contact with pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound successively so that at least a portion of it comes into contact with pulley 111, pulley 112, pulley 114, and pulley 116.

[0227] In other words, the first jaw wires, wire 301 and wire 305, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 111, pulley 112, pulley 114, and pulley 116, and wire 301 and wire 305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0228] Therefore, when wire 301 is pulled in the direction of arrow 301 in Fig. 13, fastening member 323 to which wire 301 is connected and pulley 111 connected thereto rotate in the direction of arrow L in Fig. 13. Conversely, when wire 305 is pulled in the direction of arrow 305 in Fig. 6, fastening member 323 to which wire 305 is connected and pulley 111 connected thereto rotate in the direction of arrow R in Fig. 6.

[0229] Pulleys 112 and 122, which act as auxiliary pulleys, are described in more detail below.

[0230] Pulley 112 and pulley 122 can play a role in expanding the rotation angle of first jaw 101 and second jaw 102, respectively, by contacting wire 305, which is the first jaw wire, and wire 302, which is the second jaw wire, and changing the arrangement paths of wire 305 and wire 302 to a certain extent.

[0231] That is, when the auxiliary pulley is not arranged, the first jaw and the second jaw can only rotate up to a right angle, but in one embodiment of the present invention, by providing the auxiliary pulleys 112 and 122, the maximum rotation angle can be increased by θ as viewed from FIG. 14. This enables the operation in which the two jaws of the end tool 100 must open for the actuation operation when the two jaws are yaw-rotated together by 90° in the L direction. This is because the second jaw 102 can rotate by an additional angle θ as in FIG. 14. Similarly, the actuation operation is possible even when the two jaws are yaw-rotated in the R direction. In other words, it has a feature that the range of yaw rotation in which the actuation operation is possible can be expanded via the pulleys 112 and 122.

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

[0233] When the auxiliary pulley is not provided, the first jaw wire is fixedly connected to the end tool first jaw pulley and the second jaw wire is fixedly connected to the end tool second jaw pulley, so that the end tool first jaw pulley and the end tool second jaw pulley can only rotate up to 90°. In this case, when an actuation operation is performed with the first jaw and the second jaw positioned on the 90° line, the first jaw can be opened, but the second jaw cannot rotate more than 90°. Therefore, there is a problem that the actuation operation is not performed smoothly when the first jaw and the second jaw are performing a yaw operation more than a certain angle.

[0234] In order to solve this problem, in the case of the electrocautery surgical instrument 10 of the present invention, the pulley 112 and the pulley 122, which are auxiliary pulleys, are additionally disposed on one side of the pulley 111 and the pulley 121. By disposing the pulley 112 and the pulley 122 in this manner and changing the arrangement path of the wire 305, which is the first jaw wire, and the wire 302, which is the second jaw wire, to a certain extent, the tangential direction of the wire 305 and the wire 302 is changed, and therefore the fastening member 322, which connects the wire 302 and the pulley 121, can rotate up to the N line in FIG. 14. That is, the fastening member 326, which is the connection part between the wire 302 and the pulley 121, can rotate until it is positioned on the common inscribed line of the pulley 121 and the pulley 122. Similarly, the fastening member 323, which is the connection part between the wire 305 and the pulley 111, can rotate until it is positioned on the common inscribed line of the pulley 111 and the pulley 112, and the rotation range in the R direction can be expanded.

[0235] In other words, the wires 301 and 305, which are the two strands of the first jaw wire wound around the pulley 111 by the pulley 112, are disposed on either side of a plane perpendicular to the Y axis and passing through the X axis. At the same time, the wires 302 and 306, which are the two strands of the second jaw wire wound around the pulley 121 by the pulley 122, are disposed on the other side of a plane perpendicular to the Y axis and passing through the X axis.

[0236] In other words, pulleys 113 and 114 are perpendicular to the Y axis and disposed on one side of a plane passing through the X axis, and pulleys 123 and 124 are perpendicular to the Y axis and disposed on the other side of a plane passing through the X axis.

[0237] In other words, the wire 305 is located on the inscribed line between the pulleys 111 and 112, and the rotation angle of the pulley 111 is expanded by the pulley 112. In addition, the wire 302 is located on the inscribed line between the pulleys 121 and 122, and the rotation angle of the pulley 121 is expanded by the pulley 122.

[0238] According to the present invention, the rotation radius of the jaws 101 and 102 is increased, and therefore the yaw operation range in which normal opening and closing actuation can be performed is expanded.

[0239] Next, components related to the rotation of pulley 121 will be described.

[0240] Pulley 123 and pulley 124 function as end tool second jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch operation of second jaw 102. Here, a wire 306 which is the second jaw wire is wound around pulley 123, and a wire 302 which is the second jaw wire is wound around pulley 124.

[0241] Pulley 125 and pulley 126 function as end tool second jaw pitch sub pulleys. That is, they function as sub rotating pulleys for the pitch motion of second jaw 102. Here, pulley 125 is wound with wire 306 which is the second jaw wire, and pulley 126 is wound with wire 302 which is the second jaw wire.

[0242] Pulleys 123 and 124 are disposed on one side of pulley 121 so as to face each other. Here, pulleys 123 and 124 are formed so as to be rotatable independently of each other about a rotation axis 143 which is an end tool pitch rotation axis. In addition, pulleys 125 and 126 are disposed on one side of pulleys 123 and 124 so as to face each other. Here, pulleys 125 and 126 are formed so as to face each other. Bip -Ri 126 are formed to be rotatable independently of one another about a rotation axis 144 which is an end tool pitch auxiliary rotation axis. Here, in the drawing, pulleys 123, 125, 124, and 126 are all shown to be rotatable about the Y-axis direction, but the idea of ​​the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0243] The wire 306, which is the second jaw wire, is wound successively so as to be in at least partial contact with the pulley 125, the pulley 123, and the pulley 121. The wire 302 connected to the wire 306 by the fastening member 326 is wound successively so as to be in at least partial contact with the pulley 121, the pulley 122, the pulley 124, and the pulley 126.

[0244] In other words, the second jaw wires, wire 306 and wire 302, are wound sequentially so as to be in at least partial contact with pulley 125, pulley 123, pulley 121, pulley 122, pulley 124, and pulley 116, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0245] Therefore, when wire 306 is pulled in the direction of arrow 306 in Fig. 13, fastening member 322 to which wire 306 is connected and pulley 121 connected thereto rotate in the direction of arrow R in Fig. 13. Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 13, fastening member 326 to which wire 302 is connected and pulley 121 connected thereto rotate in the direction of arrow L in Fig. 13.

[0246] The pitch movement of the present invention will be explained in more detail below.

[0247] On the other hand, when the wire 301 is pulled toward the arrow 301 in Fig. 13 and the wire 305 is pulled toward the arrow 305 in Fig. 13 at the same time (i.e., when both strands of the first jaw wire are fully pulled), the wire 301 and the wire 305 are wound below the pulleys 113 and 114 that can rotate around the rotation axis 143, which is the end tool pitch rotation axis, as shown in Fig. 5, so that the pulley 111 to which the wire 301 and the wire 305 are fixedly connected and the end tool hub 180 to which the pulley 111 is connected rotate together in the counterclockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 performs a pitch motion while rotating downward. At this time, the second jaw 102 and the wires 302 and 306 fixedly connected thereto are wound above the pulleys 123 and 124 that can rotate around the rotation axis 143, so that the wires 302 and 306 are unwound in the opposite direction to the wires 302 and 306, respectively.

[0248] Conversely, when the wire 302 is pulled toward the arrow 302 in Fig. 13 and the wire 306 is pulled toward the arrow 306 in Fig. 13 at the same time, since the wires 302 and 306 are wound above the pulleys 123 and 124 that can rotate around the rotation axis 143, which is the end tool pitch rotation axis, as shown in Fig. 5, the pulley 121 to which the wires 302 and 306 are fixedly connected and the end tool hub 180 to which the pulley 121 is connected rotate together in the clockwise direction around the rotation axis 143 as a whole, resulting in the end tool 100 performing a pitch motion while rotating upward. At this time, the first jaw 101 and the wires 301 and 305 fixedly connected thereto are wound below the pulleys 113 and 114 that can rotate around the rotation axis 143, so that the wires 302 and 306 move in the opposite direction to the wires 301 and 305, respectively.

[0249] Meanwhile, the end tool 100 of the electrocautery surgical instrument 10 of the present invention may further include a pulley 131 which is an end tool pitch pulley, the operation unit 200 may further include pulleys 231 and 232 which are operation unit pitch pulleys, and the power transmission unit 300 may further include wires 303 and 304 which are pitch wires. In detail, the pulley 131 of the end tool 100 may be rotatable around a rotation axis 143 which is an end tool pitch rotation axis, and may be formed integrally with the end tool hub 180 (or fixedly connected to the end tool hub 180). In addition, the wires 303 and 304 may play a role in connecting the pulley 131 of the end tool 100 and the pulleys 231 and 232 of the operation unit 200.

[0250] Therefore, when pulleys 231 and 232 of the operating unit 200 rotate, the rotation of pulleys 231 and 232 is transmitted to pulley 131 of the end tool 100 via wires 303 and 304, causing pulley 131 to rotate together, resulting in the end tool 100 performing a pitch motion while rotating.

[0251] That is, the electrocautery surgical instrument 10 according to the first embodiment of the present invention includes a pulley 131 of the end tool 100, pulleys 231 and 232 of the operating unit 200, and wires 303 and 304 of the power transmission unit 300 for transmitting power for the pitch movement, so that the driving force of the pitch movement of the operating unit 200 can be more completely transmitted to the end tool 100, thereby improving operational reliability.

[0252] Here, the diameters of pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys, and the diameter of pulley 131, which is an end tool pitch pulley, may be the same as or different from each other. In this case, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of the operation unit pitch pulley of the operation unit 200, which will be described later, to the diameter of the operation unit pitch main pulley. This will be described in detail later.

[0253] (Blade pulley related components) The blade pulley 161 of the endotool 100 of the electrocautery surgical instrument 10 of FIG. 2 will be described in more detail below.

[0254] Figures 15, 16 and 17 are side views showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 2, with the jaws in a neutral position, with some components not related to the blade and blade pulley removed.

[0255] Referring to Figures 6 to 8, 15 to 17, etc., the end tool 100 of the first embodiment of the present invention can include a blade pulley 161, a blade assistant pulley 162, a pulley 163, a pulley 164, a pulley 165 and a pulley 166 associated with the linear / rotational motion of the blade 171.

[0256] The blade pulley 161 is formed to face the end tool jaw pulleys, pulley 111 and pulley 121, and is formed to be rotatable independently of each other about the rotation axis 141, which is the end tool jaw pulley rotation axis. Here, in the drawings, the blade pulley 161 is shown to be disposed between the pulleys 111 and 121, but the idea of ​​the present invention is not limited thereto, and the blade pulley 161 may be disposed in various positions adjacent to the pulleys 111 or 121.

[0257] Here, one of the features of the present invention is that the blade pulley 161, the pulley 111, and the pulley 121 are formed to rotate substantially around the same axis. By forming the blade pulley 161, the pulley 111, and the pulley 121 to rotate around the same axis in this manner, it is possible to perform pitch motion / yaw motion / actuation motion and even cutting motion using the blade 171. This will be described in more detail later. However, although the blade pulley 161, the pulley 111, and the pulley 121 are formed to rotate around one rotation axis 141 in the figure, it goes without saying that each jaw pulley can be formed to rotate around a different axis that is concentric with each other.

[0258] In other words, this can be expressed as a structure in which pulley 111, which is the first jaw pulley, blade pulley 161, and pulley 121, which is the second jaw pulley, are sequentially stacked along rotation shaft 141. Alternatively, this can be expressed as a structure in which blade pulley 161 is disposed between pulleys 111 and 121 which face each other. Here, pulley 111, which is the first jaw pulley, blade pulley 161, and pulley 121, which is the second jaw pulley, can be formed to be rotatable independently of each other.

[0259] The blade auxiliary pulley 162 may be additionally provided on one side of the blade pulley 161. In other words, the blade auxiliary pulley 162 may be disposed between the blade pulley 161 and the pulley 163 / pulley 164. The blade auxiliary pulley 162 may be formed to be rotatable independently of the pulley 112 and the pulley 122 about the rotation axis 142. Here, the blade auxiliary pulley 162, the pulley 112, and the pulley 122 are formed to rotate about one rotation axis 142 in the figure, but it goes without saying that the blade auxiliary pulley 162, the pulley 112, and the pulley 122 may be formed to be rotatable about different axes. Such a blade auxiliary pulley will be described in more detail later.

[0260] Pulleys 163 and 164 can function as blade pitch main pulleys, and pulleys 165 and 166 can function as blade pitch sub pulleys.

[0261] The components involved in the rotation of the blade pulley 161 will be described below.

[0262] Pulley 163 and pulley 164 function as blade pitch main pulleys. Here, pulley 163 is wound with wire 307 which is a braid wire, and pulley 164 is wound with wire 308 which is a braid wire.

[0263] Pulley 165 and pulley 166 function as braid pitch sub-pulleys. Here, pulley 165 is wound with wire 307 which is a braid wire, and pulley 166 is wound with wire 308 which is a braid wire.

[0264] Here, pulleys 163 and 164 are disposed on one side of the blade pulley 161 and the blade auxiliary pulley 162 so as to face each other. Here, the pulleys 163 and 164 are formed to be rotatable independently of each other about the rotation axis 143 which is the end tool pitch rotation axis. In addition, pulleys 165 and 166 are disposed on one side of the pulleys 163 and 164 so as to face each other. Here, the pulleys 165 and 166 are formed to be rotatable independently of each other about the rotation axis 144 which is the end tool pitch auxiliary rotation axis. Here, in the drawing, the pulleys 163, 165, 164, and 166 are all shown to be rotatable about the Y-axis direction, but the idea of ​​the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0265] As described above, the rotation shafts 141, 142, 143, and 144 can be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100. This allows the blade pulley 161, the blade assistant pulley 162, the pulleys 163 / 164, and the pulleys 165 / 166 to be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100.

[0266] Wire 307, which is a braided wire, is wound successively so that at least a portion of it comes into contact with pulley 165, pulley 163, braided auxiliary pulley 162, and braided pulley 161. Wire 308, which is connected to wire 307 by fastening member 329, is wound successively so that at least a portion of it comes into contact with braided pulley 161, braided auxiliary pulley 162, pulley 164, and pulley 166.

[0267] In other words, wire 307 and wire 308, which are braided wires, are wound sequentially so as to be in at least partial contact with pulley 165, pulley 163, blade auxiliary pulley 162, blade pulley 161, blade auxiliary pulley 162, pulley 164, and pulley 166, and wire 307 and wire 308 are formed so as to move along the pulleys while rotating the pulleys.

[0268] Therefore, when wire 307 is pulled, fastener 329 to which wire 307 is coupled and blade pulley 161 to which it is coupled rotate in one direction. Conversely, when wire 308 is pulled, fastener 329 to which wire 308 is coupled and blade pulley 161 to which it is coupled rotate in the opposite direction.

[0269] The blade assist pulley 162 is described in more detail below.

[0270] The blade auxiliary pulley 162 can play a role in expanding the rotation angle of the blade pulley 161 by coming into contact with the wires 307 and 308 which are blade wires and changing the arrangement paths of the wires 307 and 308 to a certain extent.

[0271] That is, if the blade auxiliary pulley is not provided, the blade pulley can only rotate up to a right angle, but in one embodiment of the present invention, by providing the blade auxiliary pulley 162 as an auxiliary pulley, the maximum rotation angle is increased by θ in both directions. This enables the blade pulley 161 to rotate for cutting operation and linearly move the blade 171 when the two jaws of the end tool 100 are rotated together by 90°. In other words, the blade auxiliary pulley 162 has the feature of expanding the range of yaw rotation in which cutting operation is possible.

[0272] This will be explained in more detail as follows.

[0273] In the case of the electrocautery surgical instrument 10 of the present invention, a blade auxiliary pulley 162 is additionally disposed on one side of the blade pulley 161. By disposing the blade auxiliary pulley 162 in this manner and changing the arrangement path of the wires 307 and 308, which are blade wires, to a certain extent, the tangential direction of the wires 307 and 308 is changed, and therefore the rotation angle of the fastening member 329 that connects the wires 307 and 308 to the blade pulley 161 is increased. In other words, the fastening member 329 that connects the wires 307 and 308 to the blade pulley 161 increases the rotation angle of the fastening member 329. 162 It can be rotated until it is on the common inscribed line with

[0274] In other words, the wires 307 and 308 are located on the inscribed line between the blade pulley 161 and the blade auxiliary pulley 162 , and the rotation angle of the blade pulley 161 is enlarged by the blade auxiliary pulley 162 .

[0275] According to the present invention, the rotation radius of the blade pulley 161 is increased, and this has the effect of expanding the yaw operation range in which a normal cutting operation can be performed.

[0276] (Cauterization and cutting related components) Next, referring to Figures 4 to 17, etc., an end tool 100 of a first embodiment of the present invention can include a first jaw 101, a second jaw 102, a first electrode 151, a second electrode 152, a blade pulley 161, a blade 171 and a blade link 173 for performing cautery and cutting operations.

[0277] Here, components related to the driving of the blade, such as the blade pulley 161, the blade 171, and the blade link 173, may be collectively referred to as the blade assembly 170. One embodiment of the present invention is characterized in that the blade assembly 170 including the blade 171 is disposed between the pulley 111, which is the first jaw pulley, and the pulley 121, which is the second jaw pulley, thereby enabling the end tool 100 to perform not only pitch and yaw movements but also cutting operations using the blade 171. This will be described in more detail.

[0278] The first jaw 101 can include a guide member 101a and a case 101c.

[0279] As shown in FIG. 11 etc., the guide member 101a may be formed with a blade receiving portion 101d and a first guide portion 101e. The guide member 101a may be coupled to a pulley 111 and formed to guide the moving path of the blade 171. As an example, the guide member 101a may be formed in the shape of two long rods facing each other, and the guide member 101a may be formed with a blade receiving portion 101d in which at least a part of the blade 171 and the blade link 173 described later can be received. The blade receiving portion 101d is located at the proximal portion of the first jaw 101. 101g From distal 101fThe blade 171 may be entirely housed within the blade housing 101d, or at least a portion of the blade 171 may protrude from the blade housing 101d. In other words, the blade 171 may cut tissue while moving along the blade housing 101d. This will be described in more detail later.

[0280] Also, the guide member 101a of the first jaw 101 may be formed with a first guide portion 101e for guiding the movement of the blade 171. Here, the first guide portion 101e may be formed on both inner side walls of the guide member 101a forming the blade accommodating portion 101d. Here, the first guide portion 101e may be formed in a groove shape formed along the movement path of the blade 171. Then, in a state in which the second guide portion 171c of the blade 171 formed in a protrusion shape is fitted into the groove-shaped first guide portion 101e, the second guide portion 171c moves along the first guide portion 101e, whereby the blade 171 moves relative to the first jaw 101.

[0281] Here, the first guide portion 101e may be formed so as to be folded one or more times. For example, as shown in Fig. 15, the first guide portion 101e may be formed so as to be folded at a predetermined angle (approximately 120° in the figure). In this case, the proximal side of the first guide portion 101e may be formed so as to be inclined to a certain degree, and the distal side of the first guide portion 101e may be formed so as to be parallel to the X-axis direction.

[0282] Therefore, when the blade 171 passes through the inclined region of the first guide portion 101e, the blade 171 is in contact with the proximal portion of the first jaw 101. 101g From distal 101f It can be expressed that the blade 171 moves toward the proximal portion of the first jaw 101 and at the same time moves in a direction protruding from the inside to the outside of the first jaw 101. When the blade 171 passes through the parallel region of the first guide portion 101e, the blade 171 moves toward the proximal portion of the first jaw 101. 101g From distal101f This can be expressed as moving in a straight line to the side.

[0283] In other words, the movement path of the blade 171 is determined by the shape of the first guide portion 101e.

