End tools for surgical instruments

Abstract

The present invention relates to an endotool for a surgical instrument, and more particularly to an endotool for a surgical instrument that can be attached to a robotic arm or manually actuated for use in laparoscopic or various surgical procedures.

Description

[Technical field]

[0001] The present invention relates to an endotool for a surgical instrument, and more particularly to an endotool for a surgical instrument that is mounted on a robotic arm or manually operable for use in laparoscopic or various surgical procedures. [Background technology]

[0002] Medically, surgery refers to the use of medical instruments to cut, incise, or manipulate skin, mucous membranes, and other tissues to treat illnesses. In particular, open surgery, in which the skin at the surgical site is incised and the organs inside are treated, reshaped, or removed, can cause problems such as bleeding, side effects, pain for the patient, and scars. Therefore, surgery that involves making holes in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgery using robots, has recently been gaining attention as an alternative.

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

[0004] 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]

[0005] The present invention aims to provide an end tool of a surgical instrument that can be attached to a robot arm or manually operated for use in laparoscopic surgery or various other surgeries, and that compensates for the movement of a jaw wire that occurs during pitch movement, thereby enabling pitch movement and yaw movement / actuation movement to be performed independently and smoothly. [Means for solving the problem]

[0006] The present invention relates to a rotary knives having a first jaw, a second jaw formed to face the first jaw, 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 to face the first jaw pulley, a pair of first jaw pitch main pulleys formed on one side of the first jaw pulley and formed to be rotatable about a second axis forming a predetermined angle with the first axis, a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and formed to be rotatable about an axis substantially the same as or parallel to the second axis, and the first jaw pulley. A surgical instrument end tool is provided, comprising: a first jaw pitch extra pulley arranged between the pair of first jaw pitch main pulleys and formed to be rotatable about a third axis; a second jaw pitch extra pulley arranged between the second jaw pulley and the pair of second jaw pitch main pulleys and formed to be rotatable about a fourth axis; a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wound around at least a portion of the pair of first jaw pitch main pulleys; and a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley and wound around at least a portion of the pair of second jaw pitch main pulleys. Effect of the Invention

[0007] According to the present invention, the movement of the jaw wire occurring during the pitch movement can be compensated for, so that the pitch movement and the yaw movement / actuation movement can be performed independently and smoothly. [Brief description of the drawings]