[0284] In addition, although the figure shows the first guide portion 101e as being formed integrally with the guide member 101a as one component of the first jaw 101, the concept of the present invention is not limited thereto, and it can be said that the first guide portion 101e can also be formed of a separate member from the guide member 101a and connected to the guide member 101a.

[0285] Meanwhile, in the drawings, the two groove shapes included in the first guide portion 101e are shown as being the same, but the idea of ​​the present invention is not limited thereto, and the multiple groove shapes included in the first guide portion 101e may be formed to be different from each other. By adjusting the multiple groove shapes included in the first guide portion 101e in this manner, the movement path of the blade 171 can be changed to a certain degree.

[0286] Also, the first jaw 101 may further include a case 101c. The case 101c is formed to cover an upper portion of the first jaw 101, and may prevent the blade receiving portion 101d, the first guide portion 101e, and the blade 171 received therein from being exposed to the outside.

[0287] Meanwhile, a first electrode 151 can be formed on a surface of first jaw 101 facing second jaw 102. And a second electrode 152 can be formed on a surface of second jaw 102 facing first jaw 101.

[0288] At this time, a slit 151 a may be formed in the first electrode 151 , and at least a portion of the blade 171 may protrude to the outside of the first jaw 101 and the first electrode 151 through the slit 151 a.

[0289] Also, a slit 152a may be formed in the second electrode 152. At least a portion of the blade 171 protruding outside the first jaw 101 may pass through the slit 152a and be accommodated in the second jaw 102.

[0290] Meanwhile, although not shown in the drawings, the second jaw 102 may further be formed with a slit capable of accommodating at least a portion of the blade 171 drawn from the first jaw 101. As a result of the slit (not shown) being formed in the second jaw 102, the blade 171 may be drawn from the first jaw 101 to perform cutting when the first jaw 101 and the second jaw 102 are in a closed state.

[0291] Meanwhile, although not shown in the drawings, a spacer (not shown) for spacing the first electrode 151 and the second electrode 152 to a certain extent so that the first electrode 151 and the second electrode 152 do not come into direct contact with each other may be formed on at least one of the first jaw 101 and the second jaw 102. This spacer (not shown) may include an insulating material such as ceramic.

[0292] Meanwhile, although not shown in the drawings, one or more sensors (not shown) may be further formed in at least one of the first jaw 101 or the second jaw 102. The sensors (not shown) may be formed to measure at least a part of a current, a voltage, a resistance, an impedance, and a temperature while a tissue is positioned between the first jaw 101 and the second jaw 102 and a current flows through the first electrode 151 and the second electrode 152 to perform cauterization.

[0293] Alternatively, without providing a separate sensor, a 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] The blade pulley 161 is axially coupled to the rotation shaft 141 and is formed to be rotatable around the rotation shaft 141. The blade pulley 161 is disposed between the pulley 111 which is the first jaw pulley of the end tool and the pulley 121 which is the second jaw pulley of the end tool. Here, the pulley 111, the pulley 121 and the blade pulley 161 may be formed to be rotatable independently of each other.

[0295] The blade 171 may include a body portion 171a, an edge portion 171b, and one or more second guide portions 171c.

[0296] An edge portion 171b that is sharp and cuts tissue is formed in one region of the main body portion 171a. At least a part of this edge portion 171b is pulled out to the outside of the first jaw 101, and tissue disposed between the first jaw 101 and the second jaw 102 can be cut.

[0297] Meanwhile, one or more second guide parts 171c may be formed in other regions of the main body part 171a. For example, the second guide part 171c may be formed in a protrusion shape, and in a state in which the second guide part 171c is fitted into the groove-shaped first guide part 101e, the second guide part 171c moves along the first guide part 101e, so that the blade 171 moves relative to the first jaw 101. In addition, a blade link 173, which will be described later, may be axially coupled to the second guide part 171c.

[0298] On the other hand, although not shown in the figure, it is also possible that the first guide portion 101e of the first jaw 101 is formed in a protrusion shape, and the second guide portion 171c of the blade 171 is formed in a groove shape.

[0299] The blade link 173 connects the blade pulley 161 and the blade 171, and transmits the rotation of the blade pulley 161 to the blade 171 to move the blade 171 to the proximal portion of the first jaw 101. 101g From distal 101fThe blade link 173 may be formed in a long bar shape, and one end of the blade link 173 may be connected to the blade pulley 161 and the other end may be connected to the blade 171.

[0300] As an example, through holes are formed at both ends of the blade link 173, and these through holes can be fitted into the protrusion 161a formed on one surface of the blade pulley 161 and the second guide portion 171c formed on the blade 171, respectively. In other words, one end of the blade link 173 and the blade pulley 161 are axially coupled, and at the same time, the other end of the blade link 173 and the blade 171 are axially coupled.

[0301] In this state, when the blade pulley 161 rotates around the rotation shaft 141, the rotational motion of the blade pulley 161 is transmitted to the blade 171 by the blade link 173 connected to the blade pulley 161. Then, the position of the blade 171 is changed by the transmitted rotational motion of the blade pulley 161, and the blade 171 is moved toward the proximal portion of the first jaw 101. 101g From distal 101f It can be pulled out from the first jaw 101 or pulled into the first jaw 101 while moving along the direction.

[0302] That is, the blade link 173, the first guide portion 101e of the first jaw 101, and the second guide portion 171c of the blade 171 are combined to form a kind of power transmission mechanism, and when the blade pulley 161 rotates, the blade 171 connected thereto moves between a first position and a second position.

[0303] Here, the end tool 100 of the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized in that it includes a blade pulley 161 disposed between the pulley 111 and the pulley 121, and a blade 171 connected to the blade pulley 161 and moving between a first position and a second position in response to the rotation of the blade pulley 161. In other words, it can be expressed that the blade 171 moves between a distal end 101f and a proximal end 101g of the first jaw 101 in response to the rotation of the blade pulley 161. And, by including the blade pulley 161 and the blade 171 in this way, it is characterized in that a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation motion is capable of cauterization and cutting. This will be described in more detail as follows.

[0304] So far, various kinds of instruments for electrocautery surgery have been developed. Among them, vessel cutters called Advanced Energy Devices or vessel sealers have added sensing functions compared to conventional bipolar cautery methods, supplying power of different polarities to two electrodes, and stopping the bleeding by denaturing the blood vessels with the heat generated by this, and then cutting the part where the bleeding has been stopped with a blade. At this time, the impedance of the tissue (or blood vessel) is measured while the current is flowing to determine whether cauterization is complete, and when cauterization is completed, the current supply is automatically stopped and the tissue is cut with the blade.

[0305] Such bipolar vascular resection devices must be equipped with a blade to cut tissue after cauterization, and an additional device must be provided on the end tool to allow the blade to move back and forth in a straight line, meaning that articulation movements such as pitch / yaw movements are often not possible.

[0306] Meanwhile, there have been attempts to realize joint movement in bipolar vascular resection devices by using a bending joint connecting multiple segments, but in this case, there was a problem that the rotation angle was limited and it was difficult to accurately control the movement of the end tool.

[0307] On the other hand, in the case of a method of stopping bleeding and cutting using ultrasonic vibration, it is impossible to provide a joint due to the physical characteristics of ultrasonic waves.

[0308] In order to solve such problems, an end tool 100 of an electrocautery surgical instrument 10 according to an embodiment of the present invention is characterized in that it includes a blade pulley 161 disposed between a pulley 111 and a pulley 121, and a blade 171 connected to the blade pulley 161 and moving between a first position and a second position in response to the rotation of the blade pulley 161. By including the blade pulley 161 and the blade 171 in this manner, one of the features of the end tool 100 is that a bipolar surgical instrument for cauterizing and cutting tissue can perform pitch / yaw / actuation motions in a pulley / wire system.

[0309] FIG. 15 is a diagram showing a state where the blade pulley 161 and the blade 171 are located at a first position, and FIG. 17 is a diagram showing a state where the blade pulley 161 and the blade 171 are located at a second position. FIG. 16 is a diagram showing a state where the blade pulley 161 and the blade 171 are moved from the first position to the second position. Meanwhile, FIG. 18 is a diagram showing a state where the first jaw 101 and the second jaw 102 are opened before cutting the tissue, FIG. 19 is a diagram showing a state where the first jaw 101 and the second jaw 102 are closed to cauterize and cut the tissue, and FIG. 20 is a diagram showing a state where the first jaw 101 and the second jaw 102 are opened again after the cutting of the tissue is completed. And FIG. 21 is a perspective view of a cross section along AA in FIG. 19, and FIG. 22 is a front view of the cross section along AA in FIG. 19.

[0310] In other words, as shown in FIG. 19, when the first jaw 101 and the second jaw 102 are closed, the cutting operation of FIGS. 15 to 17 is performed, and the tissue between the first jaw 101 and the second jaw 102 is cut.

[0311] 15 can be defined as a state in which the blade 171 is completely retracted into the first jaw 101. Alternatively, it can be defined as a state in which the second guide portion 171c of the blade 171 is located at one end of the groove-shaped first guide portion 101e, specifically, the end adjacent to the blade pulley 161.

[0312] 17 can be defined as a state in which the blade 171 is maximally pulled outward from the first jaw 101. Alternatively, it can be defined as a state in which the second guide portion 171c of the blade 171 is located at the other end of the groove-shaped first guide portion 101e, specifically, at the end located on the distal portion 104 side of the end tool 100.

[0313] First, as shown in FIG. 18, 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, and then an actuation operation is performed to close the first jaw 101 and the second jaw 102 as shown in FIG. 19.

[0314] 15, 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, with the blade pulley 161 and the blade 171 positioned at the first position. At this time, a generator (not shown) that supplies power to the electrodes can itself monitor at least some of the current, voltage, resistance, impedance, and temperature, and can cut off the power when the cauterization is completed.

[0315] When the blade pulley 161 rotates in the direction of arrow A in Figures 16 and 17 in a state where cauterization is completed in this manner, the blade link 173 connected to the blade pulley 161 moves in the direction of arrow B in Figures 16 and 17, and sequentially reaches the positions in Figures 16 and 17. Then, the blade 171 connected to the blade link 173 moves from a first position at the proximal portion 101g of the first jaw 101 to a second position at the distal portion 101f of the first jaw 101.

[0316] In other words, when the protrusion-shaped second guide portion 171c is fitted into the groove-shaped first guide portion 101e and the blade pulley 161 rotates in the direction of arrow A, the blade link 173 connected to the blade pulley 161 pushes the blade 171 in the direction of arrow B, causing the blade 171 as a whole to move along the first guide portion 101e.

[0317] At this time, since the groove-shaped first guide portion 101e is formed with a certain degree of inclination in a certain section, the blade 171 moves linearly toward the distal portion 104 of the end tool 100 (i.e., moves in the X-axis direction) and at the same time moves linearly in a direction protruding to a certain degree from the inside to the outside of the first jaw 101 (i.e., moves in the Y-axis direction).

[0318] In this manner, the blade 171 cuts the tissue between the first jaw 101 and the second jaw 102 while simultaneously moving in the X-axis direction and the Y-axis direction.

[0319] However, the linear motion of the blade 171 does not mean a perfectly straight line, but rather that the intermediate portion of the straight line may be bent at a predetermined angle, or there may be a section with a gentle curvature in a certain area, and so on. Even if the motion is not a perfect straight line, it is linear overall and can still cut tissue.

[0320] Also, as described above, the grooves included in the first guide portion 101e may be formed in different shapes, which may allow the linear motion of the blade 171 to be varied to a certain degree.

[0321] When the blade pulley 161 continues to rotate in the direction of arrow A and reaches the position shown in FIG. 17, the blade pulley 161 and the blade 171 are positioned at the second position and cannot move any further.

[0322] On the other hand, when the blade pulley 161 rotates in the direction opposite to that of the arrow A in this state, the blade link 173 connected to the blade pulley 161 also moves in the direction opposite to that of the arrow B and returns to the first position.

[0323] Finally, as shown in FIG. 20, when the first jaw 101 and the second jaw 102 are opened again, it can be confirmed that the tissue between the first jaw 101 and the second jaw 102 has been cut.

[0324] According to the present invention, it is possible to obtain an effect that a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation motion can be used for cauterization and cutting.

[0325] (Operation unit) Figures 23 and 24 are perspective views showing an operation part of the surgical instrument of Figure 2. Figure 25 is a diagram simply showing only the configuration of pulleys and wires that constitute the joints of the electrocautery surgical instrument shown in Figure 2.

[0326] 2 to 25, the operation unit 200 of the electrocautery surgical instrument 10 according to the first embodiment of the present invention includes a first handle 204 that can be held by a user, an actuation operation unit 203 that controls the actuation motion of the end tool 100, a yaw operation unit 202 that controls the yaw motion of the end tool 100, and a pitch operation unit 201 that controls the pitch motion of the end tool 100. Here, it can be understood that only components related to the pitch / yaw / actuation motions of the electrocautery surgical instrument 10 are shown in Figs. 23 and 24.

[0327] In addition, the operating unit 200 of the electric cauterization surgical instrument 10 further includes a blade operating unit 260 that controls the movement of the blade of the end tool 100 to perform cutting, and a cauterization operating unit 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.

[0328] The operating unit 200 may include pulleys 210, 211, 212, 213, 214, 215, 216, 217, and 218 related to the rotational motion of the first jaw 101. Also, the operating unit 200 may include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational motion of the second jaw 102. Also, the operating unit 200 may include pulleys 231, 232, 233, and 234 related to the pitch motion. Also, the operating unit 200 may include pulleys 235, which are intermediate pulleys arranged at various points in the bent portion 402 of the connecting portion 400.

[0329] Here, although the figures show opposing pulleys formed parallel to each other, the spirit of the present invention is not limited thereto, and it will be appreciated that each pulley can be formed in a variety of positions and sizes suited to the configuration of the operating portion.

[0330] Moreover, the operation unit 200 of the first embodiment of the present invention can include a rotation shaft 241, a rotation shaft 242, a rotation shaft 243, a rotation shaft 244, a rotation shaft 245, and a rotation shaft 246. Here, the rotation shaft 241 can function as an operation unit first jaw actuation rotation shaft, and the rotation shaft 242 can function as an operation unit second jaw actuation rotation shaft. Then, the rotation shaft 243 can function as an operation unit yaw main rotation shaft, and the rotation shaft 244 can function as an operation unit yaw sub rotation shaft. Then, the rotation shaft 245 can function as an operation unit pitch sub rotation shaft, and the rotation shaft 246 can function as an operation unit pitch main rotation shaft.

[0331] The rotating shaft 241 / the rotating shaft 242 , the rotating shaft 243 , the rotating shaft 244 , the rotating shaft 245 and the rotating shaft 246 can be arranged sequentially from the distal end 205 to the proximal end 206 of the operating portion 200 .

[0332] Each of the rotating shafts 241, 242, 243, 244, 245, and 246 may have one or more pulleys fitted thereto, which will be described in detail later.

[0333] Pulley 210 functions as an operating portion first jaw actuation pulley, and pulley 220 functions as an operating portion second jaw actuation pulley, and these components can also be collectively referred to as an operating portion actuation pulley.

[0334] Pulley 211 and pulley 212 function as an operating unit first jaw-yo main pulley, and pulley 221 and pulley 222 function as an operating unit second jaw-yo main pulley, and these components can be commonly referred to as an operating unit yaw main pulley.

[0335] Pulley 213 and pulley 214 function as an operating unit first jaw-yaw sub-pulley, and pulley 223 and pulley 224 function as an operating unit second jaw-yaw sub-pulley, and these components can be commonly referred to as an operating unit yaw sub-pulley.

[0336] Pulleys 215 and 216 function as an operating section first jaw pitch sub-pulley, and pulleys 225 and 226 function as an operating section second jaw pitch sub-pulley, and these components can be commonly referred to as an operating section pitch sub-pulley.

[0337] Pulleys 217 and 218 function as an operating section first jaw pitch main pulley, and pulleys 227 and 228 function as an operating section second jaw pitch main pulley, and these components can be commonly referred to as an operating section pitch main pulley.

[0338] Pulleys 231 and 232 function as operation unit pitch wire main pulleys, and pulleys 233 and 234 function as operation unit pitch wire sub pulleys.

[0339] The above components can be classified in terms of the operation parts for each movement (pitch / yaw / actuation) as follows.

[0340] The pitch operation unit 201 that controls the pitch movement of the end tool 100 can include a pulley 215, a pulley 216, a pulley 217, a pulley 218, a pulley 225, a pulley 226, a pulley 227, a pulley 228, a pulley 231, a pulley 232, and a pulley 234. The pitch operation unit 201 can also include a rotation shaft 245 and a rotation shaft 246. The pitch operation unit 201 can further include a pitch frame 208.

[0341] The yaw operation unit 202 that controls the yaw motion of the end tool 100 can include a pulley 211, a pulley 212, a pulley 213, a pulley 214, a pulley 221, a pulley 222, a pulley 223, and a pulley 224. The yaw operation unit 202 can also include a rotation shaft 243 and a rotation shaft 244. The yaw operation unit 202 can further include a yaw frame 207.

[0342] The actuation operation unit 203 that controls the actuation movement of the end tool 100 may include a pulley 210, a pulley 220, a rotating shaft 241, and a rotating shaft 242. In addition, the actuation operation unit 203 may further include a first actuation operation unit 251 and a second actuation operation unit 256.

[0343] Each of the components of the operation unit 200 will be described in more detail below.

[0344] The first handle 204 is formed so that it can be held by the user's hand, and in particular, it can be formed so that the user can wrap and grasp the first handle 204 with his or her palm. An actuation operation unit 203 and a yaw operation unit 202 are formed on the first handle 204, and a pitch operation unit 201 is formed on one side of the yaw operation unit 202. The other end of the pitch operation unit 201 is connected to the bent portion 402 of the connection unit 400.

[0345] The actuation operation unit 203 includes a first actuation operation unit 251 and a second actuation operation unit 256. The first actuation operation unit 251 includes a rotating shaft 241, a pulley 210, a first actuation extension unit 252, and a first actuation gear 253. The second actuation operation unit 256 includes a rotating shaft 242, a pulley 220, a second actuation extension unit 257, and a second actuation gear 258. Here, the ends of the first actuation extension unit 252 and the second actuation extension unit 257 are formed in a ring shape and can operate as a second handle.

[0346] Here, the rotation axis 241 and the rotation axis 242, which are actuation rotation axes, may be formed to form a predetermined angle with the XY plane on which the connection part 400 is formed. For example, the rotation axis 241 and the rotation axis 242 may be formed in a direction parallel to the Z axis, and in this state, when the pitch operation part 201 or the yaw operation part 202 rotates, the coordinate system of the actuation operation part 203 may change relatively. Of course, the idea of ​​the present invention is not limited thereto, and the rotation axis 241 and the rotation axis 242 may be formed in various directions to suit the structure of the hand of a user holding the actuation operation part 203 according to an ergonomic design.

[0347] Meanwhile, the pulley 210, the first actuation extension 252, and the first actuation gear 253 may be fixedly coupled to each other and formed to be rotatable together around the rotation shaft 241. Here, the pulley 210 may be composed of one pulley or may be composed of two pulleys fixedly coupled to each other.

[0348] 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 be rotatable together around the rotation axis 242. Here, the pulley 220 may be composed of one pulley, or may be composed of two pulleys fixedly coupled to each other.

[0349] Here, the first actuation gear 253 and the second actuation gear 258 may be formed to mesh with each other and rotate together in the opposite direction when one side rotates.

[0350] The yaw operation part 202 may include a rotating shaft 243, pulleys 211 and 212 which are the first jaw-yo main pulleys of the operation part, pulleys 221 and 222 which are the second jaw-yo main pulleys of the operation part, and a yaw frame 207. The yaw operation part 202 may further include pulleys 213 and 214 which are the first jaw-yo sub pulleys of the operation part formed on one side of the pulleys 211 and 212, and pulleys 223 and 224 which are the second jaw-yo sub pulleys of the operation part formed on one side of the pulleys 221 and 222. Here, the pulleys 213 and 214 and the pulleys 223 and 224 may be coupled to a pitch frame 208 which will be described later.

[0351] Here, in the figure, the yaw operation part 202 includes pulleys 211 and 212 and pulleys 221 and 222, and the pulleys 211 and 212 and the pulleys 221 and 222 are formed to face each other, respectively, and are shown as having two pulleys that can rotate independently, but the idea of ​​the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be provided depending on the configuration of the yaw operation part 202.

[0352] Specifically, a rotation shaft 243 that is an operation unit yaw main rotation shaft is formed on one side of the actuation operation unit 203 on the first handle 204. At this time, the first handle 204 is formed to be rotatable about the rotation shaft 243.

[0353] Here, the rotation axis 243 may be formed to form a predetermined angle with the XY plane on which the connection part 400 is formed. For example, the rotation axis 243 may be formed in a direction parallel to the Z axis, and when the pitch operation unit 201 rotates in this state, the coordinate system of the rotation axis 243 may relatively change as described above. Of course, the idea of ​​the present invention is not limited thereto, and the rotation axis 243 may be formed in various directions to suit the structure of the hand of a user holding the operation unit 200 according to an ergonomic design.

[0354] Meanwhile, the pulleys 211 and 212 and the pulleys 221 and 222 are coupled to the rotation shaft 243 so as to be rotatable about the rotation shaft 243. The pulleys 211 and 212 may be wound with a wire 301 or 305 as a first jaw wire, and the pulleys 221 and 222 may be wound with a wire 302 or 306 as a second jaw wire. In this case, the pulleys 211 and 212 and the pulleys 221 and 222 may be formed to face each other and may be composed of two pulleys that can rotate independently. Therefore, the wire to be wound and the wire to be unwound may be wound on separate pulleys, respectively, and may operate without interfering with each other.

[0355] The yaw frame 207 rigidly connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, allowing the first handle 204, the yaw operation unit 202, and the actuation operation unit 203 to yaw rotate integrally around the rotation shaft 243.

[0356] The pitch operation unit 201 may include a rotating shaft 246, pulleys 217 and 218 which are first jaw pitch main pulleys of the operation unit, pulleys 227 and 228 which are second jaw pitch main pulleys of the operation unit, and a pitch frame 208. The pitch operation unit 201 may further include a rotating shaft 245, pulleys 215 and 216 which are first jaw pitch sub pulleys of the operation unit formed on one side of the pulleys 217 and 218, and pulleys 225 and 226 which are second jaw pitch sub pulleys of the operation unit formed on one side of the pulleys 227 and 228. The pitch operation unit 201 may be connected to the bent portion 402 of the connection unit 400 via the rotating shaft 246.

[0357] Specifically, the pitch frame 208 serves as a base frame of the pitch operation unit 201, and one end of the pitch frame 208 is rotatably coupled to a rotation shaft 243. That is, the yaw frame 207 is formed to be rotatable about the rotation shaft 243 relative to the pitch frame 208.

[0358] As described above, the yaw frame 207 connects the first handle 204, the rotation shaft 243, the rotation shaft 241, and the rotation shaft 242, and the yaw frame 207 is axially coupled to the pitch frame 208. Therefore, when the pitch frame 208 pitch rotates around the rotation shaft 246, the yaw frame 207, the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243 connected to the pitch frame 208 pitch rotate together. In other words, when the pitch operation unit 201 rotates around the rotation shaft 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201. In other words, when the user pitches the first handle 204 around the rotation shaft 246, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 move together.

[0359] Pulleys 217 and 218 , and pulleys 227 and 228 are coupled to a rotation axis 246 of pitch frame 208 so as to be rotatable about the rotation axis 246 .

[0360] Here, pulleys 217 and 218 may be formed to face each other and to be independently rotatable. Thus, the wire to be wound and the wire to be unwound may be wound around separate pulleys, respectively, and may operate without interfering with each other. Similarly, pulleys 227 and 228 may be formed to face each other and to be independently rotatable. Thus, the wire to be wound and the wire to be unwound may be wound around separate pulleys, respectively, and may operate without interfering with each other.

[0361] Next, the operation of wires 303 and 304, which are pitch wires, is as follows.

[0362] In the end tool 100, a pulley 131 which is an end tool pitch pulley is fixedly connected to the end tool hub 180, and in the operation unit 200, pulleys 231 and 232 which are operation unit pitch pulleys are fixedly connected to the pitch frame 208. These pulleys are connected to wires 303 and 304 which are pitch wires, so that the pitch operation of the end tool 100 can be more easily performed in response to the pitch operation of the operation unit 200. Here, the wire 303 is fixedly connected to the pitch frame 208 via the pulleys 231 and 233, and the wire 304 is fixedly connected to the pitch frame 208 via the pulleys 232 and 234. In other words, the pitch rotation of the operating unit 200 causes the pitch frame 208 and the pulleys 231 and 232 to rotate together around the rotation axis 246, and as a result, the wires 303 and 304 also move, making it possible to transmit additional pitch rotation power in addition to the pitch movement of the end tool caused by the jaw wires, wires 301, 302, 305 and 306.

[0363] The connection relationships between the first handle 204 and the pitch operation unit 201, the yaw operation unit 202, and the actuation operation unit 203 can be summarized as follows. Rotation shafts 241 and 242, and rotation shafts 243, 244, 245, and 246 can be formed on the first handle 204. At this time, since the rotation shafts 241 and 242 are directly formed on the first handle 204, the first handle 204 can be directly connected to the actuation operation unit 203. Meanwhile, since the rotation shaft 243 is directly formed on the first handle 204, the first handle 204 can be directly connected to the yaw operation unit 202. Meanwhile, since the pitch operation unit 201 is formed on one side of the yaw operation unit 202 so as to be connected to the yaw operation unit 202, the pitch operation unit 201 is not directly connected to the first handle 204, and the pitch operation unit 201 and the first handle 204 can be formed so as to be indirectly connected via the yaw operation unit 202.

[0364] Continuing to refer to the drawings, in the electrocautery surgical instrument 10 according to the first embodiment of the present invention, the pitch operation unit 201 and the end tool 100 may be formed on the same or parallel axis (X-axis). That is, the rotation axis 246 of the pitch operation unit 201 is formed at one end of the bent portion 402 of the connection portion 400, and the end tool 100 is formed at the other end of the connection portion 400.

[0365] One or more intermediate pulleys 235 for changing or guiding the path of the wire can be disposed at various places in the connection portion 400, particularly at the bent portion 402. By guiding the path of the wire by winding at least a portion of the wire around such intermediate pulleys 235, the wire can be arranged along the bent shape of the bent portion 402.

[0366] Here, in the figure, the connection part 400 is shown to be curved to have a predetermined curvature by including a bent part 402, but the idea of ​​the present invention is not limited thereto, and the connection part 400 may be formed in a straight line or bent one or more times as necessary, and even in such a case, it can be said that the pitch operation part 201 and the end tool 100 are formed on substantially the same or parallel axes. In addition, in Fig. 3, the pitch operation part 201 and the end tool 100 are shown to be formed on axes parallel to the X-axis, but the idea of ​​the present invention is not limited thereto, and the pitch operation part 201 and the end tool 100 may be formed on different axes.

[0367] (actuation movement, yaw movement, pitch movement) The actuation operation, yaw operation, and pitch operation in this embodiment will be described as follows.

[0368] First, the actuation operation is as follows.

[0369] When a user rotates the actuation extensions 252, 257 using either or both fingers while pinching the index finger in the ring formed on the first actuation extension 252 and the thumb in the ring formed on the second actuation extension 257, the pulley 210 and the first actuation gear 253 fixedly connected to the first actuation extension 252 rotate around the rotation axis 241, and the pulley 220 and the second actuation gear 258 fixedly connected to the second actuation extension 257 rotate around the rotation axis 242. At this time, the pulleys 210 and 220 rotate in opposite directions, and therefore the wires 301 and 305, one end of which is fixedly connected to the pulley 210 and wound around it, and the wires 302 and 306, one end of which is fixedly connected to the pulley 220 and wound around it, also move in opposite directions. Such a rotational force is transmitted to the end tool 100 via the power transmission unit 300, and the two jaws 103 of the end tool 100 perform an actuation operation.

[0370] Here, the actuation operation means an operation of opening and closing the jaws 101, 102 while the two jaws 101, 102 rotate in opposite directions to each other, as described above. That is, when the actuation extensions 252, 257 of the actuation operating unit 203 are rotated in a direction toward each other, the first jaw 101 rotates counterclockwise and the second jaw 102 rotates clockwise to close the end tool 100. Conversely, when the actuation extensions 252, 257 of the actuation operating unit 203 are rotated in a direction away from each other, the first jaw 121 rotates clockwise and the second jaw 122 rotates counterclockwise to open the end tool 100.

[0371] In this embodiment, for the above-mentioned actuation operation, the second handle is configured with the first actuation extension 252 and the second actuation extension 257, and can be gripped and operated with two fingers. However, the configuration of the actuation operation unit 203 for the actuation operation of opening and closing the two jaws of the end tool 100 from each other may be different from that described above, and other modifications may be possible, such as a configuration in which two actuation pulleys (pulley 210, pulley 220) are operated in opposite directions by one actuation rotating unit.

[0372] Next, the yaw motion is as follows:

[0373] When the user rotates the first handle 204 about the rotation axis 243 while gripping the first handle 204, the actuation operation unit 203 and the yaw operation unit 202 rotate in yaw about the rotation axis 243. That is, when the pulley 210 of the first actuation operation unit 251 to which the wires 301 and 305 are fixedly coupled rotates about the rotation axis 243, the wires 301 and 305 wound around the pulleys 211 and 212 move. Similarly, when the pulley 220 of the second actuation operation unit 256 to which the wires 302 and 306 are fixedly coupled rotates about the rotation axis 243, the wires 302 and 306 wound around the pulleys 221 and 222 move. At this time, the wires 301 and 305 connected to the first jaw 101 and the wires 302 and 306 connected to the second jaw 102 are wound around the pulleys 211 and 212 and the pulleys 221 and 222 so that the first jaw 101 and the second jaw 102 rotate in the same direction during yaw rotation. Then, such a rotational force is transmitted to the end tool 100 via the power transmission unit 300, and a yaw operation is performed in which the two jaws 103 of the end tool 100 rotate in the same direction.

[0374] At this time, the yaw frame 207 connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, so that the first handle 204, the yaw operation unit 202, and the actuation operation unit 203 rotate together around the rotation shaft 243.

[0375] Next, the pitch action is as follows:

[0376] When the user rotates the first handle 204 about the rotation axis 246 while gripping the first handle 204, the actuation operation unit 203, the yaw operation unit 202, and the pitch operation unit 201 will pitch rotate about the rotation axis 246. That is, when the pulley 210 of the first actuation operation unit 251 to which the wires 301 and 305 are fixedly coupled rotates about the rotation axis 246, the wires 301 and 305 wound around the pulleys 217 and 218 will move. Similarly, when the pulley 220 of the second actuation operation unit 256 to which the wires 302 and 306 are fixedly coupled rotates about the rotation axis 246, the wires 302 and 306 wound around the pulleys 227 and 228 will move. 5, the wires 301 and 305 which are the first jaw wires move in the same direction, and the wires 302 and 306 which are the second jaw wires move in the same direction, so that the first jaw 101 and the second jaw 102 can pitch rotate, and the wires 301, 305, 302, and 306 which are the jaw wires are wound around the pulleys 217, 218, 227, and 228 which are the operation unit pitch main pulleys. Then, such a rotational force is transmitted to the end tool 100 via the power transmission unit 300, and the two jaws 103 of the end tool 100 perform the pitch movement.

[0377] At this time, the pitch frame 208 is connected to the yaw frame 207, and the yaw frame 207 connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, so that when the pitch frame 208 rotates around the rotation shaft 246, the yaw frame 207 connected to the pitch frame 208, the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243 rotate together. In other words, when the pitch operation unit 201 rotates around the rotation shaft 246, the actuation operation unit 203 and the yaw operation unit 202 rotate together with the pitch operation unit 201.

[0378] In summary, the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint position (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around this pulley, and a rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes the movement of each wire, thereby inducing a desired movement of the end tool 100. Furthermore, an auxiliary pulley can be formed on one side of each pulley, and these auxiliary pulleys can prevent the wire from being wound multiple times around one pulley.

[0379] Fig. 25 is a diagram simply illustrating only the configuration of pulleys and wires that configure the joints of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in Fig. 2. In Fig. 25, an intermediate pulley for changing the path of the wires regardless of the joint operation is omitted.

[0380] Referring to FIG. 25 , the operating portion 200 can include a pulley 210 , a pulley 211 , a pulley 212 , a pulley 213 , a pulley 214 , a pulley 215 , a pulley 216 , a pulley 217 , and a pulley 218 related to the rotational movement of the first jaw 101 .

[0381] The operating unit 200 may also include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational motion of the second jaw 122. (Since the arrangement and configuration of each pulley in the operating unit 200 are fundamentally the same as the arrangement and configuration of each pulley in the end tool 100, some of the specific notations of the reference numerals in the drawings will be omitted.)

[0382] Pulleys 211 and 212, and pulleys 221 and 222, may be formed to be rotatable independently of each other about the same axis, that is, a rotation axis 243. In this case, pulleys 211 and 212, and pulleys 221 and 222, may be formed to face each other and to be formed as two pulleys that are rotatable independently of each other.

[0383] Pulleys 213 and 214, and pulleys 223 and 224 may be formed to be rotatable independently of each other around the same axis, ie, rotation axis 244. In this case, pulleys 213 and 214 may be formed of two pulleys formed to be opposed to each other and rotatable independently of each other, and the two pulleys may be formed to have different diameters. Similarly, pulleys 223 and 224 may be formed of two pulleys formed to be opposed to each other and rotatable independently of each other, and the two pulleys may be formed to have different diameters.

[0384] Pulleys 215 and 216, and pulleys 225 and 226 may be formed to be rotatable independently of each other about the same axis, that is, a rotation axis 245. In this case, pulleys 215 and 216 may be formed to have different diameters. Also, pulleys 225 and 226 may be formed to have different diameters.

[0385] Pulleys 217 and 218, and pulleys 227 and 228 may be formed to be rotatable independently of each other about a rotation axis 246 which is the same axis.

[0386] The wire 301 passes through pulleys 217, 215, 213, and 211 of the operation unit 200 in succession, is wound around the pulley 210, and is then coupled to the pulley 210 by a fastening member 324. On the other hand, the wire 305 passes through pulleys 218, 216, 214, and 212 of the operation unit 200 in succession, and is then coupled to the pulley 210 by a fastening member 324. Therefore, when the pulley 210 rotates, the wire 301 and the wire 305 are wound or unwound around the pulley 210 accordingly, and the first jaw 101 rotates.

[0387] The wire 306 passes through pulleys 227, 225, 223, and 221 of the operating unit 200 in succession, is wound around the pulley 220, and is then coupled to the pulley 220 by a fastening member 327. On the other hand, the wire 302 passes through pulleys 228, 226, 224, and 222 of the operating unit 200 in succession, and is then coupled to the pulley 220 by a fastening member 327. Therefore, when the pulley 220 rotates, the wires 302 and 306 are wound or unwound around the pulley 220 accordingly, and the second jaw 102 rotates.

[0388] (Conceptual diagram of pulley and wire) 27 and 28 are views showing the configurations of pulleys and wires related to the actuation and yaw operations of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in FIG. 2, with the first and second jaws respectively resolved. FIG. 27 is a view showing only the pulleys and wires related to the second jaw, and FIG. 28 is a view showing only the pulleys and wires related to the first jaw. And FIG. 26 is a perspective view showing the yaw operation of the surgical instrument in FIG. 2. Here, components related to the cutting operation are omitted in FIG. 26.

[0389] First, the wire operation of the actuation operation will be described.

[0390] Referring to Figure 28, when the first actuation extension 252 rotates in the direction of arrow OPA1 around the rotation axis 241, the pulley 210 connected to the first actuation extension 252 rotates, and the wires 301 and 305 wound around the pulley 210 move in the directions W1a and W1b, respectively, resulting in the first jaw 101 of the end tool 100 rotating in the direction of arrow EPA1.

[0391] 27, when second actuation extension 257 rotates around rotation axis 242 in the direction of arrow OPA2, pulley 220 connected to second actuation extension 257 rotates, and both wires 302 and 306 wound around pulley 220 move in the directions of W2a and W2b, respectively, resulting in second jaw 102 of end tool 100 rotating in the direction of arrow EPA2. Therefore, when a user operates first actuation extension 252 and second actuation extension 257 in directions in which they approach each other, an operation is performed in which first jaw 101 and second jaw 102 of the end tool approach each other.

[0392] Next, the wire operation for yaw motion will be described.

[0393] First, the rotation shaft 243, the rotation shaft 241, and the rotation shaft 242 are connected to the yaw frame (see FIG. 26 Since the rotating shaft 243 is connected to the rotating shaft 241 and the rotating shaft 242 by a pair of screws (see 207), the rotating shaft 243 rotates together as a unit.

[0394] Referring to Figure 28, when the first handle 204 is rotated in the direction of the arrow OPY1 around the rotation axis 243, pulleys 210, 211, and 212, and the wires 301 and 305 wound thereon, rotate as a whole around the rotation axis 243, and as a result, the wires 301 and 305 wound around pulleys 211 and 212 move in the directions W1a and W1b, respectively, and as a result, the first jaw 101 of the end tool 100 rotates in the direction of the arrow EPY1.

[0395] 27, when the first handle 204 is rotated in the direction of the arrow OPY2 around the rotation axis 243, the pulleys 220, 221, and 222, and the wires 302 and 306 wound thereon rotate as a whole around the rotation axis 243. As a result, the wires 302 and 306 wound around the pulleys 221 and 222 move to the opposite side of W1a and the opposite side of W1b, respectively. As a result, the first handle 204 of the end tool 100 is rotated in the direction of the arrow OPY2 around the rotation axis 243. 2 Joe 10 2 will rotate in the direction of the arrow EPY2.

[0396] Figures 29, 30, and 31 are views illustrating the configurations of pulleys and wires associated with the cutting operation of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in Figure 2, with the configurations removed for the first jaw and the second jaw, respectively. Here, Figures 29 to 31 are views mainly illustrating the pulleys and wires associated with the second jaw.

[0397] Here, Figs. 29 and 30 show the actuation operation process for closing the two jaws, and Figs. 30 and 31 show the cutting operation process for cutting tissue interposed between the two jaws.

[0398] First, the wire operation of the actuation operation will be described.

[0399] Referring to Figures 29 and 30, when the first actuation extension 252 of the first actuation operating unit 251 rotates in the direction of arrow OPA1 around the rotation axis 241, the pulley 210 connected to the first actuation extension 252 rotates, causing the wire (see 301 in Figure 25) and wire (see 305 in Figure 25) wound around the pulley 210 to move, resulting in the first jaw 101 of the end tool 100 rotating in the direction of arrow EPA1.

[0400] At this time, the operation unit blade pulley 269 of the blade operation unit 260 is formed to be rotatable around the rotation shaft 241 together with the first actuation operation unit 251. Therefore, when the first actuation extension unit 252 rotates around the rotation shaft 241, the blade operation unit 260 also rotates around the rotation shaft 241 together with the first actuation operation unit 251.

[0401] As a result, during actuation, when the pulley 111 rotates on the end tool 100, the blade pulley 161 also rotates with the pulley 111, and when the first jaw 101 rotates, the blade 171 also rotates with the first jaw 101.

[0402] Next, the wire operation in the cutting operation will be described.

[0403] 30 and 31, when the blade operating unit 260 is rotated in the direction of the arrow OPC1 around the rotation axis 247, which is the operating unit cutting rotation axis, the operating unit blade pulley 269 and the wires 307 and 308, which are blade wires wound thereon, rotate around the rotation axis 247, and as a result, the wires 307 and 308 wound around the operating unit blade pulley 269 move, respectively, and as a result, the blade pulley 161 of the end tool 100 rotates in the direction of the arrow EPC1.

[0404] On the other hand, when the blade operating unit 260 rotates, the operating unit blade pulley 269 rotates about the rotation shaft 247 , and at this time, the rotation of the blade operating unit 260 does not affect the first actuation operating unit 251 .