[0008] [Figure 1A] FIG. 1A is a diagram showing an example of use of an end tool of a surgical instrument according to one embodiment of the present invention. [Figure 1B] FIG. 1B is a diagram showing an example of use of an end tool of a surgical instrument according to one embodiment of the present invention. [Figure 1C] FIG. 1C is a diagram showing an example of use of an end tool of a surgical instrument according to one embodiment of the present invention. [Figure 1D] FIG. 1D is a diagram showing an example of use of an end tool of a surgical instrument according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view showing an end tool of a surgical instrument according to the first embodiment of the present invention. [Diagram 3] FIG. 3 is a perspective view showing an end tool of a surgical instrument according to a first embodiment of the present invention. [Figure 4] FIG. 4 is a plan view of the end tool of FIG. [Diagram 5] FIG. 5 is a plan view of the end tool of FIG. [Figure 6] FIG. 6 is a plan view of the end tool of FIG. [Figure 7A] 7A is a side view of the endotool of FIG. 2. FIG. [Figure 7B] 7B is a side view of the endotool of FIG. 2. FIG. [Figure 7C] 7C is a side view of the endotool of FIG. 2. FIG. [Figure 8] 8 is a perspective view of the end tool hub of the end tool of FIG. 2. FIG. [Figure 9] FIG. 9 is a conceptual diagram of pitch motion compensation of a surgical instrument according to a first embodiment of the present invention. [Figure 10A] FIG. 10A is a conceptual diagram of pitch motion compensation of a surgical instrument according to a first embodiment of the present invention. [Figure 10B] FIG. 10B is a conceptual diagram of pitch motion compensation of the surgical instrument according to the first embodiment of the present invention. [Figure 11A] FIG. 11A is a conceptual diagram of pitch motion compensation of a surgical instrument according to a first embodiment of the present invention. [Figure 11B] FIG. 11B is a conceptual diagram of pitch motion compensation of the surgical instrument according to the first embodiment of the present invention. [Figure 12] FIG. 12 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 2 has been pitch-rotated by −90°. [Figure 13] FIG. 13 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 2 has been pitch-rotated by −90°. [Figure 14] FIG. 14 is a side view showing a state in which the end tool of the surgical instrument of FIG. 2 has been pitch-rotated by −90°. [Figure 15] FIG. 15 is a side view showing a state in which the end tool of the surgical instrument in FIG. 2 has been pitch-rotated by −90°. [Figure 16] FIG. 16 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 2 has been pitch-rotated by +90°. [Figure 17] FIG. 17 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 2 has been pitch-rotated by +90°. [Figure 18] FIG. 18 is a side view showing a state in which the end tool of the surgical instrument in FIG. 2 has been pitch-rotated by +90°. [Figure 19] FIG. 19 is a side view showing a state in which the end tool of the surgical instrument in FIG. 2 has been pitch-rotated by +90°. [Figure 20] FIG. 20 is a perspective view showing an end tool of a surgical instrument according to a first modified example of the first embodiment of the present invention. [Figure 21] FIG. 21 is a perspective view showing an end tool of a surgical instrument according to a first modified example of the first embodiment of the present invention. [Figure 22] FIG. 22 is a plan view of the end tool of FIG. [Diagram 23] FIG. 23 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 20 has been pitch-rotated by −90°. [Figure 24] FIG. 24 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 20 has been pitch-rotated by −90°. [Diagram 25] FIG. 25 is a side view showing a state in which the end tool of the surgical instrument of FIG. 20 has been pitch-rotated by −90°. [Figure 26] FIG. 26 is a side view showing a state in which the end tool of the surgical instrument of FIG. 20 has been pitch-rotated by −90°. [Figure 27] FIG. 27 is a perspective view showing an end tool of a surgical instrument according to a second modified example of the first embodiment of the present invention. [Figure 28] FIG. 28 is a perspective view showing an end tool of a surgical instrument according to a second modified example of the first embodiment of the present invention. [Figure 29] 29 is an assembled perspective view of the second jaw of the end tool of FIG. 27; FIG. [Diagram 30] 30 is an exploded perspective view of the second jaw of the end tool of FIG. 27. FIG. [Diagram 31] 31 is an assembled perspective view of the first jaw of the end tool of FIG. 27; FIG. [Diagram 32] 32 is an exploded perspective view of a first jaw of the end tool of FIG. 27. FIG. [Diagram 33] 33 is a perspective view of the end tool hub of the end tool of FIG. 27. FIG. [Diagram 34] 34 is a perspective view of the end tool hub of the end tool of FIG. 27. FIG. [Diagram 35] FIG. 35 is a plan view of the endotool of FIG. [Diagram 36] Figure 36 is a side view of the end tool in FIG. 27. [Figure 37] Figure 37 is a side view of the end tool in FIG. 27. [Figure 38] Figure 38 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 27 is pitch-rotated by -90°. [Figure 39] Figure 39 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 27 is pitch-rotated by -90°. [Diagram 40] Figure 40 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 27 is pitch-rotated by +90°. [Diagram 41] Figure 41 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 27 is pitch-rotated by +90°. [Diagram 42] Figure 42 is a perspective view showing the end tool of the surgical instrument according to the third modified form of the first embodiment of the present invention. [Diagram 43] Figure 43 is a perspective view showing the end tool of the surgical instrument according to the third modified form of the first embodiment of the present invention. [Diagram 44] Figure 44 is a plan view of the end tool in FIG. 42. [Diagram 45] Figure 45 is a plan view of the end tool in FIG. 42. [Figure 46] Figure 46 is a side view of the end tool in FIG. 42. [Figure 47] Figure 47 is a side view of the end tool in FIG. 42. [Figure 48] Figure 48 is a side view of the end tool in FIG. 42. [Figure 49] Figure 49 is a plan view of the end tool in FIG. 42. [Figure 50] Figure 50 is a plan view of the end tool in FIG. 42. [Figure 51] Figure 51 is a perspective view showing a state in which the end tool of the surgical instrument in FIG. 42 is pitch-rotated by -90°. [Figure 52] FIG. 52 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by −90°. [Figure 53] FIG. 53 is a side view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by −90°. [Figure 54] FIG. 54 is a side view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by −90°. [Figure 55] FIG. 55 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by +90°. [Figure 56] FIG. 56 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by +90°. [Figure 57] FIG. 57 is a side view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by +90°. [Figure 58] FIG. 58 is a side view showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by +90°. [Figure 59] FIG. 59 is a diagram showing an example of use of an end tool of a surgical instrument according to the second embodiment of the present invention. [Figure 60] FIG. 60 is a perspective view showing an end tool of a surgical instrument according to a second embodiment of the present invention. [Figure 61] FIG. 61 is a perspective view showing an end tool of a surgical instrument according to a second embodiment of the present invention. [Figure 62] FIG. 62 is a plan view of the end tool of FIG. [Figure 63] FIG. 63 is a plan view of the end tool of FIG. [Figure 64] FIG. 64 is a plan view of the end tool of FIG. [Figure 65] FIG. 65 is a plan view of the endotool of FIG. [Figure 66]Figure 66 is a side view of the end tool of FIG. 60. [Figure 67] Figure 67 is a side view of the end tool of FIG. 60. [Figure 68] Figure 68 is a side view of the end tool of FIG. 60. [Figure 69] Figure 69 is a perspective view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by -90°. [Figure 70] Figure 70 is a perspective view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by -90°. [Figure 71] Figure 71 is a side view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by -90°. [Figure 72] Figure 72 is a side view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by -90°. [Figure 73] Figure 73 is a perspective view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by +90°. [Figure 74] Figure 74 is a perspective view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by +90°. [Figure 75] Figure 75 is a side view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by +90°. [Figure 76] Figure 76 is a side view showing the state where the end tool of the surgical instrument of FIG. 60 is pitch-rotated by +90°. [Figure 77] Figure 77 is a perspective view showing the end tool of the surgical instrument according to the first modified form of the second embodiment of the present invention. [Figure 78] Figure 78 is a perspective view showing the end tool of the surgical instrument according to the first modified form of the second embodiment of the present invention. [Figure 79] Figure 79 is a plan view of the end tool of FIG. 77. [Figure 80]FIG. 80 is a plan view of the endotool of FIG. [Figure 81] FIG. 81 is a side view of the endotool of FIG. [Figure 82] 82 is a side view of the endotool of FIG. 77. FIG. [Figure 83] 83 is a side view of the endotool of FIG. 77. FIG. [Figure 84] FIG. 84 is a plan view of the endotool of FIG. [Figure 85] FIG. 85 is a plan view of the endotool of FIG. [Figure 86] FIG. 86 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by −90°. [Figure 87] FIG. 87 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by −90°. [Figure 88] FIG. 88 is a side view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by −90°. [Figure 89] FIG. 89 is a side view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by −90°. [Figure 90] FIG. 90 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by +90°. [Figure 91] FIG. 91 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by +90°. [Figure 92] FIG. 92 is a side view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by +90°. [Figure 93] FIG. 93 is a side view showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by +90°. [Figure 94] FIG. 94 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 95]FIG. 95 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 96] FIG. 96 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 97] FIG. 97 is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 98] 98 is a plan view of the endotool of FIG. 94. FIG. [Figure 99] FIG. 99 is a top view of the end tool of FIG. [Figure 100] 100 is a side view of the endotool of FIG. [Figure 101] FIG. 101 is a side view of the endotool of FIG. [Figure 102] 102 is a side view of the endotool of FIG. [Figure 103] 103 is a plan view of the endotool of FIG. [Figure 104] 104 is a top view of the endotool of FIG. [Figure 105] FIG. 105 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by −90°. [Fig. 106] FIG. 106 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by −90°. [Figure 107] FIG. 107 is a side view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by −90°. [Figure 108] FIG. 108 is a side view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by −90°. [Fig. 109] FIG. 109 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by +90°. [Figure 110]FIG. 110 is a perspective view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by +90°. [Figure 111] FIG. 111 is a side view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by +90°. [Figure 112] FIG. 112 is a side view showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by +90°. [Figure 113] 113 is a perspective view of the end tool hub of the end tool of FIG. 94; [Fig. 114] 114 is a front view of the end tool hub of the end tool of FIG. 94. FIG. [Fig. 115] 115 is a side view of the end tool hub of the endo tool of FIG. 94. FIG. BEST MODE FOR CARRYING OUT THEINVENTION

[0009] In the present invention, one of the two first jaw wires coupled to the first jaw pulley while moving from the proximal portion to the distal portion of the end tool can be wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction, and the other first jaw wire can be wound around the first jaw pitch main pulley in the other direction of the clockwise or counterclockwise direction.

[0010] In the present invention, based on a plane perpendicular to the first axis and passing between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley can contact an upper side of the first jaw pitch main pulley, and the other first jaw wire can contact a lower side of the first jaw pitch main pulley.

[0011] In the present invention, the first jaw wire can successively contact the first jaw pitch main pulley and the first jaw pitch extra pulley while moving from the proximal portion to the distal portion of the end tool.

[0012] In the present invention, based on a plane perpendicular to the first axis and passing between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley may contact the underside of the first jaw pitch main pulley and the underside of the first jaw pitch extra pulley in sequence, and the other of the two first jaw wires connected to the first jaw pulley may contact the upper side of the first jaw pitch main pulley and the underside of the first jaw pitch extra pulley in sequence.

[0013] In the present invention, the gear unit may further include a first jaw auxiliary pulley formed between the first jaw pulley and the first jaw pitch extra pulley, and a second jaw auxiliary pulley formed between the second jaw pulley and the second jaw pitch extra pulley.

[0014] In the present invention, the first jaw wire is located on a common inscribed line of the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley can be enlarged by the first jaw auxiliary pulley.

[0015] In the present invention, the gearbox may further include one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and rotatable about an axis substantially parallel to the second axis, and one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable about an axis substantially parallel to the second axis.

[0016] In the present invention, the first jaw pitch sub pulley or the second jaw pitch sub pulley may include only one pulley.

[0017] The present invention may further include an end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed therein, and a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub.

[0018] In the present invention, the first jaw and the second jaw may rotate about the first axis to perform a yaw motion, and the end tool hub may rotate about the second axis to perform a pitch motion.

[0019] The present invention may further include an end tool pitch pulley formed at a proximal end of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0020] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley can be changed.

[0021] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the first jaw wire can be moved to a certain extent by an external force to compensate for the change in the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley.

[0022] In the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley can be integrally formed with the end tool hub.

[0023] In the present invention, the third axis and the fourth axis may be substantially parallel to the second axis.

[0024] In the present invention, the third axis and the fourth axis may be formed to be inclined with respect to the first axis and the second axis, respectively.

[0025] In the present invention, the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley may be formed at a constant interval from each other.

[0026] In the present invention, a groove around which the first jaw wire is wound in the first jaw pulley and a groove around which the second jaw wire is wound in the second jaw pulley may be formed adjacent to each other.

[0027] In the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley may include only one pulley.

[0028] The present invention provides a surgical instrument including an end tool of a surgical instrument described in any one of claims 1 to 20, a drive unit that provides a predetermined driving force required to rotate the end tool, and a connecting unit formed extending in a first direction (X-axis) and having one end to which the end tool is connected and the other end to which the drive unit is connected, connecting the drive unit and the end tool.

[0029] In the present invention, when the drive unit pitch pulley of the drive unit rotates for pitch motion, the drive unit first jaw pulley and the drive unit second jaw pulley of the drive unit can rotate together to compensate for the pitch motion.

[0030] The present invention relates to a tool for a rotary knives, comprising: a first jaw; a second jaw rotatably coupled to the first jaw; an end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed therein; a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub; a first pin inserted through the end tool hub and formed to extend along a first direction; a second pin inserted through the end tool hub and formed parallel to the first pin and formed on one side of the first pin; a second.5 pin inserted through the end tool hub and formed to extend along a second direction forming a predetermined angle with the first direction and formed on one side of the second pin; and a third pin inserted through the end tool hub and the pitch hub and formed parallel to the second. a third pin formed on one side of the second pin; a fourth pin formed on one side of the third pin, which is inserted through the pitch hub and formed parallel to the third pin; a first jaw pulley coupled to the first jaw and formed rotatable about the first pin; a second jaw pulley coupled to the second jaw and formed rotatable about the first pin; a first jaw auxiliary pulley formed on one side of the first jaw pulley and formed rotatable about the second pin; a second jaw auxiliary pulley formed on one side of the second jaw pulley and formed rotatable about the second pin; one or more first jaw pitch extra pulleys formed on one side of the first jaw auxiliary pulley and formed rotatable about the 2.5 pin;The end tool of a surgical instrument includes one or more second jaw pitch extra pulleys formed to be rotatable around the 5th pin, a pair of first jaw pitch main pulleys formed on one side of the first jaw pitch extra pulley and formed to be rotatable around the 3rd pin, a pair of second jaw pitch main pulleys formed on one side of the second jaw pitch extra pulley and formed to be rotatable around the 3rd pin, one or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and formed to be rotatable around the 4th pin, one or more second jaw pitch sub pulleys formed on one side of the second jaw pitch main pulley and formed to be rotatable around the 4th pin, a first jaw wire coupled with the first jaw pulley to rotate the first jaw pulley and wound around at least a portion of the pair of first jaw pitch main pulleys, and a second jaw wire coupled with the second jaw pulley to rotate the second jaw pulley and wound around at least a portion of the pair of second jaw pitch main pulleys.

[0031] In the present invention, one of the two first jaw wires coupled to the first jaw pulley while moving from the proximal portion to the distal portion of the end tool can be wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction, and the other first jaw wire can be wound around the first jaw pitch main pulley in the other direction of the clockwise or counterclockwise direction.

[0032] In the present invention, based on a plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley can contact the upper side of the first jaw pitch main pulley, and the other first jaw wire can contact the lower side of the first jaw pitch main pulley.

[0033] In the present invention, the first jaw wire can sequentially contact the first jaw pitch sub pulley, the first jaw pitch main pulley, and the first jaw pitch extra pulley while moving from the proximal portion to the distal portion of the end tool.

[0034] In the present invention, based on a plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley may successively contact the upper side of the first jaw pitch sub pulley, the lower side of the first jaw pitch main pulley, and the lower side of the first jaw pitch extra pulley, and the other of the two first jaw wires connected to the first jaw pulley may successively contact the lower side of the first jaw pitch sub pulley, the upper side of the first jaw pitch main pulley, and the lower side of the first jaw pitch extra pulley.

[0035] The present invention may further include an end tool pitch pulley formed at a proximal end of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0036] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley can be changed.

[0037] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the first jaw wire can be moved to a certain extent by an external force to compensate for the change in the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley.

[0038] In the present invention, the No. 1 pin, the No. 2 pin, the No. 2.5 pin, the No. 3 pin, and the No. 4 pin may be sequentially arranged from the distal end of the end tool toward the proximal end.

[0039] In the present invention, the first jaw pulley, the first jaw auxiliary pulley, the first jaw pitch extra pulley, the first jaw pitch main pulley and the first jaw pitch sub pulley may be arranged sequentially from the distal end of the end tool toward the proximal end.

[0040] In the present invention, the first jaw wire is located on a common inscribed line of the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley can be enlarged by the first jaw auxiliary pulley.

[0041] In the present invention, the first jaw and the second jaw can rotate around the first pin to perform a yaw motion, and the end tool hub can rotate around the third pin to perform a pitch motion.

[0042] In the present invention, the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley may be formed at a constant interval from each other.

[0043] In the present invention, a groove around which the first jaw wire is wound in the first jaw pulley and a groove around which the second jaw wire is wound in the second jaw pulley may be formed adjacent to each other.

[0044] In the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley may include only one pulley.

[0045] In the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley can be integrally formed with the end tool hub.

[0046] In the present invention, the first jaw pitch sub pulley or the second jaw pitch sub pulley may include only one pulley.

[0047] The present invention relates to a jaw pulley, comprising: a first jaw; a second jaw rotatably coupled to the first jaw; an end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed therein; a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub; a first pin inserted through the end tool hub and formed to extend along a first direction; a second pin inserted through the end tool hub and formed to extend along a second direction forming a predetermined angle with the first direction and formed on one side of the first pin; a third pin inserted through the end tool hub and the pitch hub and formed to extend along a third direction forming a predetermined angle with the first direction and the second direction and formed on one side of the second pin; a fourth pin inserted through the pitch hub and formed in parallel with the third pin and formed on one side of the third pin; a first jaw pulley coupled to the first jaw and formed to be rotatable around the first pin; a first jaw auxiliary pulley formed on one side of the first jaw pulley and rotatable about the second pin; a second jaw auxiliary pulley formed on one side of the second jaw pulley and rotatable about the second pin; a pair of first jaw pitch main pulleys formed on one side of the first jaw auxiliary pulley and rotatable about the third pin; a pair of second jaw pitch main pulleys formed on one side of the second jaw auxiliary pulley and rotatable about the third pin; one or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and rotatable about the fourth pin; one or more second jaw pitch sub pulleys formed on one side of the second jaw pitch main pulley and rotatable about the fourth pin;and a second jaw wire wound around at least a portion of the pair of second jaw pitch main pulleys.