[0405] As a result, when the operating part blade pulley 269 rotates, the blade pulley 161 of the end tool 110 rotates independently of the first jaw 101, and when the blade pulley 161 rotates independently in this manner, the blade 171 is pulled out of the first jaw 101 (or pulled into the inside of the first jaw 101) and cutting is performed on the tissue.

[0406] 33, 34, and 35 are diagrams showing the configuration of the pulleys and wires related to the pitch operation of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in FIG. 2, with respect to the first jaw and the second jaw, respectively. FIG. 33 is a diagram showing only the pulleys and wires related to the second jaw, and FIG. 34 is a diagram showing only the pulleys and wires related to the first jaw. FIG. 35 is a diagram showing only the pulleys and wires related to the blade pulley. As shown in FIG. 9 and other figures, there are two pulleys related to the pitch operation, and both strands of each wire are wound in the same path, which are expressed by a single line in FIGS. 33 and 35. And FIG. 32 is a perspective view showing the pitch operation of the surgical instrument of FIG. 2. Here, in FIG. 32, components related to the cutting operation are omitted.

[0407] 33, when the first handle 204 is rotated in the direction of the arrow OPP1 around the rotation shaft 246, the pulleys 210, 215, 217, etc. and the wire 301 wound thereon, etc. rotate as a whole around the rotation shaft 246. At this time, the wires 301 and 305 which are the first jaw wires are wound on the upper side of the pulleys 217 and 218 as shown in FIG. 24, and therefore move to the side of the arrow W1. As a result, as described with reference to FIG. 5, the first jaw 101 of the end tool 100 rotates in the direction of the arrow EPP1.

[0408] 34, when the first handle 204 is rotated in the direction of the arrow OPP2 around the rotation shaft 246, the pulleys 220, 225, 227, etc. and the wire 302 wound thereon, etc. rotate as a whole around the rotation shaft 246. At this time, the wires 302 and 306 which are the second jaw wires are wound on the lower sides of the pulleys 227 and 228 as shown in FIG. 24, and therefore move to the side of the arrow W2. As a result, as described with reference to FIG. 5, the second jaw 102 of the end tool 100 rotates in the direction of the arrow EPP2.

[0409] 35, when the first handle 204 is rotated in the direction of the arrow OPC1 around the rotation shaft 246, the operation unit blade pulley 269, pulley 265, pulley 267, etc., and the wires 307 and 308 wound thereon, etc., rotate as a whole around the rotation shaft 246. At this time, the wires 307 and 308, which are blade wires, move to the side of the arrow W3 because they are wound under the pulleys 267 and 268. As a result, as described with reference to FIG. 5, the blade pulley 161 of the end tool 100 rotates in the direction of the arrow EPC1.

[0410] As a result, during pitch operation, when the pulley 111 of the end tool 100 rotates about the rotation axis 143, the blade pulley 161 also rotates about the rotation axis 143 together with the pulley 111, and when the first jaw 101 rotates, the blade 171 also pitch rotates together with the first jaw 101.

[0411] Therefore, the actuation, yaw, and pitch operations can be performed independently of each other.

[0412] As explained with reference to FIG. 1, the actuation operation unit 203, yaw operation unit 202, and pitch operation unit 201 are configured in the same manner as the joint configuration of the end tool, with their own rotation axes located behind each operation unit, allowing the user to intuitively perform the same operations.

[0413] In particular, the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint position (actuation joint, yaw joint, pitch joint), a wire (first jaw wire or second jaw wire) is wound around the pulley, and a rotation operation (actuation rotation, yaw rotation, pitch rotation) of the operation unit causes the movement of each wire, resulting in a desired operation of the end tool 100. Furthermore, an auxiliary pulley may be formed on one side of each pulley, and these auxiliary pulleys can prevent the wire from being wound around one pulley multiple times, the wires wound around the pulleys do not come into contact with each other, and a safe path for the wire wound around the pulleys and the wire unwound from the pulleys can be formed, improving the safety and efficiency of power transmission of the wire.

[0414] On the other hand, as described above, the yaw operation unit 202 and the actuation operation unit 203 are formed directly on the first handle 204. Therefore, when the first handle 204 rotates around the rotation axis 246, the yaw operation unit 202 and the actuation operation unit 203 also rotate together with the first handle 204. As a result, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 is not fixed, but continues to change relatively according to the rotation of the first handle 204. That is, in FIG. 2 and the like, the yaw operation unit 202 and the actuation operation unit 203 are shown as being parallel to the Z axis. However, when the first handle 204 rotates, the yaw operation unit 202 and the actuation operation unit 203 are no longer parallel to the Z axis. That is, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 changes according to the rotation of the first handle 204. However, for convenience of explanation in this specification, unless otherwise specified, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 has been described based on the state in which the first handle 204 is positioned perpendicular to the connection part 400 as shown in FIG. 2.

[0415] (Correlation between disconnection and other actions) The correlation between the cutting motion and other motions (pitch, yaw and actuation motions) will be described below.

[0416] First, when the end tool 100 pitches, the blade pulley 161 also pitches. That is, when the pulley 111 and the pulley 121 perform a pitch motion in which they rotate in the same direction around the rotation shaft 143, the blade pulley 161 must also rotate in the same direction together with the pulley 111 and the pulley 121. Otherwise, the blade 171 will move relatively to the first jaw 101.

[0417] Next, when the end tool 100 performs a yaw motion, the blade pulley 161 also performs a yaw motion. That is, when the pulley 111 and the pulley 121 perform a yaw motion in which they rotate in the same direction around the rotation shaft 141, the blade pulley 161 must also rotate in the same direction together with the pulley 111 and the pulley 121. Otherwise, the blade 171 will move relatively to the first jaw 101.

[0418] Next, during actuation of the end tool 100, the blade pulley 161 rotates together with the pulley 111. That is, when the pulley 111 and the pulley 121 perform actuation motion in which they rotate in opposite directions about the rotation axis 141, the blade pulley 161 must rotate together with the pulley 111 in the same direction. Otherwise, the blade 171 will move relatively to the first jaw 101.

[0419] On the other hand, during the cutting operation of the end tool 100, the pulley 111 and the pulley 121 do not rotate. That is, when the blade 171 is pulled out from the first jaw 101 or pulled into the first jaw 101 while the blade pulley 161 rotates about the rotation shaft 141, the pulley 111 and the pulley 121 must not rotate. Otherwise, the first jaw 101 and the blade 171 will move together, and the blade 171 will not be pulled out from the first jaw 101, and cutting will not be possible.

[0420] As a result, when pulley 111, which is the first jaw pulley, rotates, blade pulley 161 connected to blade 171 housed inside first jaw 101 must also rotate together with pulley 111. On the other hand, when blade pulley 161 rotates for cutting, pulley 111 and pulley 121 must be formed to maintain their positions without rotating. The correlation between such cutting operation and other operations (yawing operation and actuation operation) has been described above.

[0421] In other words, pulley 111 and pulley 121 can be expressed as being independent of the rotation of blade pulley 161. In other words, even if blade pulley 161 rotates due to the jaw wire, pulley 111 and pulley 121 do not have to rotate. Conversely, blade pulley 161 can be expressed as being dependent on the rotation of pulley 111 and pulley 121. In other words, the blade pulley 161 can be formed to rotate together with pulley 111 or pulley 121 when pulley 111 or pulley 121 rotates due to the jaw wire.

[0422] FIG. 36 is a diagram showing a state in which the jaw has been yaw-rotated by +90°, and FIG. 37 is a diagram showing a process in which an actuation operation is performed in a state in which the jaw has been yaw-rotated by +90°.

[0423] 38, 39, and 40 are plan views showing the cutting operation of the endotool of the electrocautery surgical instrument of FIG. 2, and are views showing the process of performing the cutting operation with the jaw rotated in a yaw direction by +90°. As shown in FIGS. 38 to 40, the endotool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw rotated in a yaw direction by +90°.

[0424] Figures 41, 42 and 43 are plan views showing the cutting operation of the endotool of the electrocautery surgical instrument of Figure 2, and are views showing the process of performing the cutting operation with the jaw rotated in a yaw direction by -90°. As shown in Figures 41 to 43, the endotool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw rotated in a yaw direction by -90°.

[0425] Meanwhile, Fig. 44 is a diagram showing a state where the jaw is pitch-rotated by -90°. Also, Figs. 45, 46 and 47 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of Fig. 2, showing the state where the cutting operation is performed with the jaw rotated by -90°. As shown in Figs. 45 to 47, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw rotated by -90°.

[0426] 48, 49, and 50 are perspective views showing the cutting operation of the endotool of the electrocautery surgical instrument of FIG. 2, and are views showing the state in which the cutting operation is performed with the jaw rotated by +90°. As shown in FIGS. 48 to 50, the endotool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw rotated by +90°.

[0427] Meanwhile, Fig. 51 is a diagram showing a state in which the jaws are pitch rotated by -90° and simultaneously rotated in a yaw direction by +90°, and Figs. 52, 53, and 54 are perspective views showing the cutting operation of the endotool of the electrocautery surgical instrument of Fig. 2, showing how the cutting operation is performed in a state in which the jaws are pitch rotated by -90° and simultaneously rotated in a yaw direction by +90°. As shown in Figs. 52 to 54, the endotool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so that it can normally perform a cutting operation even in a state in which the jaws are pitch rotated by -90° and simultaneously rotated in a yaw direction by +90°.

[0428] Figures 55, 56 and 57 are perspective views showing the cutting operation of the endotool of the electrocautery surgical instrument of Figure 2, and are views showing how the cutting operation is performed in a state where the jaw is pitch rotated by -90° and simultaneously rotated in a yaw direction by -90°. As shown in Figures 55 to 57, the endotool of the electrocautery surgical instrument according to the first embodiment of the present invention is formed so that a normal cutting operation can be performed even in a state where the jaw is pitch rotated by -90° and simultaneously rotated in a yaw direction by -90°. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0429] (First variant of the first embodiment - Engrave) The following describes an end tool 500 of a surgical instrument according to a first modified embodiment of the first embodiment of the present invention. The end tool 500 of a surgical instrument according to the first modified embodiment of the present invention is characterized by a different configuration of an end tool hub 580 that serves as an auxiliary pulley compared to the end tool 100 of a surgical instrument according to the first embodiment of the present invention described above (see FIG. 2, etc.). This changed configuration compared to the first embodiment will be described in detail later.

[0430] Fig. 58 to Fig. 60 are perspective views showing an end tool of an electrocautery surgical instrument according to a first modified embodiment of the first embodiment of the present invention, Fig. 61 is a view showing a state in which the jaw has been yaw-rotated by 90° in the clockwise direction, Fig. 62 is a view showing a state in which the jaw has been yaw-rotated by 90° in the counterclockwise direction, Fig. 63 is an enlarged perspective view showing an end tool hub of the electrocautery surgical instrument of Fig. 58.

[0431] Here, Figures 59 and 60 show the wire removed, and Figures 61 and 62 show the end tool hub jaw pulley connection portion removed.

[0432] 58 to 63, an end tool 500 of a first variant of the first embodiment of the present invention includes a pair of jaws, i.e., a first jaw 501 and a second jaw 502, for performing a gripping operation, where each of the first jaw 501 and the second jaw 502, or a component including the first jaw 501 and the second jaw 502, may be referred to as jaw 503.

[0433] On the other hand, the end tool 500 includes a plurality of pulleys including a pulley 511, a pulley 513, and a pulley 514 related to the rotational motion of the first jaw 501. In this embodiment, the pulleys related to the rotational motion of the first jaw 501 are substantially the same as the pulleys 113, 114, 115, and 116 described in FIG. 11 and the like in the first embodiment, and therefore detailed description thereof will be omitted here.

[0434] On the other hand, the end tool 500 includes a plurality of pulleys including a pulley 521 related to the rotational motion of the second jaw 502. In this embodiment, the pulleys related to the rotational motion of the second jaw 502 are substantially the same as the pulleys 123, 124, 125, and 126 described in FIG. 11 and the like in the first embodiment, and therefore detailed description thereof will be omitted here.

[0435] Also, the end tool 500 of the first modified form of the first embodiment of the present invention may include a rotating shaft 541, a rotating shaft 543, and a rotating shaft 544. Here, the rotating shaft 541 may be inserted through the end tool hub 580, and the rotating shaft 543 and the rotating shaft 544 may be inserted through the pitch hub 507. The rotating shafts 541, 543, and 544 may be sequentially arranged from the distal end 504 of the end tool 500 toward the proximal end 505.

[0436] Additionally, the end tool 500 of the first variation of the first embodiment of the present invention may include an end tool hub 580 and a pitch hub 507 .

[0437] A rotating shaft 541, which will be described later, is inserted through the end tool hub 580, and at least a part of the pulley 511 and the pulley 521 axially coupled to the rotating shaft 541 and the first jaw 501 and the second jaw 502 coupled thereto may be housed inside the end tool hub 580. Here, one feature of an embodiment of the present invention is that the end tool hub 580 is provided with a guide portion 583 that serves as an auxiliary pulley. That is, the end tool hub 580 may be provided with a guide portion 583 that guides the paths of the wires 305 and 302. The guide portion 583 of the end tool hub 580 may function as the auxiliary pulley (see 112, 122, and 162 in FIG. 9) in the first embodiment to change the path of the wires, and the guide portion 583 of the end tool hub 580 that serves as the auxiliary pulley will be described in more detail later.

[0438] Meanwhile, a pulley 531 serving as an end tool pitch pulley may be formed at one end of the end tool hub 580. As shown in FIG. 58, the pulley 531 may be formed of a separate member from the end tool hub 580 and connected to the end tool hub 580. Alternatively, the pulley 531 may be formed integrally with the end tool hub 580 (one-body). A wire (see 303 in FIG. 13) and a wire 304 are connected to the pulley 531 serving as the end tool pitch pulley, and the pulley 531 rotates around a rotation axis 543 to perform a pitch movement.

[0439] The rotation shaft 543 and the rotation shaft 544 are inserted through the pitch hub 507, and the pitch hub 507 can be axially coupled to the end tool hub 580 and the pulley 531 by the rotation shaft 543. Therefore, the end tool hub 580 and the pulley 531 can be formed to be pitch rotatable with respect to the pitch hub 507 around the rotation shaft 543.

[0440] Meanwhile, the end tool 500 of the first modified embodiment of the first embodiment of the present invention may further include components such as a first electrode 551, a second electrode 552, a blade pulley 561, a blade link 573, and a blade 571 to perform cautery and cutting operations. Here, components such as the blade pulley 561, the blade 571, and the blade link 573 related to the driving of the blade may be collectively referred to as a blade assembly (see 170 in FIG. 7). In one modified embodiment of the present invention, a blade assembly (see 170 in FIG. 7) including a blade 571 is disposed between the first jaw pulley-in pulley 511 and the second jaw pulley-in pulley 521, so that the end tool 500 can perform a pitch operation and a yaw operation as well as a cutting operation using the blade 571. In this embodiment, components for performing cautery and cutting operations are substantially the same as those described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0441] The electrocautery surgical instrument according to the first variant of the first embodiment of the present invention may include wire 301, wire 302, wire 303, wire 304, wire 305, wire 306, wire 307 and wire 308, similar to the first embodiment of the present invention shown in FIG. 13 etc.

[0442] In addition, the electrocautery surgical instrument according to the first variant of the first embodiment can include fastening members 321, 323, 324, 326, 327 and 329 coupled to each end of each wire to couple the wire to a pulley, similar to the first embodiment of the present invention shown in FIG. 13 etc.

[0443] In the following, the end tool hub 580 of the first variant of the first embodiment of the invention will be described in more detail, with particular emphasis on the guide portion 583 of the end tool hub 580 acting as an auxiliary pulley.

[0444] The end tool hub 580 includes a first jaw pulley coupling portion 581 , a second jaw pulley coupling portion 582 , a guide portion 583 , a guide groove 584 , and a pitch pulley coupling portion 585 .

[0445] In detail, the first jaw pulley coupling part 581 and the second jaw pulley coupling part 582 are formed to face each other, and accommodate the pulley 511, the pulley 521, and the blade pulley 561 therein. Further, a through hole is formed in each jaw pulley coupling part 581, 582, and the rotating shaft 541 penetrates the jaw pulley coupling parts 581, 582, the pulley 511, the pulley 521, and the blade pulley 581 to axially couple them.

[0446] The first jaw pulley coupling portion 581 and the second jaw pulley coupling portion 582 are connected by a guide portion 583. That is, the first jaw pulley coupling portion 581 and the second jaw pulley coupling portion 582, which are parallel to each other, are coupled by the guide portion 583 formed in a direction substantially perpendicular thereto, and the first jaw pulley coupling portion 581, the second jaw pulley coupling portion 582, and the guide portion 583 are substantially "C The pulley 511, the pulley 521 and the blade pulley 561 are housed inside the pulley 511.

[0447] In other words, it can be considered that first jaw pulley connecting portion 581 and second jaw pulley connecting portion 582 are formed extending in the X-axis direction from both ends of guide portion 583 which is formed long in the Z-axis direction.

[0448] Here, guide portion 583 may be formed in a cylindrical shape with a roughly semicircular cross section. This semicircular portion may be disposed so as to protrude toward pulley 511, pulley 521, and blade pulley 561. In other words, guide portion 583 may be expressed as being formed to protrude toward the space formed by first jaw pulley coupling portion 581, second jaw pulley coupling portion 582, and guide portion 583. In other words, the regions of guide portion 583 adjacent to jaw pulley coupling portions 581 and 582 may be expressed as being curved so that the cross section has a predetermined curvature.

[0449] Or, in other words, the guide portion 583 has the wires 305, 302, 307, and 308 wound around its outer circumferential surface, and functions as a kind of pulley member that guides the paths of the wires 305, 302, 307, and 308. However, the guide portion 583 is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as a part of the end tool hub 580, and it can be said that the wires are wound around it to perform some of the functions of a pulley in a similar manner.

[0450] Here, the figure shows that the guide portion 583 is formed in a cylindrical shape with a semicircular cross section. That is, at least a part of the cross section of the guide portion 583 on the XY plane is shown to have a predetermined arc shape. However, the idea of ​​the present invention is not limited to this, and it can be said that the cross section can be formed in various shapes and sizes suitable for guiding the paths of the wires 305, 302, 307, and 308, such as an ellipse, a parabola, or the like, having a predetermined curvature, or a polygonal prism with corners rounded to a certain degree.

[0451] Here, guide grooves 584 may be further formed in the portions of the guide portion 583 that contact the wires 305, 302, 307, and 308 to better guide the paths of the wires 305, 302, 307, and 308. The guide grooves 584 may be formed in a groove shape recessed to a certain extent from the protruding surface of the guide portion 583.

[0452] Here, although the figure shows that guide groove 584 is formed on the entire arcuate surface of guide portion 583, the concept of the present invention is not limited thereto, and it can be said that guide groove 584 can also be formed on only a portion of the arcuate surface of guide portion 583 as necessary.

[0453] By thus forming guide groove 584 in guide portion 583, unnecessary friction with the wire can be reduced, and durability of the wire can be improved.

[0454] A pitch pulley coupling part 585 may be further formed in the guide part 583 in a direction opposite to the direction in which the jaw pulley coupling parts 581 and 582 are formed. The pitch pulley coupling part 585 may be formed in a direction parallel to the pulley 531, which is a pitch pulley, i.e., on the XZ plane. The pitch pulley coupling part 585 may be formed with a through hole through which the rotating shaft 543 can be inserted, and the rotating shaft 543 may penetrate the pitch pulley coupling part 585 and the pulley 531 to couple these two members. Here, the pitch pulley coupling part 585 may be formed to be offset to a certain degree from the center to one side when viewed on the XY plane, and may be formed to be balanced as a whole when the pulley 531 is coupled.

[0455] The role and function of the guide portion 583 will be described in more detail below.

[0456] The guide portion 583 can play a role in increasing the rotation radius of each of the first jaw 501 and the second jaw 502 by coming into contact with the wires 305 and 302 and changing the arrangement paths of the wires 305 and 302 to a certain extent.

[0457] Furthermore, the guide portion 583 can play a role in increasing the rotation radius of the blade pulley 561 by coming into contact with the wires 307 and 308 which are blade wires and changing the arrangement path of the wires 307 and 308 to a certain extent.

[0458] In other words, if an auxiliary pulley is not provided, pulley 511 which is the first jaw pulley, pulley 521 which is the second jaw pulley, and blade pulley 561 can each only rotate up to a right angle, but in the first variant of the first embodiment of the present invention, by additionally providing guide portion 583 to end tool hub 580, it is possible to obtain the effect of increasing the maximum rotation angle of each pulley.

[0459] This enables an operation in which the two jaws of the end tool 500 must open for the actuation operation when the two jaws are rotated in a yaw direction by 90°. In other words, the configuration of the guide portion 583 of the end tool hub 580 has a feature that can expand the range of yaw rotation in which the actuation operation is possible. 。

[0460] In addition, the guide portion 583 of the end tool hub 580, which serves as an auxiliary pulley, allows the blade pulley 561 to additionally rotate for cutting operation in a state in which the two jaws have been yaw-rotated by 90°. In other words, the configuration of the guide portion 583 of the end tool hub 580 has the characteristic of being able to expand the range of yaw rotation in which cutting operation is possible.

[0461] Furthermore, by forming the guide portion 583 on the existing end tool hub 580 without adding a separate structure such as an auxiliary pulley, the rotation range can be expanded without adding parts or manufacturing processes.

[0462] In this way, there is no need to install a separate structure to expand the rotation angle, the number of parts is reduced, the manufacturing process is simplified, and the length of the end tool is shortened by the size of the auxiliary pulley, so that the length of the end tool when performing the pitch operation is shortened, thereby making it easier to perform surgical operations in a narrow space.

[0463] This will be explained in more detail as follows.

[0464] The end tool 500 of the surgical instrument according to the first modified example of the first embodiment of the present invention is characterized in that the wire arrangement path can be changed without a separate structure by forming a guide portion 583 capable of changing the wire route on the inner wall of the end tool hub 580. In this way, by forming the guide portion 583 on the end tool hub 580 and changing the arrangement paths of the wires 305, 302, 307, and 308 to a certain extent, the tangential directions of the wires 305, 302, 307, and 308 are changed, and therefore the rotation angles of the fastening members 323, 326, and 329 that connect the wires to the pulleys are expanded.

[0465] That is, the fastening member 326 that connects the wire 302 and the pulley 521 can rotate until it is positioned on the common inscribed line of the pulley 521 and the guide portion 583. Similarly, the fastening member (see 323 in FIG. 6) that connects the wire 305 and the pulley 511 can rotate until it is positioned on the common inscribed line of the pulley 511 and the guide portion 583, and the rotation angle of the fastening member (see 323 in FIG. 6) can be increased. Similarly, the fastening member 329 that connects the wire 307 and the wire 308 and the pulley 561 can rotate until it is positioned on two common inscribed lines of the pulley 561 and the guide portion 583, and the rotation angle of the fastening member 329 can be increased.

[0466] In other words, wire 301 and wire 305 wound around pulley 511 by guide unit 583 are disposed on one side of a plane perpendicular to the Y axis and passing through the X axis. At the same time, wire 302 and wire 306 wound around pulley 521 by guide unit 583 are disposed on the other side of a plane perpendicular to the Y axis and passing through the X axis.

[0467] In other words, pulleys 513 and 514 are disposed on one side of a plane perpendicular to the Y axis and passing through the X axis, and pulleys 523 and 524 are disposed on the other side of a plane perpendicular to the Y axis and passing through the X axis.

[0468] In other words, the wire 305 is located on the inscribed line between the pulley 511 and the guide portion 583, and the rotation angle of the pulley 511 is enlarged by the guide portion 583. In addition, the wire 302 is located on the inscribed line between the pulley 521 and the guide portion 583, and the rotation angle of the pulley 521 is enlarged by the guide portion 583.

[0469] Compared to the surgical instrument of the first embodiment in which a separate auxiliary pulley is formed, the length of the end tool of the surgical instrument of this modified embodiment can be shortened in that no auxiliary pulley is formed and a guide portion 583 that can change the path of the wire is formed on the inner wall of the end tool hub 580. As the length of the end tool is shortened in this manner, it is possible to obtain the effect of making it easier for the surgeon to operate the end tool when performing surgery in a narrow surgical space inside the body and reducing side effects of surgery.

[0470] According to the present invention, the rotation radius of the first jaw pulley 511, the second jaw pulley 521, and the blade pulley 561 is increased, thereby obtaining the effect of expanding the yaw operation range in which normal opening / closing actuation operations and cutting operations can be performed.

[0471] (Second Variant of First Embodiment—Sawtooth Blade) The following describes an endotool 600 of a surgical instrument according to a second modified embodiment of the first embodiment of the present invention. Here, the endotool 600 of a surgical instrument according to the second modified embodiment of the first embodiment of the present invention has a characteristically different configuration of a blade 671 compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). The following describes in detail the configuration that has changed compared to the first embodiment.

[0472] FIG. 64 is a perspective view showing an end tool of an electrocautery surgical instrument according to a second modification of the first embodiment of the present invention.

[0473] 64, an end tool 600 of a second variation of the first embodiment of the present invention includes a pair of jaws for performing a gripping action, namely a first jaw 601 and a second jaw 602. Additionally, the end tool 600 can include a blade 671 for a cutting action, a blade link 673, and a blade pulley 661 for linear / rotational movement of the blade 671 and a number of pulleys associated therewith.

[0474] The blade 671 includes a main body portion (see 171a in FIG. 7), an edge portion 671b, and one or more second guide portions (see 171c in FIG. 7).

[0475] An edge portion 671b that is sharp and cuts tissue is formed in one region of the main body portion (see 171a in FIG. 7). At least a part of this edge portion 671b is pulled out to the outside of the first jaw 601, and tissue placed between the first jaw 601 and the second jaw 602 can be cut.

[0476] Meanwhile, one or more second guide parts (see 171c in FIG. 7) may be formed in other regions of the main body part (see 171a in FIG. 7). For example, the second guide part (see 171c in FIG. 7) is formed in a protrusion shape, and in a state in which the second guide part (see 171c in FIG. 7) is fitted into the groove-shaped first guide part (see 101e in FIG. 11), the second guide part (see 171c in FIG. 7) moves along the first guide part (see 101e in FIG. 11), so that the blade 671 moves relative to the first jaw 601. Also, a blade link 673 may be axially coupled to the second guide part (see 171c in FIG. 7).

[0477] The blade link 673 connects the blade pulley 661 and the blade 671, and transmits the rotation of the blade pulley 661 to the blade 671 to linearly move the blade 671 in a direction from the proximal portion to the distal portion of the first jaw 601. The blade link 673 may be formed in a long bar shape, and one end of the blade link 673 may be connected to the blade pulley 661, and the other end may be connected to the blade 671.

[0478] Here, one feature of end tool 600 of the second modified form of the first embodiment of the present invention is that a plurality of sawtooth portions 671d are formed on edge portion 671b of blade 671. By forming a plurality of sawtooth portions 671d on edge portion 671b of blade 671 in this manner, the cutting force of blade 671 is strengthened, and an effect of cutting tissue more quickly and accurately can be obtained.

[0479] (Third modified embodiment of the first embodiment - addition of a second auxiliary pulley for the braided wire) The following describes an end tool 900 of a surgical instrument according to a third modified embodiment of the first embodiment of the present invention. The end tool 900 of a surgical instrument according to the third modified embodiment of the first embodiment of the present invention is characteristically different from the end tool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.) in that a blade second auxiliary pulley 967, which is an auxiliary pulley for a blade wire, is additionally provided. The following describes in detail the configuration that has changed compared to the first embodiment.

[0480] 65 to 68 are diagrams showing an end tool of an electrocautery surgical instrument according to a third modified embodiment of the first embodiment of the present invention, with the pulleys relating to the blade pulley 961 being shown in the center.

[0481] 65 to 68, the end tool 900 of the third modified embodiment of the first embodiment of the present invention may include a blade pulley 961, a blade auxiliary pulley 962, a pulley 963, a pulley 964, a pulley 965, and a pulley 966, which are related to the linear / rotational motion of the blade. In addition, the end tool 900 of the third modified embodiment of the first embodiment of the present invention may further include a blade second auxiliary pulley 967.

[0482] The blade pulley 961 is formed to face the end tool jaw pulleys (see 111 in Figure 6) and the pulley (see 121 in Figure 6), and is formed to be rotatable independently of each other around the rotation axis 941, which is the end tool jaw pulley rotation axis.

[0483] Here, one of the features of the present invention is that the blade pulley 961, the pulley (see 111 in FIG. 6), and the pulley (see 121 in FIG. 6) are formed to rotate around the same axis. By forming the blade pulley 961, the pulley (see 111 in FIG. 6), and the pulley (see 121 in FIG. 6) to rotate around the same axis in this way, it becomes possible to perform pitch motion / yaw motion / actuation motion, and at the same time, to perform cutting motion using a blade.

[0484] The blade auxiliary pulley 962 may be additionally provided on one side of the blade pulley 961. In other words, the blade auxiliary pulley 962 may be disposed between the pulley 961 and the pulley 963 / pulley 964. The blade auxiliary pulley 962 may be formed to be rotatable about the rotation axis 942 independently of the pulley (see 112 in FIG. 6 ) and the pulley (see 122 in FIG. 6 ).

[0485] Pulleys 963 and 964 function as blade pitch main pulleys, and pulleys 965 and 966 function as blade pitch sub pulleys.

[0486] The blade second auxiliary pulley 967 can be disposed between the blade auxiliary pulley 962 and the pulley 963 / pulley 964. The blade auxiliary pulley 962 can be formed to be rotatable about a predetermined axis parallel to the rotation axis 943 which is the central axis of the pulley 963 and the pulley 964.

[0487] The components involved in the rotation of the blade pulley 961 will be described below.

[0488] Pulley 963 and pulley 964 function as blade pitch main pulleys. Here, wire 307, which is a braid wire, is wound around pulley 963, and wire 308, which is a braid wire, is wound around pulley 964.

[0489] Pulley 965 and pulley 966 function as braid pitch sub-pulleys, where pulley 965 is wound with wire 307, which is a braid wire, and pulley 966 is wound with wire 308, which is a braid wire.

[0490] Here, pulleys 963 and 964 are disposed on one side of the blade pulley 961 and the blade auxiliary pulley 962 so as to face each other. Here, the pulleys 963 and 964 are formed to be rotatable independently of each other about a rotation axis 943 which is an end tool pitch rotation axis. In addition, pulleys 965 and 966 are disposed on one side of the pulleys 963 and 964 so as to face each other. Here, the pulleys 965 and 966 are formed to be rotatable independently of each other about a rotation axis 944 which is an end tool pitch auxiliary rotation axis. Here, in the drawing, the pulleys 963, 965, 964, and 966 are all shown to be rotatable about the Y-axis direction, but the idea of ​​the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0491] Wire 307, which is a braided wire, is wound successively so that at least a portion of it contacts pulley 965, pulley 963, braided auxiliary pulley 962, and braided pulley 961. Wire 308, which is connected to wire 307 by fastening member 329, is wound successively so that at least a portion of it contacts braided pulley 961, braided auxiliary pulley 962, pulley 964, and pulley 966.

[0492] In other words, wire 307 and wire 308, which are braided wires, are wound sequentially so as to be in at least partial contact with pulley 965, pulley 963, blade auxiliary pulley 962, blade pulley 961, blade auxiliary pulley 962, pulley 964, and pulley 966, and wire 307 and wire 308 are formed so as to move along the pulleys while rotating the pulleys.

[0493] Therefore, when wire 307 is pulled, fastener 329 to which wire 307 is coupled and blade pulley 961 to which it is coupled rotate in one direction. Conversely, when wire 308 is pulled, fastener 329 to which wire 308 is coupled and blade pulley 961 to which it is coupled rotate in the opposite direction.

[0494] Here, the end tool 900 of the surgical instrument according to the third variant of the first embodiment of the present invention additionally includes a blade second auxiliary pulley 967, which can serve to prevent friction between the wires 307 and 308, which are blade wires.

[0495] That is, a blade second auxiliary pulley 967 is disposed between the blade auxiliary pulley 962 and the pulley 963, and the path of the wire 307 entering the end tool hub 980 is changed to a certain extent. That is, the height of the wire 307 in the Z-axis direction and the height of the wire 308 in the Z-axis direction are made different from each other within the end tool hub 980. In this way, the wires 307 and 308, which are two wires wound around the blade auxiliary pulley 962, are ensured to have a certain height difference in the Z-axis direction, and it is possible to prevent the wires 307 and 308, which cross each other within the end tool hub 980, from contacting each other.

[0496] According to the present invention, friction between the blade wires 307 and 308 can be prevented, and the cutting operation can be performed more smoothly.

[0497] <Second embodiment - guide member and blade link deformation> The following describes an endotool 700 of a surgical instrument according to the second embodiment of the present invention. The endotool 700 of a surgical instrument according to the second embodiment of the present invention is characterized by a different configuration of a blade 771 and a blade link 773 compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). The following describes in detail the configuration that has changed compared to the first embodiment.

[0498] Figure 69 is a perspective view showing an end tool of an electrocautery surgical instrument according to a second embodiment of the present invention, and Figures 70, 71 and 72 are plan views showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 69.

[0499] 69 to 72, an end tool 700 may include a first jaw 701, a second jaw 702, a first electrode 751, a second electrode 752, a blade pulley 761, a blade link 773, a blade 771, and a number of pulleys associated therewith in order to perform cautery and cutting operations. Here, components such as the blade pulley 761, the blade 771, and the blade link 773 associated with driving the blade may be collectively referred to as a blade assembly 770. The second embodiment of the present invention is characterized in that the blade assembly 770 including the blade 771 is disposed between a pulley 711, which is a first jaw pulley, and a pulley 721, which is a second jaw pulley, so that the end tool 700 can perform a pitch operation and a yaw operation as well as a cutting operation using the blade 771. In this embodiment, components for performing cautery and cutting operations are substantially the same as those described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0500] A pulley 711 connected to the first jaw 701 , a pulley 721 connected to the second jaw 702 , and a blade pulley 761 connected to the blade 771 are axially coupled to a rotating shaft 741 and are formed to be rotatable around the rotating shaft 741 .

[0501] The first jaw 701 can include a guide member 701a and a case (not shown).

[0502] The guide member 701a may be formed with a blade receiving portion 701d and a first guide portion 701e. The guide member 701a may be coupled to the pulley 711 and formed to guide the moving path of the blade 771 received therein. As an example, the guide member 701a may be formed in the shape of two long rods facing each other, and the guide member 701a may be formed with a blade receiving portion 701d capable of receiving at least a part of the blade 771 and the blade link 773 therein. The blade receiving portion 701d may be formed long along a direction from the proximal portion to the distal portion of the first jaw 701, and the entire blade 771 may be received in the blade receiving portion 701d, or at least a part of the blade 771 may protrude to the outside from the blade receiving portion 701d. In other words, it may be considered that the tissue is cut while the blade 771 moves along the blade receiving portion 701d. This will be described in more detail later.

[0503] Further, a first guide portion 701e that guides the movement of a blade 771 (described later) may be formed in the guide member 701a of the first jaw 701. For example, the first guide portion 701e may be formed in a groove shape formed along the movement path of the blade 771. Then, in a state in which a second guide portion 771c of the blade 771 formed in a protruding shape is fitted into the groove-shaped first guide portion 701e, the second guide portion 771c moves along the first guide portion 701e, whereby the blade 771 moves relative to the first jaw 701.

[0504] The blade 771 may include a first link 771a, an edge portion 771b, a second guide portion 771c, a second link 771d, and a third link 771e.

[0505] The edge portion 771b is formed in a bar shape extending long along the extension direction of the connection portion (see 400 in FIG. 3), and the area facing the second jaw 702 is formed sharp so as to be able to cut tissue. At least a part of this edge portion 771b is pulled out to the outside of the first jaw 701, and tissue placed between the first jaw 701 and the second jaw 702 can be cut.

[0506] One end of the edge portion 771b can be axially coupled to the second link 771d, and the other end of the edge portion 771b can be axially coupled to the third link 771e. In addition, the first link 771a is disposed generally parallel to the edge portion 771b, and the second link 771d and the third link 771e can also be coupled to the first link 771a.

[0507] As a result, the first link 771a, the edge portion 771b, the second link 771d, and the third link 771e can form a four-node link or a parallelogram. In other words, the four links are connected to each other to form a closed loop, and the portions where the links are connected form axial connections, so that a four-node link or a parallelogram can be formed as a whole. Therefore, when any one link moves, the other three links move together to maintain the shape of a parallelogram as a whole.

[0508] Meanwhile, near the position where the first link 771a and the second link 771d meet, and near the position where the first link 771a and the third link 771e meet, second guide portions 771c may be formed in a protruding shape. In a state where the second guide portion 771c is fitted into the first guide portion 701e of the first jaw 701, the second guide portion 771c moves along the first guide portion 701e, so that the blade 771 moves relative to the first jaw 701. In addition, a blade link 773 described later may be axially coupled to the second guide portion 771c.

[0509] The blade link 773 connects the blade pulley 761 and the blade 771, and transmits the rotation of the blade pulley 761 to the blade 771 to linearly move the blade 771 along the extension direction (i.e., the X-axis direction) of the connection part (see 400 in FIG. 3). The blade link 773 may be formed in a long bar shape, and one end of the blade link 773 may be connected to the blade pulley 761, and the other end may be connected to the blade 771 (particularly the first link 771a).

[0510] As an example, through holes are formed at both ends of blade link 773, and these through holes can be fitted with a protrusion (see 161a in FIG. 14) formed on one surface of blade pulley 761 and a first link 771a of blade 771, respectively. In other words, one end of blade link 773 and blade pulley 761 are axially coupled, and at the same time, the other end of blade link 773 and blade 771 are axially coupled.

[0511] In this state, when the blade pulley 761 rotates around the rotation axis 741, the rotational motion of the blade pulley 761 is transmitted to the blade 771 by the blade link 773 connected to the blade pulley 761. The transmitted rotational motion of the blade pulley 761 is converted into the linear motion of the blade 771, and the blade 771 can be pulled out from the first jaw 701 or pulled into the inside of the first jaw 701 while moving linearly from the proximal portion to the distal portion of the first jaw 701.

[0512] That is, the blade link 773 and the blade 771 are coupled to form a kind of drive mechanism, and the rotational motion of the blade pulley 761 is converted into the linear motion of the blade 771 .

[0513] As described above, the end tool 700 according to the second embodiment of the present invention is characterized in that it includes a blade pulley 761 disposed between the pulley 711 and the pulley 721, and a blade 771 connected to the blade pulley 761 and moving between a first position and a second position in response to the rotation of the blade pulley 761. The end tool 700 is characterized in that the four links include a parallelogram structure so that the blade 771 can move between the first position and the second position in response to the rotational motion of the blade pulley 761. As described above, the end tool 700 is characterized in that the end tool 700 is characterized in that the end tool 700 includes a blade pulley 761 disposed between the pulley 711 and the pulley 721, and that the end tool 700 is characterized in that the end tool 700 can perform pitch / yaw / actuation motions in a pulley / wire manner in a bipolar surgical instrument for cauterizing and cutting tissue.

[0514] FIG. 70 shows the blade pulley 761 and blade 771 in a first position (i.e., proximal to the first jaw), FIG. 72 shows the blade pulley 761 and blade 771 in a second position (i.e., distal to the first jaw), and FIG. 71 shows the blade pulley 761 and blade 771 in any position between the first and second positions.

[0515] First, Fig. 70 shows a state in which the blade 771 is in the first position, that is, in the proximal portion of the first jaw 701. When the blade pulley 761 rotates in the direction of the arrow A in Fig. 71 in the same state as in Fig. 70, the blade link 773 connected to the blade pulley 761 moves approximately in the direction of the arrow B and reaches the position in Fig. 71. Then, the blade 771 connected to the blade link 773 moves a certain amount from the proximal portion of the first jaw 701 in the direction of the distal portion.