[0048] In the present invention, one of the two first jaw wires coupled to the first jaw pulley while moving from the proximal portion to the distal portion of the end tool can be wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction, and the other first jaw wire can be wound around the first jaw pitch main pulley in the other direction of the clockwise or counterclockwise direction.

[0049] In the present invention, based on a plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley can contact the upper side of the first jaw pitch main pulley, and the other first jaw wire can contact the lower side of the first jaw pitch main pulley.

[0050] In the present invention, the first jaw wire can sequentially contact the first jaw pitch sub pulley, the first jaw pitch main pulley, the first jaw auxiliary pulley, and the first jaw pulley while moving from the proximal portion to the distal portion of the end tool.

[0051] In the present invention, based on a plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley may successively contact the upper side of the first jaw pitch sub pulley, the lower side of the first jaw pitch main pulley, and the first jaw pulley, and the other of the two first jaw wires connected to the first jaw pulley may successively contact the lower side of the first jaw pitch sub pulley, the upper side of the first jaw pitch main pulley, the first jaw auxiliary pulley, and the first jaw pulley.

[0052] The present invention may further include an end tool pitch pulley formed at a proximal end of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0053] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley can be changed.

[0054] In the present invention, when the end tool pitch pulley is rotated by the pitch wire, the first jaw wire can be moved to a certain extent by an external force to compensate for the change in the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley.

[0055] In the present invention, the first pin, the second pin, the third pin, and the fourth pin may be sequentially arranged from the distal end of the end tool toward the proximal end.

[0056] In the present invention, the first jaw pulley, the first jaw auxiliary pulley, the first jaw pitch main pulley, and the first jaw pitch sub pulley may be sequentially arranged from the distal end of the end tool toward the proximal end.

[0057] In the present invention, the first jaw wire is located on a common inscribed line of the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley can be enlarged by the first jaw auxiliary pulley.

[0058] In the present invention, a surgical instrument is characterized in that the first jaw and the second jaw rotate around the No. 1 pin to perform a yaw movement, and the end tool hub rotates around the No. 3 pin to perform a pitch movement.

[0059] In the present invention, the second pin includes a first sub-shaft formed at a first jaw pulley connection portion of the end tool hub and a second sub-shaft formed at a second jaw pulley connection portion of the end tool hub, and the first jaw auxiliary pulley can be coupled to the first sub-shaft and the second jaw auxiliary pulley can be coupled to the second sub-shaft.

[0060] In the present invention, the first sub-shaft and the second sub-shaft may be formed to be inclined to a certain degree with respect to the first pin and the third pin.

[0061] In the present invention, the first jaw wire may be characterized in that, based on a first plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, the first jaw wire crosses the first plane while passing through the first jaw auxiliary pulley.

[0062] In the present invention, based on a first plane that is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, the first jaw wire can contact the first jaw pitch main pulley below the first plane, and the first jaw auxiliary pulley can contact the first jaw pitch main pulley above the first plane.

[0063] 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. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0064] 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.

[0065] 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.

[0066] 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.

[0067] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0068] 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.

[0069] <Surgical Instruments>

[0070] Fig. 1 is a diagram showing an example of use of an end tool of a surgical instrument according to an embodiment of the present invention. Here, Fig. 1A is a conceptual diagram showing a surgical robot system to which an end tool of a surgical instrument according to an embodiment of the present invention is attached, Fig. 1B is a perspective view showing a slave robot of the surgical robot system of Fig. 1A, Fig. 1C is a perspective view showing a surgical instrument attached to the slave robot of Fig. 1A, and Fig. 1D is a perspective view showing an example of a hand-held type surgical instrument to which an end tool according to an embodiment of the present invention is attached.

[0071] With reference to FIGS. 1A, 1B, and 1C, a surgical robot system 1 includes a master robot 10, a slave robot 20, and surgical instruments 30.

[0072] The master robot 10 includes an operating member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, .

[0073] In detail, the master robot 10 is provided with an operation member 10a so that the surgeon can hold and operate it with both hands. An image captured through the laparoscope 50 is displayed on the display member 10b of the master robot 10. A predetermined virtual operation plate can be displayed on the display member 10b together with the image captured through the laparoscope 50 or can be displayed independently. A detailed description of the arrangement, configuration, etc. of such a virtual operation plate will be omitted.

[0074] Meanwhile, the slave robot 20 may include one or more robot arm units 21, 22, 23. Here, each robot arm unit 21, 22, 23 may be provided in a modular form capable of operating independently of each other, and in this case, an algorithm for preventing collisions between each robot arm unit 21, 22, 23 may be applied to the surgical robot system 1.

[0075] Here, surgical instruments 30 may be attached to two or more of the robot arm units 21, 22, 23, and a laparoscope 50 may be attached to one or more of the robot arm units. The surgeon may then select the robot arm unit 21, 22, 23 that he or she wishes to control via the master robot 10. In this way, the surgeon may directly control a total of three or more surgical instruments via the master robot 10, allowing the surgeon to accurately and freely control multiple instruments as intended without the need for a surgical assistant.

[0076] With continued reference to FIG. 1C, the surgical instrument 30 of the surgical robot system 1 can include an end tool 100, a drive portion 200, and a linkage portion 400.

[0077] Here, the connecting part 400 is formed in a hollow shaft shape and can accommodate one or more wires (described later) therein, and has one end connected to the driving part 200 and the other end connected to the end tool 100, thereby serving to connect the driving part 200 and the end tool 100.

[0078] The driving unit 200 is formed at one end of the connecting unit 400, and provides an interface that can be coupled to the robot arm units 21, 22, and 23. Therefore, when the master robot 10 is operated by a user, the motors (not shown) of the robot arm units 21, 22, and 23 are operated so that the endotool 100 of the surgical instrument 30 can execute a corresponding operation, and the driving force of the motors (not shown) is transmitted to the endotool 100 via the driving unit 200. In other words, the driving unit 200 itself can be described as an interface that connects the surgical instrument 30 and the slave robot 20.

[0079] The end tool 100 is formed on the other end of the connecting portion 400 and is inserted into a surgical site to perform operations required for the surgery. Such an end tool 100 will be described in more detail with reference to FIG.

[0080] Meanwhile, referring to FIG. 1D, a hand-held surgical instrument 40 may include an end tool 100, a driving portion 200, and a coupling portion 400.

[0081] Here, the connecting part 400 is formed in a hollow shaft shape and can accommodate one or more wires (described later) therein, and has one end connected to the driving part 200 and the other end connected to the end tool 100, thereby serving to connect the driving part 200 and the end tool 100.