[0516] In other words, when the protrusion-shaped second guide portion 771c is engaged with the groove-shaped first guide portion 701e and the blade pulley 761 rotates in the direction of arrow A in Figure 71, the blade link 773 connected to the blade pulley 761 moves the first link 771a of the blade 771 in the direction of arrow B.

[0517] At this time, since the blade 771 forms a parallelogram structure consisting of four links, the second link 771d and the third link 771e connected to the first link 771a rotate in a clockwise direction as viewed in the figure. The edge portion 771b connected to the second link 771d and the third link 771e is pulled out from the inside to the outside of the first jaw 701 and moves in the direction of the arrow C in FIG.

[0518] In other words, the edge portion 771b of the blade 771 performs linear motion (i.e., movement in the X-axis direction) toward the distal portion of the end tool 700, and simultaneously performs linear motion (i.e., movement in the Y-axis direction) in a direction protruding to a certain extent from the inside to the outside of the first jaw 701. In this manner, while the blade 771 simultaneously performs movement in the X-axis direction and the Y-axis direction, the tissue (not shown) between the first jaw 701 and the second jaw 702 is cut.

[0519] However, the linear motion of the blade 771 does not mean a perfectly straight line, but rather a motion in which the intermediate portion of the straight line is bent at a predetermined angle, or there is a section with a gentle curvature in a certain section, and so on, but which is linear overall and yet capable of cutting tissue.

[0520] As the blade pulley 761 continues to rotate in the direction of the arrow A in FIG. 72, the blade link 773 connected to the blade pulley 761 moves the first link 771a of the blade 771 in the direction of the arrow B in FIG.

[0521] At this time, the second link 771d and the third link 771e connected to the first link 771a rotate in a clockwise direction as viewed in the figure. Then, the edge portion 771b connected to the second link 771d and the third link 771e is retracted into the first jaw 701 and at the same time moves in the direction of the arrow C in Figure 71, and reaches the second position on the distal side of the first jaw 701.

[0522] In other words, the edge portion 771b of the blade 771 performs linear motion (i.e., movement in the X-axis direction) toward the distal portion of the end tool 700, while at the same time performing linear motion (i.e., movement in the Y-axis direction) in a direction from the outside of the first jaw 701 to a certain extent housed within the inside.

[0523] As described above, by providing the blade pulley 761 and the blade 771, one of the features of the present invention is that it is possible to perform cauterization and cutting with a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movements.

[0524] In particular, in this embodiment, the blade 771 forms a parallelogram structure consisting of four links, and cutting is performed while the blade 771 is pulled out from the first jaw 701 while drawing a predetermined arc, which results in a smoother cutting operation.

[0525] <Third embodiment - simple rotating blade> The following describes an end tool 800 of a surgical instrument according to the third embodiment of the present invention. The end tool 800 of a surgical instrument according to the third embodiment of the present invention is characterized by a different connection relationship between a blade pulley 861 and a blade 871 compared to the end tool of a surgical instrument according to the first embodiment of the present invention (see 100 in FIG. 2, etc.). The following describes in detail the configuration that has changed compared to the first embodiment.

[0526] 73 and 74 are perspective views showing an end tool of an electric cautery surgical instrument according to a third embodiment of the present invention.

[0527] 73 and 74, an end tool 800 according to a third embodiment of the present invention includes a pair of jaws, a first jaw 801 and a second jaw 802, for performing a gripping action.

[0528] Meanwhile, the end tool 800 includes a plurality of pulleys, such as a first jaw pulley (not shown) and a second jaw pulley 821, that are associated with the rotational movement of the first jaw 801 and the second jaw 802. In addition, the end tool 800 of the third embodiment of the present invention includes a plurality of rotation axes, such as a rotation axis 541, that are associated with the rotational movement of the first jaw 801 and the second jaw 802.

[0529] Further, the end tool 800 may include a blade 871 for cutting operation, a blade pulley 861 for linear / rotational movement of the blade 871, and a number of pulleys associated therewith. Here, components such as the blade pulley 861 and the blade 871 associated with driving the blade may be collectively referred to as a blade assembly 870. The third embodiment of the present invention is characterized in that the blade assembly 870 including the blade 871 is disposed between a pulley 811, which is a first jaw pulley, and a pulley 821, which is a second jaw pulley, so that the end tool 800 can perform pitch and yaw movements as well as cutting operations using the blade 871. In this embodiment, components for performing cautery and cutting operations are substantially the same as those described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0530] Here, the end tool 800 of the surgical instrument according to the third embodiment of the present invention is characterized in that it does not include a separate blade link for connecting the blade pulley 861 and the blade 871, but the blade 871 is directly connected to the blade pulley 861. Therefore, when the blade pulley 861 rotates around the rotation shaft 841, the blade 871 also rotates to perform cutting.

[0531] Here, the blade pulley 861 and the blade 871 may be formed as a one-body unit, or may be formed as separate members and then joined together.

[0532] FIG. 73 is a diagram showing a state in which the blade pulley 861 and the blade 871 are located at a first position, and FIG. 74 is a diagram showing a state in which the blade pulley 861 and the blade 871 are located at a second position.

[0533] First, when the blade 871 is positioned at the first position as shown in FIG. 73 and the blade pulley 861 rotates in the direction of arrow A in FIG. 74, the blade 871 connected to the blade pulley 861 also rotates, and as shown in FIG. 74, the blade 871 is pulled out of the first jaw 801 and moves to the second position, cutting the tissue (not shown) between the first jaw 801 and the second jaw 802.

[0534] Thus, by providing the blade pulley 861 and the blade 871, one of the features of this device is that it is a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movements, enabling cauterization and cutting.

[0535] In particular, in this embodiment, the blade pulley 861 and the blade 871 are directly connected without a separate connection structure, which reduces the number of parts and facilitates manufacturing.

[0536] <Fourth embodiment - triple blade> The following describes an endotool 1100 of a surgical instrument according to the fourth embodiment of the present invention. Here, the endotool 1100 of a surgical instrument according to the fourth embodiment of the present invention is characterized by a different configuration of a blade assembly 1170 compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). This changed configuration compared to the first embodiment will be described in detail later.

[0537] Fig. 75 and Fig. 76 are perspective views showing an end tool of an electrocautery surgical instrument according to a fourth embodiment of the present invention, Fig. 75 shows a state in which the jaws are closed, and Fig. 76 shows a state in which the jaws are open. Fig. 77 is a perspective view showing the end tool of the electrocautery surgical instrument of Fig. 75, showing a state in which the blade is pulled out. Fig. 78 and Fig. 79 are perspective views showing the end tool of the electrocautery surgical instrument of Fig. 75, Fig. 78 is a view mainly showing the electrodes and the electric wires, and Fig. 79 is a view mainly showing the blade assembly. Figs. 80 and 81 are exploded perspective views showing the end tool of the electrocautery surgical instrument of Fig. 75. 82 is a side view of the end tool of the electrocautery surgical instrument of FIG. 75, and FIG. 83 is a perspective view of the end tool of the electrocautery surgical instrument of FIG. 75 with a portion of the second jaw cut away.

[0538] 75 to 83, an end tool 1100 of a fourth embodiment of the present invention includes a pair of jaws, i.e., a first jaw 1101 and a second jaw 1102, for performing a gripping operation, where each of the first jaw 1101 and the second jaw 1102, or a component encompassing the first jaw 1101 and the second jaw 1102, may be referred to as jaw 1103.

[0539] Meanwhile, the end tool 1100 includes a plurality of pulleys including a pulley 1111 which is a first jaw pulley coupled to a first jaw 1101. In this embodiment, the pulleys related to the rotational motion of the first jaw 1101 are substantially the same as the pulleys 112, 113, 114, 115, and 116 described in FIG. 11 and other drawings of the first embodiment, and therefore detailed description thereof will be omitted here.

[0540] Meanwhile, the end tool 1100 includes a plurality of pulleys including a pulley 1121 which is a second jaw pulley coupled to a second jaw 1102. In this embodiment, the pulleys related to the rotational motion of the second jaw 1102 are substantially the same as the pulleys 122, 123, 124, 125, and 126 described in FIG. 11 and other drawings in the first embodiment, and therefore detailed description thereof will be omitted here.

[0541] Also, the end tool 1100 according to the fourth embodiment of the present invention may include a rotating shaft 1141, a rotating shaft 1142, a rotating shaft 1143, and a rotating shaft 1144. Here, the rotating shafts 1141 and 1142 may be inserted through the end tool hub 1180, and the rotating shafts 1143 and 1144 may be inserted through the pitch hub 1107. The rotating shafts 1141, 1142, 1143, and 1144 may be sequentially arranged in a direction from a distal end 1104 of the end tool 1100 to a proximal end 1105.

[0542] Additionally, the end tool 1100 of the fourth embodiment of the present invention may include an end tool hub 1180 and a pitch hub 1107 .

[0543] The rotating shafts 1141 and 1142 described below are inserted through the end tool hub 1180, and the pulleys 1111 and 1121 axially connected to the rotating shaft 1141, and at least a portion of the first jaw 1101 and second jaw 1102 connected thereto, can be housed inside the end tool hub 1180.

[0544] Meanwhile, a pulley 1131 serving as an end tool pitch pulley may be formed at one end of the end tool hub 1180. As shown in FIG. 75, the pulley 1131 may be formed as a separate member from the end tool hub 1180 and connected to the end tool hub 1180. Alternatively, the pulley 1131 may be formed as a one-body with the end tool hub 1180. Then, a wire (see 303 in FIG. 13) and a wire (see 304 in FIG. 13) are connected to the pulley 1131 serving as the end tool pitch pulley, and the pulley 1131 rotates around the rotation axis 1143 to perform a pitch movement.

[0545] The rotation shaft 1143 and the rotation shaft 1144 are inserted through the pitch hub 1107, and the pitch hub 1107 can be axially coupled to the end tool hub 1180 and the pulley 1131 by the rotation shaft 1143. Therefore, the end tool hub 1180 and the pulley 1131 can be formed to be pitch rotatable with respect to the pitch hub 1107 around the rotation shaft 1143.

[0546] Meanwhile, the end tool 1100 according to the fourth embodiment of the present invention may further include components such as a first electrode 1151, a second electrode 1152, a blade pulley 1161, a blade link 1175, a first blade 1171, a second blade 1172, and a third blade 1173 in order to perform cautery and cutting operations. Here, the components such as the blade pulley 1161, the first blade 1171, the second blade 1172, the third blade 1173, and the blade link 1175 related to the driving of the blades may be collectively referred to as a blade assembly 1170. The fourth embodiment of the present invention is characterized in that the blade assembly 1170 including a plurality of blades is disposed between the pulley 1111, which is the first jaw pulley, and the pulley 1121, which is the second jaw pulley, so that the end tool 1100 can perform a cutting operation using the blade as well as a pitch operation and a yaw operation. In this embodiment, the components for performing the cautery and cutting operations are substantially the same as those described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0547] The electrocautery surgical instrument according to the fourth embodiment of the present invention can include wire 301, wire 302, wire 303, wire 304, wire 305, wire 306, wire 307 and wire 308, similar to the first embodiment of the present invention shown in Figure 13 etc.

[0548] In addition, the electrocautery surgical instrument according to the fourth embodiment of the present invention can include fastening members 321, 323, 324, 326, 327 and 329 which are coupled to each end of each wire to couple the wire to a pulley, similar to the first embodiment of the present invention shown in FIG. 13 etc.

[0549] The blade assembly 1170 of the electrocautery surgical instrument 1100 according to the fourth embodiment of the present invention will now be described in more detail.

[0550] The first jaw 1101 can include a guide member 1101a and a case (not shown).

[0551] The guide member 1101a may be formed with a blade receiving portion 1101d and a first guide portion 1101e. The guide member 1101a may be connected to the pulley 1111 and formed to guide the moving paths of the first blade 1171, the second blade 1172, and the third blade 1173. As an example, the guide member 1101a may be formed in the shape of two long rods facing each other, and the guide member 1101a may be formed with a blade receiving portion 1101d that can receive at least a part of the first blade 1171, the second blade 1172, the third blade 1173, and the blade link 1175 described below. The blade housing portion 1101d may be formed long along the direction from the proximal portion 1101f to the distal portion 1101g of the first jaw 1101, and the first blade 1171, the second blade 1172, and the third blade 1173 may be housed entirely within the blade housing portion 1101d, or at least a portion of the first blade 1171, the second blade 1172, and the third blade 1173 may protrude to the outside from the blade housing portion 1101d. In other words, it may be considered that the first blade 1171, the second blade 1172, and the third blade 1173 are cut while moving along the blade housing portion 1101d. This will be described in more detail later.

[0552] Also, the guide member 1101a of the first jaw 1101 may be formed with a first guide portion 1101e for guiding the movement of the third blade 1173. Here, the first guide portion 1101e may be formed on both inner side walls of the guide member 1101a forming the blade receiving portion 1101d. Here, the first guide portion 1101e may be formed in a groove shape formed along the movement path of the third blade 1173. Then, in a state where the link coupling portion 1173c of the third blade 1173 formed in a protrusion shape is fitted into the groove-shaped first guide portion 1101e, the link coupling portion 1173c moves along the first guide portion 1101e, so that the third blade 1173 moves relative to the first jaw 1101.

[0553] Although the figure shows the first guide portion 1101e as being formed integrally with the guide member 1101a as one component of the first jaw 1101, the concept of the present invention is not limited thereto, and it can be said that the first guide portion 1101e can also be formed of a separate member from the guide member 1101a and be connected to the guide member 1101a.

[0554] Meanwhile, a first electrode 1151 can be formed on a surface of the first jaw 1101 facing the second jaw 1102. And a second electrode 1152 can be formed on a surface of the second jaw 1102 facing the first jaw 1101.

[0555] At this time, a slit 1151a may be formed in the first electrode 1151, and at least a portion of the first blade 1171, the second blade 1172, and the third blade 1173 may protrude outside the first jaw 1101 and the first electrode 1151 through this slit 1151a.

[0556] In addition, a slit 1152a may be formed in the second electrode 1152. At least a portion of the first blade 1171, the second blade 1172, and the third blade 1173 protruding outside the first jaw 1101 may pass through the slit 1152a and be accommodated in the second jaw 1102.

[0557] The first blade 1171 may include a body portion 1171a, an edge portion 1171b, and one or more link coupling portions 1171c.

[0558] An edge portion 1171b that is sharp and cuts tissue is formed in one region of the main body portion 1171a. At least a part of this edge portion 1171b is pulled out to the outside of the first jaw 1101, and tissue placed between the first jaw 1101 and the second jaw 1102 can be cut.

[0559] Meanwhile, one or more link coupling parts 1171c may be formed in another region of the body part 1171a. For example, the link coupling part 1171c may be formed in a through-hole shape, and the protruding first blade coupling part 1175b may be fitted into the link coupling part 1171c.

[0560] The second blade 1172 can include a body portion 1172a, an edge portion 1172b, one or more link coupling portions 1172c, and a jaw coupling portion 1172d.

[0561] An edge portion 1172b that is sharp and cuts tissue is formed in one region of the main body portion 1172a. At least a part of this edge portion 1172b is pulled out to the outside of the first jaw 1101, and tissue disposed between the first jaw 1101 and the second jaw 1102 can be cut.

[0562] Meanwhile, one or more link coupling parts 1172c may be formed in another region of the body part 1172a. For example, the link coupling part 1172c may be formed in a long slit shape, and a protruding second blade coupling part 1175c may be fitted into the link coupling part 1172c.

[0563] Meanwhile, a jaw coupling portion 1172d may be formed in another region of the body portion 1172a. For example, the jaw coupling portion 1172d may be formed in a shaft shape and may be inserted through the second blade coupling portion 1101c formed in the guide member 1101a of the first jaw 1101 in the shape of a through hole.

[0564] The third blade 1173 may include a body portion 1173a, an edge portion 1173b, and one or more link coupling portions 1173c.

[0565] An edge portion 1173b that is sharp and cuts tissue is formed in one region of the main body portion 1173a. At least a part of this edge portion 1173b is pulled out to the outside of the first jaw 1101, and tissue disposed between the first jaw 1101 and the second jaw 1102 can be cut.

[0566] Meanwhile, one or more link coupling parts 1173c may be formed in other regions of the main body part 1173a. For example, the link coupling part 1173c may be formed in a shaft shape and may be fitted into the first guide part 1101e of the first jaw 1101. Here, the link coupling part 1173c of the third blade 1173 of the present embodiment is a component corresponding to the second guide part (see 171c in FIG. 7) of the first embodiment of the present invention, and may play substantially the same role as the second guide part (see 171c in FIG. 1 and FIG. 7).

[0567] The blade link 1175 connects the blade pulley 1161 to the first blade 1171, the second blade 1172, and the third blade 1173, and transmits the rotation of the blade pulley 1161 to the first blade 1171, the second blade 1172, and the third blade 1173 so that the first blade 1171, the second blade 1172, and the third blade 1173 move along a direction from the proximal part 1101f to the distal part 1101g of the first jaw 1101. The blade link 1175 may be formed in a long bar shape, and one end of the blade link 1175 may be connected to the blade pulley 1161, and the other region may be connected to the first blade 1171, the second blade 1172, and the third blade 1173, respectively. This will be described in more detail as follows.

[0568] In the blade link 1175, a pulley coupling portion 1175a, a first blade coupling portion 1175b, a second blade coupling portion 1175c, and a third blade coupling portion 1175d may be formed sequentially from the proximal portion 1101f side toward the distal portion 1101g side.

[0569] Specifically, a through-hole-shaped blade pulley coupling portion 1175a can be formed at the end portion on the proximal portion 1101f side of the blade link 1175. A protrusion 1161a formed on one surface of the blade pulley 1161 can be fitted into the blade pulley coupling portion 1175a. In other words, one end portion of the blade link 1175 and the blade pulley 1161 are axially coupled.

[0570] The first blade coupling portion 1175b of the blade link 1175 may include a plurality of protrusions. Meanwhile, the link coupling portion 1171c of the first blade 171 may include a plurality of through holes. Here, the protrusions and the through holes that are coupled to each other are formed to have substantially the same diameter. Then, the plurality of protrusions of the first blade coupling portion 1175b and the plurality of through holes of the link coupling portion 1171c are coupled to each other.

[0571] With this configuration, the relative position of the first blade 1171 with respect to the blade link 1175 is fixed, and therefore the blade link 1175 and the first blade 1171 move together. In other words, when the blade link 1175 moves linearly, the first blade 1171 also moves linearly in response.

[0572] Although the figure shows that the first blade coupling portion 1175b includes a plurality of protrusions and the link coupling portion 1171c includes a plurality of through holes, the concept of the present invention is not limited thereto, and the positions of the protrusions and the through holes may be reversed.

[0573] Second blade coupling portion 1175c of blade link 1175 includes a protruding portion. Link coupling portion 1172c of second blade 1172 is formed in a long slit shape. The protruding portion of second blade coupling portion 1175c is fitted into the slit of link coupling portion 1172c.

[0574] Meanwhile, the jaw coupling portion 1172d of the second blade 1172 includes a protrusion. A hole-shaped second blade coupling portion 1101c is formed in the guide member 1101a of the first jaw 1101. The jaw coupling portion 1172d of the second blade 1172 is inserted through the second blade coupling portion 1101c of the guide member 1101a, and the second blade 1172 is formed to be rotatable with respect to the guide member 1101a around the jaw coupling portion 1172d as an axis.

[0575] Therefore, when the blade link 1175 moves linearly, the second blade coupling portion 1175c of the blade link 1175 pushes or pulls the link coupling portion 1172c of the second blade 1172. At this time, since the jaw coupling portion 1172d of the second blade 1172 is axially coupled to the guide member 1101a, the second blade 1172 rotates relative to the guide member 1101a.

[0576] Although the figure shows that the second blade coupling portion 1175c includes a protrusion and the link coupling portion 1171c includes a slit, the concept of the present invention is not limited thereto and the positions of the protrusion and slit could be reversed.

[0577] In addition, although the figure shows that the jaw coupling portion 1172d of the second blade 1172 is formed in an axis-like shape, and the guide member 1101a is formed with the second blade coupling portion 1101c in the shape of a through hole, the concept of the present invention is not limited to this, and the positions of the axis and the through hole may be reversed.