[0082] The driving unit 200 is formed at one end of the connecting part 400 and is provided with an interface that can be directly operated by a doctor, for example, in the shape of forceps, stick, lever, etc., and when the doctor operates it, the endotool 100 connected to the interface and inserted into the body of the surgical patient performs a predetermined operation to perform surgery. Here, Fig. 1D shows that the driving 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 forms of the driving unit 200 that can be connected to the endotool 100 and operate the endotool 100 are possible.

[0083] The end tool 100 is formed on the other end of the connecting portion 400 and is inserted into a surgical site to perform operations required for the surgery. Such an end tool 100 will be described in more detail with reference to FIG.

[0084] The end tool of a surgical instrument according to one embodiment of the present invention may be provided in a surgical instrument of a surgical robot system as shown in Figures 1A, 1B, and 1C, or in a hand-held surgical instrument as shown in Figure 1D.

[0085] The following provides a more detailed description of the end tools that may be provided on the surgical instruments of a surgical robot system or on hand-held surgical instruments.

[0086] <First embodiment of an end tool of a surgical instrument>

[0087] Figures 2 and 3 are perspective views showing an end tool of a surgical instrument according to a first embodiment of the present invention. Figure 4 is a plan view of the end tool of Figure 2. Figures 5 and 6 are plan views of the end tool of Figure 2. Figure 7 is a side view of the end tool of Figure 2. Figure 8 is a perspective view of an end tool hub of the end tool of Figure 2. Figures 9, 10, and 11 are conceptual diagrams of pitch motion compensation of a surgical instrument according to an embodiment of the present invention.

[0088] 12 and 13 are perspective views showing a state where the endotool of the surgical instrument of FIG. 2 has been pitch-rotated by -90°. FIGs. 14 and 15 are side views showing a state where the endotool of the surgical instrument of FIG. 2 has been pitch-rotated by -90°. FIGs. 16 and 17 are perspective views showing a state where the endotool of the surgical instrument of FIG. 2 has been pitch-rotated by +90°. FIGs. 18 and 19 are side views showing a state where the endotool of the surgical instrument of FIG. 2 has been pitch-rotated by +90°.

[0089] Here, Fig. 3 shows a state in which the end tool hub 106 has been removed from the end tool in Fig. 2. Fig. 5 is a diagram mainly showing the wire from the end tool in Fig. 2, and Fig. 6 is a diagram mainly showing the pulley from the end tool in Fig. 2. Figs. 8 and 9 are cross-sectional views showing a state in which the end tool hub 106 has been removed from the end tool in Fig. 7.

[0090] 1, the surgical instrument according to the first embodiment of the present invention (see 30 in FIG. 1C or 40 in FIG. 1D) may include an end tool 100, a driving unit (see 200 in FIG. 1C or 200 in FIG. 1D), and a coupling unit 400. The end tool 100 may include a power transmission unit 300.

[0091] 2 to 11, the endotool 100 is formed at the end of the connecting 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 101, 102 for performing a gripping operation as shown in FIG. 2 can be used. 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 a driving part (see 200 in FIG. 1C or 200 in FIG. 1D) by a power transmission part 300, and the driving force of the driving part (see 200 in FIG. 1C or 200 in FIG. 1D) is transmitted through the power transmission part 300 to perform an operation required for surgery, such as gripping, cutting, and suturing.

[0092] Here, the end tool 100 of the surgical instrument according to the first embodiment of the present invention is formed to be rotatable in at least two or more directions. For example, the end tool 100 can be formed to perform a pitch motion around the rotation axis 143 of FIG. 2, as well as a yaw motion and an actuation motion around the rotation axis 141 of FIG. 2.

[0093] Here, the pitch, yaw and actuation movements used in the present invention are defined as follows.

[0094] First, the pitch motion refers to the motion of the end tool 100 rotating in the vertical direction relative to the extension direction of the continuous part 400 (the X-axis direction in FIG. 2), i.e., the motion of rotating around the Y-axis in FIG. 2. In other words, it refers to the motion of the end tool 100 formed extending from the connecting part 400 rotating up and down around the Y-axis relative to the connecting part 400.

[0095] Next, the yaw motion means the motion of the end tool 100 rotating left and right with respect to the extension direction of the continuous part 400 (X-axis direction in FIG. 2), i.e., the motion of rotating around the Z-axis in FIG. 2. In other words, it means the motion of the end tool 100 formed extending from the connecting part 400 rotating left and right around the Z-axis with respect to the connecting part 400. In other words, it means the motion of two jaws 101 and 102 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0096] Meanwhile, the actuation movement refers to the movement in which the end tool 100 rotates around the same rotation axis as the yaw movement, but the two jaws 101 and 102 rotate in opposite directions to each other, thereby contracting or opening the jaws. In other words, it refers to the movement in which the two jaws 101 and 102 formed on the end tool 100 rotate in opposite directions to each other around the Z axis.

[0097] From another perspective, yaw rotation can be defined as the rotation of the jaw pulley, which will be described later, around rotation axis 141, which is the jaw pulley rotation axis, and pitch rotation can be defined as the revolution of the jaw pulley around rotation axis 143, which is the pitch main rotation axis.

[0098] The power transmission unit 300 connects the driving unit (see 200 in FIG. 1C or 200 in FIG. 1D) and the end tool 100 and transmits the driving force of the driving unit (see 200 in FIG. 1C or 200 in FIG. 1D) to the end tool 100, and may include multiple wires, pulleys, links, nodes, gears, etc.

[0099] The power transmission unit 300 and the end tool 100 including the same will be described in more detail below.

[0100] (Power transmission section)

[0101] In the following, the power transmission section 300 of the endotool of the surgical instrument of FIG. 2 will be described in more detail.

[0102] Referring to Figures 5, 6, 10, etc., the power transmission portion 300 of the end tool 100 of a surgical instrument according to one embodiment of the present invention may include wire 301, wire 302, wire 303, wire 304, wire 305 and wire 306.

[0103] Here, the wire 301 and the wire 305 can function as a pair to serve as a first jaw wire. The wire 302 and the wire 306 can function as a pair to serve as a second jaw wire. Here, a component including the wires 301 and 305 which are the first jaw wires and the wires 302 and 306 which are the second jaw wires can be referred to as a jaw wire. Also, the wires 303 and 304 can function as a pair to serve as a pitch wire.

[0104] Here, in the drawings, a pair of wires is shown as being associated with the rotational movement of the first jaw 101 and a pair of wires is shown as being associated with the rotational movement of the second jaw 102, but the idea of ​​the present invention is not limited thereto. For example, a pair of wires may be associated with yaw movement and a pair of wires may be associated with actuation movement.

[0105] In addition, the power transmission unit 300 of the surgical instrument according to an embodiment of the present invention may include fastening members 321, 322, 323, 324, 326, 327, and 329, which are coupled to each end of each wire to couple the wire with the pulley. Here, each fastening member may have various shapes such as a ball shape, a tube shape, etc., as necessary.

[0106] Here, fastening member 321, which is a pitch wire fastening member, is coupled to an end of wire 303, which is the pitch wire, on the end tool 100 side, and fastening member 322, which is a pitch wire fastening member, is coupled to an end of wire 304, which is the pitch wire, on the end tool 100 side, and can serve as a pitch wire end tool fastening member. Meanwhile, a pitch wire drive unit fastening member 329 can be coupled to an end of wire 303 and wire 304, which are the pitch wires, on the drive unit (see 200 in FIG. 1 ) side.

[0107] Meanwhile, the fastening member 323, which is the first jaw wire fastening member, is coupled to the end portion of the wire 301 and wire 305, which are the first jaw wires, on the side of the end tool 100, and can function as a first jaw wire end tool fastening member. Meanwhile, a first jaw wire driving part fastening member 324 can be coupled to the end portion of the wire 301 and wire 305, which are the first jaw wires, on the side of the driving part (see 200 in FIG. 1).

[0108] Meanwhile, fastening member 326, which is a second jaw wire fastening member, is coupled to the end of wire 302 and wire 306, which are the second jaw wires, on the side of end tool 100, and can function as a second jaw wire end tool fastening member. Meanwhile, second jaw wire driving part fastening member 327 can be coupled to the end of wire 302 and wire 306, which are the second jaw wires, on the side of driving part (see 200 in FIG. 1).

[0109] Here, each fastening member is classified as being included in the power transmission unit 300, but the fastening member on the end tool 100 side can also be classified as being included in the end tool 100, and the fastening member on the drive unit (see 200 in Figure 1) side can also be classified as being included in the drive unit (see 200 in Figure 1).

[0110] The connection relationship between the wire, the fastening member and the pulley will be described in detail below.

[0111] First, the second jaw wires, wire 302 and wire 306, may be one single wire. A fastening member 326, which is a second jaw wire end tool fastening member, is fitted to the midpoint of the second jaw wire, which is a single wire, and the fastening member 326 is crimped and fixed, and then both strands of the second jaw wire with the fastening member 326 at the center may be referred to as wire 302 and wire 306, respectively.

[0112] Alternatively, the second jaw wires 302 and 306 may be formed of separate wires, and the wires 302 and 306 may be connected by the fastening member 326 .

[0113] Then, by connecting this fastening member 326 to the pulley 121, the wire 302 and the wire 306 can be fixedly connected to the pulley 121. This allows the pulley 121 to rotate depending on whether the wire 302 and the wire 306 are pulled or unwound.

[0114] Meanwhile, the end of the wire 302 and the wire 306 opposite to the position where the fastening member 326 is fastened may be coupled with the second jaw wire driving part fastening member 327. That is, the end of the wire 302 and the wire 306 opposite to the position where the fastening member 326 is fastened may be fitted into the second jaw wire driving part fastening member 327, and the fastening member 327 may be crimped to fix the wire 302 and the wire 306 to the second jaw wire driving part fastening member 327, respectively.

[0115] In addition, the second jaw wire driving unit fastening members 327 connected to the wires 302 and 306 are respectively connected to the pulley 221, so that the wires 302 and 306 can be fixedly connected to the pulley 221. As a result, when the pulley 221 is rotated by a motor or manual power, the wires 302 and 306 are pulled or unwound, so that the pulley 121 of the end tool 100 can rotate.

[0116] Here, as shown in the figure, the drive unit second jaw pulley may include one pulley, pulley 221, and the second jaw wire drive unit fastening member may also include one fastening member, fastening member 327, and wire 302 and wire 306 may be coupled to one fastening member 327 and coupled to one drive unit second jaw pulley 221. Alternatively, although not shown in the figure, the drive unit second jaw pulley may include two pulleys, and the second jaw wire drive unit fastening member may also include two fastening members.

[0117] Similarly, the wire 301 and wire 305, which are the first jaw wire, are respectively coupled to a first jaw wire end tool fastening member 323 and a first jaw wire drive unit fastening member 324. The first jaw wire end tool fastening member 323 is coupled to the pulley 111, and the first jaw wire drive unit fastening member 324 is coupled to the pulley 211. As a result, when the pulley 211 is rotated by a motor or by human power, the wires 301 and 305 are pulled or unwound, and the pulley 111 of the end tool 100 can rotate.

[0118] Similarly, one end of wire 303, which is a pitch wire, can be coupled to fastening member 321, which is a pitch wire end tool fastening member, and one end of wire 304, which is a pitch wire, can be coupled to fastening member 322, which is a pitch wire end tool fastening member. The other ends of wire 303 and wire 304 can be coupled to pitch wire drive fastening member 329. Fastening members 321 and 322 are coupled to pulley 131, respectively, and pitch wire drive fastening member 329 is coupled to drive pitch pulley 231. As a result, when drive pitch pulley 231 is rotated by a motor or human power, wire 303 and wire 304 are pulled or unwound, and pulley 131 of end tool 100 can rotate.

[0119] As a result, the wires 301 and 305, which are both strands of the first jaw wire, can be formed to form a closed loop as a whole by being coupled to the fastening member 323, which is the first jaw wire end tool fastening member, and the first jaw wire drive unit fastening member 324. Similarly, the second jaw wire and the pitch wire can also be formed to form a closed loop, respectively.

[0120] (End Tool)

[0121] In the following, the endotool 100 of the surgical instrument of FIG. 2 will be described in more detail.

[0122] 2 to 11, the end tool 100 according to the 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.

[0123] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, 116, 117, and 118 for rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, 126, 127, and 128 for rotational movement of the second jaw 102.

[0124] Here, in the figure, one group of pulleys is shown as being related to the rotational motion of the first jaw 101, and one group of pulleys is shown as being related to the rotational motion of the second jaw 102, but the idea of ​​the present invention is not limited thereto. For example, one group of pulleys in the end tool may be related to yaw motion, and one group of pulleys may be related to actuation motion. Here, pulleys included in the end tool 100, including the above-mentioned pulleys, may be generally referred to as end tool pulleys.

[0125] Here, although the figures show opposing pulleys formed parallel to one another, the concept of the present invention is not limited thereto, and it will be appreciated that each pulley may be formed in a variety of positions and sizes suited to the configuration of the end tool.

[0126] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0127] The end tool hub 106 has a rotating shaft 141, a rotating shaft 142, and a rotating shaft 145, which will be described later, inserted therethrough. The end tool hub 106 can 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 106 can accommodate at least a portion of the pulley 112 and the pulley 122 axially coupled to the rotating shaft 142 therein. The end tool hub 106 can have the pulleys 117 / 118 and the pulleys 127 / 128 axially coupled to the rotating shaft 145 coupled thereto.

[0128] In detail, referring to FIG. 8, the end tool hub 106 includes a first jaw pulley coupling portion 106a, a second jaw pulley coupling portion 106b, a guide portion 106c, a pitch extra pulley accommodating portion 106d, and a pitch pulley coupling portion 106e.

[0129] In detail, the first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b are formed to face each other, and the pulleys 111 and 121 are housed therein. A through hole is formed in each of the first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b, and the rotating shaft 141 passes through the first jaw pulley coupling portion 106a, the pulley 111, the pulley 121, and the second jaw pulley coupling portion 106b to axially couple them. The rotating shaft 142 passes through the first jaw pulley coupling portion 106a, the pulley 112, the pulley 122, and the second jaw pulley coupling portion 106b to axially couple them.