[0578] The third blade coupling portion 1175d of the blade link 1175 may include one or more through holes and one or more slits. The link coupling portion 1173c of the third blade 1173 may include a plurality of protrusions. The plurality of protrusions of the link coupling portion 1173c are fitted into the through holes and slits of the third blade coupling portion 1175d, respectively.

[0579] At this time, the link coupling portion 1173 c of the third blade 1173 passes through the third blade coupling portion 1175 d of the blade link 1175 , and is then fitted into the first guide portion 1101 e of the first jaw 1101 .

[0580] Therefore, when the blade link 1175 moves linearly, the third blade coupling portion 1175d of the blade link 1175 pushes or pulls the link coupling portion 1173c of the third blade 1173, and therefore the third blade 1173 moves along the first guide portion 1101e of the first jaw 1101. At this time, the movement trajectory of the third blade 1173 can be determined according to the shape of the first guide portion 1101e.

[0581] In the figure, the link connection portion 1173c of the third blade 1173 is formed in an axis shape, and the first guide portion 1101e of the guide member 1101a is formed in a long groove shape, but the concept of the present invention is not limited to this, and the positions of the axis and groove may be reversed.

[0582] In this state, when the blade pulley 1161 rotates around the rotation axis 1141, the rotational motion of the blade pulley 1161 is transmitted to the first blade 1171, the second blade 1172, and the third blade 1173 by the blade link 1175 connected to the blade pulley 1161. Then, the positions of the first blade 1171, the second blade 1172, and the third blade 1173 change due to the transmitted rotational motion of the blade pulley 1161, and the first blade 1171, the second blade 1172, and the third blade 1173 can be pulled out of the first jaw 1101 or pulled into the inside of the first jaw 1101 while moving along the direction from the proximal part 1101f to the distal part 1101g of the first jaw 1101.

[0583] In other words, the blade link 1175, the first guide portion 1101e of the first jaw 1101, and each blade are combined to form a kind of power transmission mechanism, and when the blade pulley 1161 rotates, the first blade 1171, the second blade 1172, and the third blade 1173 connected thereto move between the distal portion 1101g and the proximal portion 1101f of the jaw 1101.

[0584] The operation of each blade is described in more detail below.

[0585] Figures 84, 85, and 86 are side views showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 75, with the jaws closed, and Figure 87 is a side view showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 75, showing the movement trajectories of each blade.

[0586] First, when the blade pulley 1161 in the state shown in Figure 84 rotates sequentially in the direction of the arrow R1 in Figure 85 and the arrow R2 in Figure 86, the blade link 1175 connected to the blade pulley 1161 moves in the direction of the arrow D1 in Figure 85 and the arrow D2 in Figure 86, and sequentially reaches the positions shown in Figures 85 and 86.

[0587] Then, the first blade 1171 connected to the blade link 1175 moves in the direction of the arrow A1 in Figure 85 and the arrow A2 in Figure 86, and successively reaches the positions in Figures 85 and 86. At this time, the blade link 1175 and the first blade 1171 are connected at a kind of two points, so the blade link 1175 and the first blade 1171 move integrally with each other. In other words, when the blade link 1175 moves in a straight line (or moves nearly in a straight line), the first blade 1171 also moves in a straight line (or moves nearly in a straight line) in response.

[0588] On the other hand, the second blade 1172 connected to the blade link 1175 moves in the direction of the arrow B1 in Fig. 85 and the arrow B2 in Fig. 86, and successively reaches the positions in Fig. 85 and Fig. 86. At this time, since the jaw connecting portion 1172d of the second blade 1172 is axially connected to the guide member 1101a of the first jaw 1101, the second blade 1172 rotates relative to the guide member 1101a.

[0589] On the other hand, the third blade 1173 connected to the blade link 1175 moves in the direction of the arrow C1 in FIG. 85 and the arrow C2 in FIG. 86, and successively reaches the positions shown in FIGS.

[0590] At this time, with the protruding link connection portion 1173c engaged with the groove-shaped first guide portion 1101e, the blade link 1175 pushes the third blade 1173, causing the third blade 1173 as a whole to move along the first guide portion 1101e.

[0591] At this time, since the groove-shaped first guide portion 1101e is formed with a certain degree of inclination in a certain section, the blade 1171 moves linearly (i.e., moves in the X-axis direction) toward the distal portion 1104 of the end tool 1100, and at the same time moves linearly (i.e., moves in the Y-axis direction) in a direction protruding to a certain degree from the inside to the outside of the first jaw 1101. In this way, while the blade 1171 moves in the X-axis direction and the Y-axis direction at the same time, the tissue (not shown) between the first jaw 1101 and the second jaw 1102 is cut.

[0592] However, the linear motion of the third blade 1173 does not mean a perfectly straight line, but rather that the intermediate portion of the straight line may be bent at a predetermined angle, or there may be a section with a gentle curvature in a certain area, and so on. Even if the motion is not a perfect straight line, it is linear overall and yet capable of cutting tissue.

[0593] In other words, the first blade 1171 is connected to the blade link 1175 at two points, and when the blade link 1175 moves linearly, the first blade 1171 moves linearly with the blade link 1175. One end of the second blade 1172 is axially connected to the first jaw 1101, and when the blade link 1175 moves linearly, the second blade 1172 rotates accordingly. The third blade 1173 is fitted into the blade link 1175 and the guide member 1101a of the first jaw 1101, and when the blade link 1175 moves linearly, the third blade 1173 moves along the first guide portion 1101e of the guide member 1101a of the first jaw 1101.

[0594] In other words, the first blade 1171 moves close to a straight line (although not a completely straight line). The second blade 1172 rotates around the rotation axis, and its trajectory forms an arc. The third blade 1173 moves along a slit-shaped first guide portion 1101e formed in the first jaw 1101, and the path is determined according to the shape of the first guide portion 1101e. That is, the path of the third blade 1173 can be controlled by adjusting the shape of the first guide portion 1101e.

[0595] In other words, three blades 1171, 1172, 1173 are connected to the blade link 1175, and when the blade pulley 1161 rotates, the three blades 1171, 1172, 1173 connected thereto move together. In detail, when the blade pulley 1161 rotates, the three blades 1171, 1172, 1173 cut tissue while moving between the proximal portion 1101f and the distal portion 1101g of the end tool.

[0596] At this time, the first blade 1171 formed on the innermost side, i.e., on the proximal portion 1101f side of the end tool 1100, moves while performing a motion close to a linear motion. At this time, at least a part of the first blade 1171 is exposed to the outside of the first jaw 1101 in all operating states.

[0597] The second blade 1172 formed in the center moves while tracing a trajectory close to a semicircle. At this time, at least a part of the second blade 1172 is housed inside the first jaw 1101 at the start point (first position) and end point (second position) of the movement, and the second blade 1172 is exposed to the outside of the first jaw 1101 only during the movement from the first position to the second position.

[0598] The third blade 1173 formed on the outermost side, i.e., the distal portion 1101g side of the end tool 1100, moves from the starting point (first position) to a predetermined intermediate position (third position) while tracing a trajectory close to an arc, and moves while performing a motion close to a straight line after the predetermined position (third position). At this time, the third blade 1173 is housed in the first jaw 1101 at the starting point (first position) of the movement, and at least a part of the third blade 1173 is exposed to the outside of the first jaw 1101 when it moves to the end point thereafter.

[0599] On the other hand, one feature of this embodiment is that it has multiple blades with different trajectories, and the ranges of movement of each blade are partially overlapped to perform cutting two or more times, thereby more reliably cutting tissue.

[0600] Referring to FIG. 87, there is an overlapping region R12 between the movement range R1 of the first blade 1171 and the movement range R2 of the second blade 1172, and cutting is performed while the blades pass through this region at least twice, resulting in a more reliable cutting effect.

[0601] Similarly, there is an overlapping region R23 between the movement range R2 of the second blade 1172 and the movement range R3 of the third blade 1173, and the blades pass through this region at least twice to cut, resulting in a more reliable cutting effect.

[0602] Thus, one of the features of the present invention is that by being equipped with a blade pulley 1161 and multiple blades 1171, 1172, 1173, it is possible to perform cauterization and cutting with a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movement.

[0603] In particular, in this embodiment, a plurality of blades having different trajectories are provided, and a portion of the movement range of each blade is overlapped to perform cutting two or more times, thereby achieving the effect of more reliably cutting tissue.

[0604] Meanwhile, Fig. 88 is a diagram showing a state in which the jaw has been yaw-rotated by +90°, and Figs. 89, 90, and 91 are plan views showing the cutting operation of the endotool of the electrocautery surgical instrument of Fig. 75, showing the process of performing the cutting operation with the jaw rotated by +90° in yaw. As shown in Figs. 89 to 91, the endotool of the electrocautery surgical instrument according to the fourth embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw rotated by +90° in yaw.

[0605] Figures 92, 93 and 94 are plan views showing the cutting operation of the endotool of the electrocautery surgical instrument of Figure 75, and are views showing the process of performing the cutting operation with the jaw rotated -90° in yaw. As shown in Figures 92 to 94, the endotool of the electrocautery surgical instrument according to the fourth embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw rotated -90° in yaw.

[0606] Meanwhile, Fig. 95 is a diagram showing a state where the jaw is pitch-rotated by -90°. Also, Figs. 96, 97 and 98 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of Fig. 75, showing the state where the cutting operation is performed with the jaw rotated by -90°. As shown in Figs. 96 to 98, the end tool of the electrocautery surgical instrument according to the fourth embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaw pitch-rotated by -90°.

[0607] 99, 100, and 101 are perspective views showing the cutting operation of the endotool of the electrocautery surgical instrument of FIG. 75, and are views showing the state in which the cutting operation is performed with the jaws rotated by +90°. As shown in FIGS. 99 to 100, the endotool of the electrocautery surgical instrument according to the fourth embodiment of the present invention is formed so as to be able to perform a normal cutting operation even with the jaws rotated by +90°.

[0608] Meanwhile, Fig. 102 is a diagram showing a state where the jaws are pitch rotated by -90° and simultaneously rotated in a yaw direction by +90°. Figs. 103, 104, and 105 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of Fig. 75, showing a state where the jaws are pitch rotated by -90° and simultaneously rotated in a yaw direction by +90°. As shown in Figs. 103 to 105, the end tool of the electrocautery surgical instrument according to the fourth embodiment of the present invention is formed so that it can normally perform a cutting operation even when the jaws are pitch rotated by -90° and simultaneously rotated in a yaw direction by +90°.

[0609] Figures 106, 107, and 108 are perspective views showing the cutting operation of the endotool of the electrocautery surgical instrument of Figure 75, and are views showing a state in which the cutting operation is performed with the jaws pitch rotated by -90° and simultaneously yaw rotated by -90°. As shown in Figures 106 to 108, the endotool of the electrocautery surgical instrument according to the fourth embodiment of the present invention is formed so that a normal cutting operation can be performed even when the jaws are pitch rotated by -90° and simultaneously yaw rotated by -90°.

[0610] <Fifth embodiment - blade link assembly> The following describes an endotool 1200 of a surgical instrument according to the fifth embodiment of the present invention. Here, the endotool 1200 of a surgical instrument according to the fifth embodiment of the present invention is characterized by a different configuration of a blade assembly 1270 compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). Such a configuration that has changed compared to the first embodiment will be described in detail later.

[0611] Fig. 109 to Fig. 112 are perspective views showing an end tool of an electrocautery surgical instrument according to a fifth embodiment of the present invention, Fig. 109 shows a state in which the jaws are closed, and Fig. 110 shows a state in which the jaws are open. Fig. 111 is an enlarged perspective view showing the end tool of the electrocautery surgical instrument of Fig. 110, and Fig. 112 is a cutaway perspective view of Fig. 111. Fig. 113 is an exploded perspective view showing the end tool of the electrocautery surgical instrument of Fig. 110. Figs. 114, 115, and 116 are perspective views showing a cutting operation of the end tool of the electrocautery surgical instrument of Fig. 109. Figure 117 is a perspective view showing the yaw movement of the electrocautery surgical instrument of Figure 109, Figure 118 is a perspective view showing the pitch movement of the electrocautery surgical instrument of Figure 109, and Figure 119 is a plan view showing the state in which the end tool of the electrocautery surgical instrument of Figure 109 has been pitch rotated and yaw rotated.

[0612] 109 to 113, an end tool 1200 of a fifth embodiment of the present invention includes a pair of jaws, i.e., a first jaw 1201 and a second jaw 1202, for performing a gripping operation, wherein each of the first jaw 1201 and the second jaw 1202, or a component including the first jaw 1201 and the second jaw 1202, may be referred to as jaw 1203.

[0613] Meanwhile, the end tool 1200 includes a plurality of pulleys including a pulley 1211 which is a first jaw pulley coupled to a first jaw 1201. In this embodiment, the pulleys related to the rotational motion of the first jaw 1201 are substantially the same as the pulleys 112, 113, 114, 115, and 116 described in FIG. 11 and other drawings of the first embodiment, and therefore detailed description thereof will be omitted here.

[0614] Meanwhile, the end tool 1200 includes a plurality of pulleys including a pulley 1221 which is a second jaw pulley coupled to a second jaw 1202. In this embodiment, the pulleys related to the rotational motion of the second jaw 1202 are substantially the same as the pulleys 122, 123, 124, 125, and 126 described in FIG. 11 and the like in the first embodiment, and therefore detailed description thereof will be omitted here.

[0615] Also, the end tool 1200 according to the fifth embodiment of the present invention may include a rotating shaft 1241, a rotating shaft 1242, a rotating shaft 1243, and a rotating shaft 1244. Here, the rotating shafts 1241 and 1242 may be inserted through the end tool hub 1280, and the rotating shafts 1243 and 1244 may be inserted through the pitch hub 1207. The rotating shafts 1241, 1242, 1243, and 1244 may be sequentially arranged in a direction from a distal end 1204 of the end tool 1200 to a proximal end 1205.

[0616] Additionally, the end tool 1200 of the fifth embodiment of the present invention may include an end tool hub 1280 and a pitch hub 1207 .

[0617] The rotating shafts 1241 and 1242 described below are inserted through the end tool hub 1280, and the pulleys 1211 and 1221 axially connected to the rotating shaft 1241, and at least a portion of the first jaw 1201 and second jaw 1202 connected thereto, can be housed inside the end tool hub 1280.

[0618] Meanwhile, a pulley 1231 that serves as an end tool pitch pulley can be formed on one end of the end tool hub 1280. 109As shown in FIG. 13, the pulley 1231 may be formed as a separate member from the end tool hub 1280 and may be coupled to the end tool hub 1280. Alternatively, the pulley 1231 may be formed as a one-body with the end tool hub 1280. Then, a wire (see 303 in FIG. 13) and a wire (see 304 in FIG. 13) are coupled to the pulley 1231 that serves as the end tool pitch pulley, and the pulley 1231 performs a pitch motion while rotating about the rotation axis 1243.

[0619] The rotation shaft 1243 and the rotation shaft 1244 are inserted through the pitch hub 1207, and the pitch hub 1207 can be axially coupled to the end tool hub 1280 and the pulley 1231 by the rotation shaft 1243. Therefore, the end tool hub 1280 and the pulley 1231 can be formed to be pitch rotatable with respect to the pitch hub 1207 around the rotation shaft 1243.

[0620] Meanwhile, the end tool 1200 of the fifth embodiment of the present invention may further include components such as a first electrode 1251, a second electrode 1252, a blade pulley 1261, a blade 1271, a first blade link 1273, a second blade link 1274, and a third blade link 1275 to perform cautery and cutting operations.

[0621] Here, components related to driving the blades, such as the blade pulley 1261, the blade 1271, the first blade link 1273, the second blade link 1274, and the third blade link 1275, may be collectively referred to as the blade assembly 1270. Also, components such as the first blade link 1273, the second blade link 1274, and the third blade link 1275 may be collectively referred to as the blade link assembly 1272.

[0622] The fifth embodiment of the present invention is characterized in that a blade assembly 1270 including a plurality of blade links is disposed between a pulley 1211 which is a first jaw pulley and a pulley 1221 which is a second jaw pulley, thereby enabling the end tool 1200 to perform a pitch movement and a yaw movement as well as a cutting movement using a blade. In this embodiment, the components for performing the cautery and cutting movements are substantially the same as those described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0623] The electrocautery surgical instrument according to the fifth embodiment of the present invention can include wire 301, wire 302, wire 303, wire 304, wire 305, wire 306, wire 307 and wire 308, similar to the first embodiment of the present invention shown in Figure 13 etc.

[0624] In addition, the electrocautery surgical instrument according to the fifth embodiment of the present invention can include fastening members 321, 323, 324, 326, 327 and 329 which are coupled to each end of each wire to couple the wire to a pulley, similar to the first embodiment of the present invention shown in FIG. 13 etc.

[0625] The blade assembly 1270 of the electrocautery surgical instrument 1200 according to the fifth embodiment of the present invention will now be described in more detail.

[0626] The first jaw 1201 can include a guide member 1201a and a case (not shown).

[0627] The guide member 1201a may be formed with a blade receiving portion 1201d and a first guide portion 1201e. The guide member 1201a may be coupled to the pulley 1211 and formed to guide the moving path of the blade 1271. As an example, the guide member 1201a may be formed in the shape of two long rods facing each other, and the guide member 1201a may be formed with a blade receiving portion 1201d capable of receiving at least a part of the blade 1271 and the blade link 1275 described later. The blade receiving portion 1201d may be formed long along the direction from the proximal portion 1201f to the distal portion 1201g of the first jaw 1201, and the entire blade 1271 may be received in the blade receiving portion 1201d, or at least a part of the blade 1271 may protrude to the outside from the blade receiving portion 1201d. In other words, it may be considered that the tissue is cut while the blade 1271 moves along the blade receiving portion 1201d. This will be explained in more detail later.

[0628] Also, the guide member 1201a of the first jaw 1201 may be formed with a first guide portion 1201e for guiding the movement of the blade 1271. Here, the first guide portion 1201e may be formed on both inner side walls of the guide member 1201a forming the blade accommodating portion 1201d. Here, the first guide portion 1201e may be formed in a groove shape formed along the movement path of the blade 1271. Then, in a state in which the second guide portion 1271c of the blade 1271 formed in a protrusion shape is fitted into the groove-shaped first guide portion 1201e, the second guide portion 1271c moves along the first guide portion 1201e, so that the blade 1271 moves relative to the first jaw 1201.

[0629] Here, the first guide portion 1201e may be formed along substantially the same direction as the direction from the proximal portion 1201f to the distal portion 1201g of the first jaw 1201, i.e., along the X-axis direction. Therefore, the blade 1271 moving along the first guide portion 1201e may perform linear motion along the X-axis direction. That is, the rotational motion of the blade pulley 1261 is converted into linear motion of the blade 1271 in the X-axis direction by the blade link assembly 1272. This will be described in more detail later.

[0630] In addition, although the figure shows the first guide portion 1201e as one component of the first jaw 1201 and formed integrally with the guide member 1201a, the concept of the present invention is not limited to this, and it can be said that the first guide portion 1201e can also be formed of a separate member from the guide member 1201a and connected to the guide member 1201a.

[0631] Meanwhile, a first electrode 1251 can be formed on a surface of the first jaw 1201 facing the second jaw 1202. And a second electrode 1252 can be formed on a surface of the second jaw 1202 facing the first jaw 1201.

[0632] Here, a portion of the blade 1271 may be accommodated in the first jaw 1201, and the remaining portion of the blade 1271 may be accommodated in the second jaw 1202. In particular, unlike the previous embodiments, the electrocautery surgical instrument 1200 according to the fifth embodiment of the present invention may have a portion of the blade 1271 accommodated in the first jaw 1201, and the remaining portion of the blade 1271 accommodated in the second jaw 1202 during the entire cutting operation. That is, in this embodiment, it may be expressed that the blade 1271 moves linearly between the proximal portion 1201f and the distal portion 1201g of the first jaw 1201, rather than moving from the first jaw 1201 toward the second jaw. This will be described in more detail later.