[0130] The first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b are connected by a guide portion 106c. That is, the first jaw pulley coupling portion 106a and the second jaw pulley coupling portion 106b, which are parallel to each other, are coupled by a guide portion 106c formed in a direction substantially perpendicular thereto, and the first jaw pulley coupling portion 106a, the second jaw pulley coupling portion 106b, and the guide portion 106c form a substantially U-shape, and pulleys 111, 112, 121, and 122 are housed therein.

[0131] Here, the first jaw pulley, pulley 111, is positioned adjacent to the first jaw pulley connection portion 106a of the end tool hub 106, and the second jaw pulley, pulley 121, is positioned adjacent to the second jaw pulley connection portion 106b of the end tool hub 106, so that a predetermined space can be formed between the first jaw wire, wire 301 / wire 305, and the second jaw wire, wires 302, 306.

[0132] Meanwhile, a pitch extra pulley accommodating portion 106d may be formed on the proximal side of the guide portion 106c of the end tool hub 106. The pitch extra pulleys 117, 118, 127, and 128 may be accommodated in the pitch extra pulley accommodating portion 106d, and these pitch extra pulleys may be axially coupled to the end tool hub 106 by a rotation shaft 145.

[0133] Meanwhile, a pulley 131 serving as an end tool pitch pulley may be formed at the pitch pulley coupling portion 106e at one end of the end tool hub 106. Here, the pulley 131 may be formed integrally with the end tool hub 106. That is, one end of the end tool hub 106 may be formed in a disk or semicircular shape, and a groove around which a wire is wound may be formed on the outer circumferential surface thereof to form a kind of guide channel. Alternatively, the pulley 131 may be formed of a member separate from the end tool hub 106 and coupled to the end tool hub 106. The above-mentioned wires 303 and 304 are coupled to the pulley 131 serving as an end tool pitch pulley, and the pulley 131 rotates around the rotation axis 143 to perform a pitch motion.

[0134] Rotation shafts 143 and 144, which will be described later, are inserted through the pitch hub 107, and the pitch hub 107 can be axially coupled to the end tool hub 106 and the pulley 131 by the rotation shaft 143. Therefore, the end tool hub 106 and the pulley 131 (coupled thereto) can be formed to be rotatable relative to the pitch hub 107 around the rotation shaft 143.

[0135] 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.

[0136] 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 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0137] The rotating shafts 141, 142, 145, 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 145 as the 2.5 pin, the rotating shaft 143 as the third pin, and the rotating shaft 144 as the fourth pin.

[0138] Here, the rotation shaft 141 functions as a jaw pulley rotation shaft, the rotation shaft 142 functions as a jaw auxiliary pulley rotation shaft, the rotation shaft 143 functions as a pitch main rotation shaft, and the rotation shaft 144 functions as a pitch sub rotation shaft of the end tool 100. And the rotation shaft 145 disposed between the rotation shaft 142 and the rotation shaft 143 can function as a pitch extra rotation shaft of the end tool 100.

[0139] Each of the rotating shafts 141, 142, 143, 144, 145 may have one or more pulleys fitted thereto, which will be described in detail below.

[0140] Pulley 111 functions as a first jaw pulley and pulley 121 functions as a second jaw pulley, and these two components may be collectively referred to as jaw pulleys.

[0141] The pulleys 111 and 121, which are 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 a jaw pulley rotation axis. Here, in the drawing, the pulleys 111 and 121 are formed to rotate around one rotation axis 141, but it goes without saying that each jaw pulley can be formed to be rotatable around a different axis. Here, a first jaw 101 is fixedly connected to the pulley 111 and rotates together with the pulley 111, and a second jaw 102 is fixedly connected to the pulley 121 and rotates together with the pulley 121. Yaw and actuation operations of the end tool 100 are performed according to the rotation of the pulleys 111 and 121. That is, when pulley 111 and pulley 121 rotate in the same direction around rotation axis 141, a yaw motion is performed, and when pulley 111 and pulley 121 rotate in opposite directions around rotation axis 141, an actuation motion is performed.

[0142] 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.

[0143] Here, the groove 111a around which the wire 301 / wire 305, which is the first wire, is wound from the pulley 111, which is the first jaw pulley, is disposed adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106, and the groove 121a around which the wire 302 / wire 306, which is the second wire, is wound from the pulley 121, which is the second jaw pulley, is disposed adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106. Therefore, a predetermined space can be formed between the wire 301 / wire 305, which is the first jaw wire, and the wires 302, 306, which are the second jaw wire. In this manner, the wire 301 / wire 305, which is the first jaw wire, and the wires 302, 306, which are the second jaw wire, are disposed to be spaced apart from each other, so that the wires can be wound around each pulley while maintaining a straight line.

[0144] Pulley 112 functions as a first jaw assist pulley and pulley 122 functions as a second jaw assist pulley, and these two components may be collectively referred to as the jaw assist pulleys.

[0145] In detail, the pulleys 112 and 122, which are jaw auxiliary pulleys, may be additionally provided on one side of the pulleys 111 and 121. In other words, the pulley 112, which is a jaw auxiliary pulley, may be disposed between the pulley 111 and the pulleys 113 and 114. Also, the pulley 122, which is a jaw auxiliary pulley, may be disposed between the pulley 121 and the pulleys 123 and 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 drawings, 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.

[0146] Pulleys 113 and 114 function as first jaw pitch main pulleys, and pulleys 123 and 124 function as second jaw pitch main pulleys, and these two components may be collectively referred to as pitch main pulleys.

[0147] Pulleys 115 and 116 function as first jaw pitch sub-pulleys, and pulleys 125 and 126 function as second jaw pitch sub-pulleys, and these two components may be collectively referred to as pitch sub-pulleys.

[0148] On the other hand, the present invention is characterized in that pulleys 117, 118, 127, and 128, which are pitch redundant pulleys, are further disposed between pulleys 112 and 122, which are jaw auxiliary pulleys, and pulleys 113, 114, 123, and 124, which are pitch main pulleys.

[0149] Pulleys 117 and 118 function as first jaw pitch extra pulleys, and pulleys 127 and 128 function as second jaw pitch extra pulleys, and these two components may be collectively referred to as pitch extra pulleys.

[0150] Also, a rotation shaft 145 functioning as a pitch extra rotation shaft may be further provided, and the rotation shaft 145 may be inserted through the end tool hub 106. Here, the rotation shaft 145 may be formed substantially parallel to the rotation shaft 143 which is the pitch main rotation shaft and the rotation shaft 144 which is the pitch sub rotation shaft. In this case, the rotation shaft 145 is disposed between the rotation shaft 142 which is the 2nd pin and the rotation shaft 143 which is the 3rd pin, and therefore, in terms of its position, it may also be referred to as the 2.5th pin.

[0151] Such pitch extra pulleys can serve to change the retraction / retraction path of the jaw wire as it enters or exits the end tool from the proximal to the distal portion, as will be described in more detail below.

[0152] As a result, the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144 can be arranged in this order while moving in the direction from the distal portion 104 to the proximal portion 105 of the end tool 100.