[0633] The blade 1271 can include a body portion 1271a, an edge portion 1271b, and one or more second guide portions 1271c.

[0634] An edge portion 1271b that is sharp and cuts tissue is formed in one region of the main body portion 1271a. At least a part of this edge portion 1271b can cut tissue disposed between the first jaw 1201 and the second jaw 1202 while moving between the proximal portion 1201f and the distal portion 1201g of the first jaw 1201.

[0635] Meanwhile, one or more second guide portions 1271c may be formed in another region of the main body portion 1271a. For example, the second guide portion 1271c may include a plurality of protrusions. A through hole formed in the third blade link 1275 may be fitted into one of the protrusions. In addition, the plurality of protrusions of the second guide portion 1271c may be fitted into the first guide portion 1201e of the first jaw 1201.

[0636] Also, in order to allow the second guide portion 1271c to perform a more stable linear motion within the first guide portion 1201e, guide caps 1271d may be further coupled to a plurality of protrusions of the second guide portion 1271c.

[0637] The blade link assembly 1272 includes multiple blade links and connects the blade pulley 1261 and the blade 1271, and serves to transmit the rotation of the blade pulley 1261 to the blade 1271 so that the blade 1271 moves along the direction from the proximal portion 1201f to the distal portion 1201g of the first jaw 1201.

[0638] Here, the blade link assembly 1272 may include a first blade link 1273, a second blade link 1274 and a third blade link 1275.

[0639] One end of the first blade link 1273 is axially connected to a protruding portion 1261 a of the blade pulley 1261 , and the other end is axially connected to a link connecting portion 1274 a of the second blade link 1274 by a rotating shaft 1281 .

[0640] One end of the second blade link 1274 is axially connected to the first jaw 1201 by a rotating shaft 1282, and the other end is axially connected to the third blade link 1275 by a rotating shaft 1283. A link connection portion 1274a is formed in one region between both ends of the second blade link 1274, and the link connection portion 1274a is axially connected to the first blade link 1273 by a rotating shaft 1281.

[0641] Here, if the relative position of the first jaw 1201 is fixed, the second blade link 1274 can be considered to rotate about a rotation axis 1282 which is the joint with the first jaw 1201 .

[0642] One end of third blade link 1275 is axially connected to second blade link 1274, and the other end is axially connected to blade 1271, more specifically, to any one of the multiple protrusions of second guide portion 1271c of blade 1271.

[0643] Here, in the drawing, through holes are formed at both ends of the first blade link 1273, the second blade link 1274, and the third blade link 1275 and at the link coupling part 1274a of the second blade link 1274, and a separate shaft is inserted through these through holes, but the idea of ​​the present invention is not limited to this. In other words, it can be said that various coupling structures are possible, such as a protrusion being formed in one component and a through hole being formed in another corresponding component, and the two components being fastened to each other.

[0644] 114, 115 and 116 are perspective views illustrating the cutting action of an endotool of the electrocautery surgical instrument of FIG.

[0645] In the same state as in FIG. 114, when the blade pulley 1261 rotates in the direction of arrow R1 in FIG. 115, the first blade link 1273 axially coupled to the blade pulley 1261 also rotates together with the blade pulley 1261 and rotates around the protruding portion 1261a in the direction of arrow F1. Then, the first blade link 1273 pushes the second blade link 1274, and this force causes the second blade link 1274 to rotate in the direction of arrow G1 around the rotating shaft 1282. In this way, the second blade link 1274 rotates and pushes the third blade link 1275 in the direction of arrow H1. The third blade link 1275 moves as a whole due to the second blade link 1274, and at the same time, rotates around the rotating shaft 1283 to move the blade 1271 in the direction of arrow D1.

[0646] Similarly, in the same state as in FIG. 115, when the blade pulley 1261 further rotates in the direction of the arrow R2 in FIG. 116, the first blade link 1273 axially coupled to the blade pulley 1261 also rotates together with the blade pulley 1261 and rotates around the protruding portion 1261a in the direction of the arrow F2. Then, the first blade link 1273 pushes the second blade link 1274, and this force causes the second blade link 1274 to rotate in the direction of the arrow G2 around the rotation shaft 1282. In this way, as the second blade link 1274 rotates, it pushes the third blade link 1275 in the direction of the arrow H2. The third blade link 1275 moves as a whole due to the second blade link 1274, and at the same time, rotates around the rotation shaft 1283 to move the blade 1271 in the direction of the arrow D2.

[0647] Such an end tool of an electrocautery surgical instrument according to the fifth embodiment of the present invention is characterized in that, by including a blade link assembly 1272 including a plurality of blade links, the blade 1271 performs linear motion along substantially the same direction as the direction from the proximal portion 1201f to the distal portion 1201g of the first jaw 1201, i.e., the X-axis direction. In other words, the rotational motion of the blade pulley 1261 is converted into linear motion of the blade 1271 in the X-axis direction by the blade link assembly 1272.

[0648] Correspondingly, a part of the blade 1271 is housed inside the first jaw 1201 in all operating states, and another part of the blade 1271 is housed inside the second jaw 1202 in all operating states. That is, the blade 1271 does not move from the first jaw 1201 to the second jaw 1202 side, but cutting is performed while the blade 1271 moves linearly between the proximal portion 1201f and the distal portion 1201g of the first jaw 1201.

[0649] With this configuration, the blade 1271 cuts while moving linearly, shortening the path of movement of the blade 1271, and thus achieving the effect of cutting more simply.

[0650] FIG. 117 is a diagram showing a state in which the jaw has yaw rotated 90°, FIG. 118 is a diagram showing a state in which the jaw has pitch rotated 90°, and FIG. 119 is a diagram showing a state in which the jaw has pitch rotated 90° and at the same time yaw rotated 90°.

[0651] As shown in Figures 117 to 119, the end tool of the electrocautery surgical instrument according to the fifth embodiment of the present invention can perform a normal cutting operation even when the jaw is pitch rotated by 90° or yaw rotated by 90°.

[0652] <Sixth embodiment - double blade> The following describes an endotool 1300 of a surgical instrument according to the sixth embodiment of the present invention. Here, the endotool 1300 of a surgical instrument according to the sixth embodiment of the present invention is characterized by a different configuration of a blade assembly 1370 compared to the endotool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). This changed configuration compared to the first embodiment will be described in detail later.

[0653] Figures 120, 121 and 122 are perspective views showing an end tool of an electrocautery surgical instrument according to the sixth embodiment of the present invention, with Figure 120 showing the jaws in an open state and Figure 121 showing the jaws in a closed state.

[0654] 120 to 122, an end tool 1300 according to a sixth embodiment of the present invention includes a pair of jaws, i.e., a first jaw 1301 and a second jaw 1302, for performing a gripping operation, where each of the first jaw 1301 and the second jaw 1302, or a component including the first jaw 1301 and the second jaw 1302, may be referred to as jaw 1303.

[0655] Meanwhile, the end tool 1300 includes a plurality of pulleys including a pulley 1311 which is a first jaw pulley coupled to a first jaw 1301. In this embodiment, the pulleys related to the rotational motion of the first jaw 1301 are substantially the same as the pulleys 112, 113, 114, 115, and 116 described in FIG. 11 and other drawings of the first embodiment, and therefore detailed description thereof will be omitted here.

[0656] Meanwhile, the end tool 1300 includes a plurality of pulleys including a pulley 1321 which is a second jaw pulley coupled to a second jaw 1302. In this embodiment, the pulleys related to the rotational motion of the second jaw 1302 are substantially the same as the pulleys 122, 123, 124, 125, and 126 described in FIG. 11 and the like in the first embodiment, and therefore detailed description thereof will be omitted here.

[0657] The blade assembly 1370 of the electrocautery surgical instrument 1300 according to the sixth embodiment of the present invention will now be described in more detail.

[0658] The first jaw 1301 can include a guide member 1301a and a case (not shown).

[0659] The guide member 1301a may be formed with a blade accommodating portion 1301d. The guide member 1301a may be connected to the pulley 1311 and may be formed to guide the moving paths of the first blade 1371 and the second blade 1372. The guide member 1301a may be formed with a blade accommodating portion 1301d that may accommodate at least a part of the first blade 1371, the second blade 1372, and the blade link 1375 described later. The blade accommodating portion 1301d may be formed long along a direction from the proximal portion 1301f to the distal portion 1301g of the first jaw 1301, and the first blade 1371 and the second blade 1372 may be entirely accommodated in the blade accommodating portion 1301d, or at least a part of the first blade 1371 and the second blade 1372 may protrude to the outside from the blade accommodating portion 1301d. In other words, it can be considered that the tissue is cut while the first blade 1371 and the second blade 1372 move along the blade housing portion 1301d. This will be described in more detail later.

[0660] In addition, the guide member 1301a may be formed with a first blade coupling portion 1301b and a second blade coupling portion 1301c formed in a through hole shape. A jaw coupling portion 1371d of a first blade 1371 may be inserted through the first blade coupling portion 1301b, and a jaw coupling portion 1372d of a second blade 1372 may be inserted through the second blade coupling portion 1301c.

[0661] Meanwhile, a first electrode 1351 can be formed on a surface of the first jaw 1301 facing the second jaw 1302. And a second electrode 1352 can be formed on a surface of the second jaw 1302 facing the first jaw 1301.

[0662] The first blade 1371 can include a body portion 1371a, an edge portion 1371b, one or more link coupling portions 1371c, and a jaw coupling portion 1371d.

[0663] An edge portion 1371b that is sharp and cuts tissue is formed in one region of the main body portion 1371a. At least a part of this edge portion 1371b is pulled out to the outside of the first jaw 1301, and tissue disposed between the first jaw 1301 and the second jaw 1302 can be cut.

[0664] Meanwhile, one or more link coupling parts 1371c may be formed in another region of the body part 1371a. For example, the link coupling part 1371c may be formed in a long slit shape, and the first blade coupling part 1375b having a protrusion shape may be fitted into the link coupling part 1371c.

[0665] Meanwhile, a jaw coupling portion 1371d may be formed in another region of the body portion 1371a. For example, the jaw coupling portion 1371d may be formed in a shaft shape and may be inserted through the first blade coupling portion 1301b formed in the guide member 1301a of the first jaw 1301 in a through-hole shape.

[0666] The second blade 1372 can include a body portion 1372a, an edge portion 1372b, one or more link coupling portions 1372c, and a jaw coupling portion 1372d.

[0667] An edge portion 1372b that is sharp and cuts tissue is formed in one region of the main body portion 1372a. At least a part of this edge portion 1372b is pulled out to the outside of the first jaw 1301, and tissue disposed between the first jaw 1301 and the second jaw 1302 can be cut.

[0668] Meanwhile, one or more link coupling parts 1372c may be formed in another region of the body part 1372a. For example, the link coupling part 1372c may be formed in a long slit shape, and a protruding second blade coupling part 1375c may be fitted into the link coupling part 1372c.

[0669] Meanwhile, a jaw coupling portion 1372d may be formed in another region of the body portion 1372a. For example, the jaw coupling portion 1372d may be formed in a shaft shape and may be inserted through the second blade coupling portion 1301c formed in the guide member 1301a of the first jaw 1301 in a through-hole shape.

[0670] The blade link 1375 connects the blade pulley 1361 to the first blade 1371 and the second blade 1372, and transmits the rotation of the blade pulley 1361 to the first blade 1371 and the second blade 1372 so that the first blade 1371 and the second blade 1372 move between the proximal part 1301f and the distal part 1301g of the first jaw 1301. The blade link 1375 may be formed in a long bar shape, and one end of the blade link 1375 may be connected to the blade pulley 1361, and the other region may be connected to the first blade 1371 and the second blade 1372, respectively. This will be described in more detail as follows.

[0671] In the blade link 1375, a pulley coupling portion 1375a, a first blade coupling portion 1375b, and a second blade coupling portion 1375c may be formed sequentially from the proximal portion 1301f side toward the distal portion 1301g side.

[0672] Specifically, a slit-shaped blade pulley coupling portion 1375a may be formed at the end portion on the proximal portion 1301f side of the blade link 1375. A protrusion 1361a formed on one surface of the blade pulley 1361 may be fitted into the blade pulley coupling portion 1375a.

[0673] The first blade coupling portion 1375b of the blade link 1375 includes a protrusion. The link coupling portion 1371c of the first blade 1371 is formed in a long slit shape. The protrusion of the first blade coupling portion 1375b is fitted into the slit of the link coupling portion 1371c.

[0674] Meanwhile, the jaw coupling portion 1371d of the first blade 1371 includes a protrusion. A hole-shaped first blade coupling portion 1301b is formed in the guide member 1301a of the first jaw 1301. The jaw coupling portion 1371d of the first blade 1371 is inserted through the first blade coupling portion 1301b of the guide member 1301a, and the first blade 1371 is formed to be rotatable with respect to the guide member 1301a about the jaw coupling portion 1371d as an axis.

[0675] Therefore, when the blade link 1375 moves linearly, the first blade coupling portion 1375b of the blade link 1375 pushes and pulls the link coupling portion 1371c of the first blade 1371. At this time, since the jaw coupling portion 1371d of the first blade 1371 is axially coupled to the guide member 1301a, the first blade 1371 rotates relative to the guide member 1301a.

[0676] Although the figure shows first blade coupling portion 1375b including a protrusion and link coupling portion 1371c including a slit, the concept of the present invention is not limited thereto and the positions of the protrusion and slit could be reversed.

[0677] In addition, although the figure shows that the jaw coupling portion 1371d of the first blade 1371 is formed in an axis-like shape, and the guide member 1301a is formed with the first blade coupling portion 1301b in the shape of a through hole, the concept of the present invention is not limited to this, and the positions of the axis and the through hole may be reversed.

[0678] The second blade coupling portion 1375c of the blade link 1375 includes a protrusion. The link coupling portion 1372c of the second blade 1372 is formed in a long slit shape. The protrusion of the second blade coupling portion 1375c is fitted into the slit of the link coupling portion 1372c.

[0679] Meanwhile, the jaw coupling portion 1372d of the second blade 1372 includes a protrusion. A hole-shaped second blade coupling portion 1301c is formed in the guide member 1301a of the first jaw 1301. The jaw coupling portion 1372d of the second blade 1372 is inserted through the second blade coupling portion 1301c of the guide member 1301a, and the second blade 1372 is formed to be rotatable with respect to the guide member 1301a about the jaw coupling portion 1372d as an axis.

[0680] Therefore, when the blade link 1375 moves linearly, the second blade coupling portion 1375c of the blade link 1375 pushes or pulls the link coupling portion 1372c of the second blade 1372. At this time, since the jaw coupling portion 1372d of the second blade 1372 is axially coupled to the guide member 1301a, the second blade 1372 rotates relative to the guide member 1301a.

[0681] Although the figure shows that the second blade coupling portion 1375c includes a protrusion and the link coupling portion 1371c includes a slit, the concept of the present invention is not limited thereto and the positions of the protrusion and slit could be reversed.

[0682] In addition, although the figure shows that the jaw coupling portion 1372d of the second blade 1372 is formed in an axis-like shape, and the guide member 1301a is formed with the second blade coupling portion 1301c in the shape of a through hole, the concept of the present invention is not limited to this, and the positions of the axis and the through hole may be reversed.

[0683] In this state, when the blade pulley 1361 rotates around the rotation shaft 1341, the rotational motion of the blade pulley 1361 is transmitted to the first blade 1371 and the second blade 1372 by the blade link 1375 coupled to the blade pulley 1361. Then, the positions of the first blade 1371 and the second blade 1372 change due to the transmitted rotational motion of the blade pulley 1361, and the first blade 1371 and the second blade 1372 can be pulled out from the first jaw 1301 or pulled into the inside of the first jaw 1301 while mo...

Claims

1. In the end tools of surgical instruments, a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley coupled to the first jaw and configured to be rotatable around a first axis; a second jaw pulley coupled to the second jaw and rotatable about an axis substantially the same as or parallel to the first axis, the second jaw pulley being spaced apart from the first jaw pulley; a blade assembly including a blade moving between a proximal portion and a distal portion of the first jaw and a blade pulley connecting to the blade, the blade assembly being at least partially formed between the first jaw pulley and the second jaw pulley; and a blade wire that is in at least partial contact with the blade assembly and transmits the driving force required to move the blade to the blade via rotation of the blade pulley.

2. The end tool hub further includes 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, the first jaw pulley is disposed adjacent the first jaw pulley interface of the end tool hub; the second jaw pulley is disposed adjacent the second jaw pulley interface of the end tool hub; 2. The end tool of a surgical instrument according to claim 1, wherein at least a portion of the blade assembly is formed between the first jaw pulley and the second jaw pulley.

3. An end tool of a surgical instrument as described in claim 2, characterized in that the blade pulley is positioned between the first jaw pulley and the second jaw pulley.

4. 4. The end tool of a surgical instrument according to claim 3, wherein the first shaft is inserted through the first jaw pulley connection portion, the first jaw pulley, the blade pulley, the second jaw pulley and the second jaw pulley connection portion in sequence.

5. The end tool of a surgical instrument according to claim 3 , wherein the first jaw pulley, the blade pulley and the second jaw pulley are laminated in sequence within the end tool hub.

6. The end tool of the surgical instrument according to claim 3 , wherein the first jaw pulley, the blade pulley and the second jaw pulley are formed to be rotatable independently of each other.

7. The end tool of the surgical instrument according to claim 3 , further comprising a blade assist pulley disposed between the blade pulley and the guide portion.

8. 8. The end tool of a surgical instrument according to claim 7, wherein the braid wire is located on a common inscribed line of the blade pulley and the blade auxiliary pulley, and the rotation angle of the blade pulley is magnified by the blade auxiliary pulley.

9. 4. The end tool of the surgical instrument according to claim 3, wherein in the guide portion, areas adjacent to the first jaw pulley, the blade pulley, and the second jaw pulley are curved so that their cross sections have a predetermined curvature.

10. The end tool of a surgical instrument according to claim 9, wherein the braid wire is located on a common inscribed line of the blade pulley and the guide portion, and the rotation angle of the blade pulley is expanded by the guide portion.

11. An end tool of a surgical instrument as described in claim 1, characterized in that the blade pulley is positioned between the first jaw pulley and the second jaw pulley.

12. An end tool of a surgical instrument as described in claim 11, characterized in that when the blade pulley is rotated by the blade wire, the blade connected to the blade pulley moves between the proximal and distal portions of the first jaw.

13. The blade assembly includes: The surgical instrument end tool of claim 11 further comprising a blade link connected to the blade pulley and the blade for transmitting rotation of the blade pulley to the blade.

14. a first electrode is formed on a surface of the first jaw facing the second jaw; The end tool of the surgical instrument according to claim 1 , wherein a second electrode is formed on a surface of the second jaw facing the first jaw.

15. The end tool of the surgical instrument according to claim 14, wherein cauterization is performed on tissue while a current is flowing through the first electrode and the second electrode.

16. 16. The end tool of a surgical instrument according to claim 15, wherein, once the cauterization is completed, the blade wire is moved, and in response, the blade moves from the proximal side to the distal side of the first jaw while cutting the tissue.

17. The end tool of a surgical instrument according to claim 1, characterized in that when the blade is located proximal to the first jaw, at least a portion of the blade is contained in the first jaw, and the blade is moved toward the second jaw by the blade wire.

18. 18. The end tool of a surgical instrument according to claim 17, wherein the blade is withdrawn outside the first jaw while moving toward the distal end of the first jaw.

19. a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable about a second axis that forms a predetermined angle with the first axis; 2. The end tool of the surgical instrument according to claim 1, further comprising a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around an axis substantially the same as or parallel to the second axis.

20. The end tool of the surgical instrument according to claim 19, characterized in that the end tool is configured to be capable of yaw rotation about the first axis and pitch rotation about the second axis at the same time.

21. a first jaw wire at least partially wound around the first jaw pulley and the pair of end tool first jaw pitch main pulleys; 20. The surgical instrument end tool of claim 19, further comprising a second jaw wire wound at least partially around the second jaw pulley and the pair of end tool second jaw pitch main pulleys.

Images