[0153] In addition, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 117 / pulley 118, pulley 113 / pulley 114, and pulley 115 / pulley 116, can be arranged sequentially while moving from the distal portion 104 to the proximal portion 105 of the end tool 100.

[0154] In addition, pulleys related to the rotation of the second jaw 102 from the distal portion 104 toward the proximal portion 105 of the end tool 100, namely pulley 121, pulley 122, pulley 127 / pulley 128, pulley 123 / pulley 124, and pulley 125 / pulley 126, can be arranged in sequence.

[0155] Pulleys 112 and 122, which act as auxiliary pulleys, are described in more detail below.

[0156] 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.

[0157] That is, when the auxiliary pulley is not arranged, the first jaw and the second jaw can only rotate up to a right angle, but in one embodiment of the present invention, the auxiliary pulleys 112 and 122 are additionally provided, so that the maximum rotation angle can be increased by θ as viewed from FIG. 6. This enables the operation in which the two jaws of the end tool 120 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. 6. 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.

[0158] This will be explained in more detail as follows.

[0159] When the auxiliary pulley is not provided, the first jaw wire is fixedly connected to the first jaw pulley, and the second jaw wire is fixedly connected to the second jaw pulley, so that the first jaw pulley and the 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.

[0160] In order to solve this problem, in the case of the surgical instrument endotool 100 of the present invention, the pulley 112 and the pulley 122, which are auxiliary pulleys, are additionally arranged on one side of the pulley 111 and the pulley 121. By arranging the pulley 112 and the pulley 122 in this way and changing the arrangement path of the wire 305, which is the first jaw wire, and the wire 302, which is the second jaw wire, to a certain extent, the tangential direction of the wire 305 and the wire 302 is changed, and therefore the fastening member 326, which connects the wire 302 and the pulley 121, can rotate up to the N line in FIG. 6. That is, the fastening member 326, which is the connection part between the wire 302 and the pulley 121, can rotate until it is located 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 located on the common inscribed line of the pulley 111 and the pulley 112, and the rotation range can be expanded in the L direction.

[0161] In other words, the two wires 301 and 305 of the first jaw wire wound around the pulley 111 by the pulley 112 are perpendicular to the Y axis and disposed on one side of a plane passing through the X axis. At the same time, the two wires 302 and 306 of the second jaw wire wound around the pulley 121 by the pulley 122 are perpendicular to the Y axis and disposed on the other side of a plane passing through the X axis.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] The components involved in the rotation of pulley 111 will be described below.

[0166] Pulley 113 and pulley 114 form a pair and function as a first jaw pitch main pulley. That is, pulley 113 and pulley 114 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.

[0167] Pulley 115 and pulley 116 form a pair and function as a first jaw pitch sub pulley. That is, pulley 115 and pulley 116 function as sub rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 which is a first jaw wire is wound around pulley 115, and a wire 305 which is a first jaw wire is wound around pulley 116.

[0168] Pulley 117 and pulley 118 form a pair and function as first jaw extra pulleys. That is, pulley 117 and pulley 118 function as extra rotating pulleys for the pitch motion of first jaw 101. Here, a wire 301 which is the first jaw wire is wound around pulley 117, and a wire 305 which is the first jaw wire is wound around pulley 118.

[0169] Here, pulleys 117 and 118 are disposed on one side of pulleys 111 and 112 so as to face each other. Here, pulleys 117 and 118 are formed to be rotatable independently of each other around a rotation axis 145 which is a pitch extra rotation axis. In addition, pulleys 113 and 114 are disposed on one side of pulleys 117 and 118 so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other around a rotation axis 143 which is a pitch main 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 around a rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulleys 117, 118, 113, 114, 115 and 116 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0170] Wire 301, which is the first jaw wire, is wound in sequence so as to contact at least a portion of pulley 115, pulley 113, pulley 117, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so as to contact at least a portion of pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116.

[0171] In other words, wire 301 and wire 305, which are the first jaw wires, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 117, pulley 111, pulley 112, pulley 118, 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.

[0172] Therefore, when wire 301 is pulled toward the side of arrow 301 in Fig. 7, fastening member 323 to which wire 301 is connected and pulley 111 connected thereto rotate in the direction of arrow L in Fig. 7. Conversely, when wire 305 is pulled toward the side of arrow 305 in Fig. 7, fastening member 323 to which wire 305 is connected and pulley 111 connected thereto rotate in the direction of arrow R in Fig. 7.

[0173] Next, components related to the rotation of pulley 121 will be described.

[0174] Pulley 123 and pulley 124 form a pair and function as a second jaw pitch main pulley. That is, pulley 123 and pulley 124 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.

[0175] Pulley 125 and pulley 126 form a pair and function as a second jaw pitch sub pulley. That is, pulley 125 and pulley 126 function as sub rotating pulleys for the pitch operation of second jaw 102. Here, a wire 306 which is the second jaw wire is wound around pulley 125, and a wire 302 which is the second jaw wire is wound around pulley 126.

[0176] Pulley 127 and pulley 128 form a pair and function as second jaw pitch extra pulleys. That is, pulley 127 and pulley 128 function as extra rotation pulleys for the pitch operation of second jaw 102. Here, wire 306, which is the second jaw wire, is wound around pulley 127, and wire 302, which is the second jaw wire, is wound around pulley 128.

[0177] Here, pulleys 127 and 128 are disposed on one side of pulleys 121 and 122 so as to face each other. Here, pulleys 127 and 128 are formed to be rotatable independently of each other around a rotation axis 145 which is a pitch extra rotation axis. In addition, pulleys 123 and 124 are disposed on one side of pulleys 127 and 128 so as to face each other. Here, pulleys 123 and 124 are formed to be rotatable independently of each other around a rotation axis 143 which is a pitch main rotation axis. In addition, pulleys 125 and 126 are disposed on one side of pulleys 123 and 124 so as to face each other. Here, pulleys 125 and 126 are formed to be rotatable independently of each other around a rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulleys 127, 128, 123, 124, 125 and 126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0178] The wire 306, which is the second jaw wire, is wound in sequence so as to make at least a portion of the wire contacting the pulleys 125, 123, 127, and 121. The wire 302, which is connected to the wire 306 by the fastening member 326, is wound in sequence so as to make at least a portion of the wire contacting the pulleys 121, 122, 128, 124, and 126.

[0179] 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 127, pulley 121, pulley 122, pulley 128, pulley 124 and pulley 126, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0180] Therefore, when wire 306 is pulled in the direction of arrow 306 in Fig. 7, fastening member 326 to which wire 306 is connected and pulley 121 connected thereto rotate in the direction of arrow R in Fig. 7. Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 7, fastening member 326 to which wire 302 is connected and pulley 121 connected thereto rotate in the direction of arrow L in Fig. 7.

[0181] Here, the present invention is characterized in that two jaw wires wound around one jaw pulley are wound around a pitch main pulley in opposite directions to each other, thereby facilitating control of the pitch movement.

[0182] Specifically, if the +Z axis direction is defined as the upper side and the -Z axis direction as the lower side based on a plane (i.e., the XY plane) passing between pulley 111, which is the first jaw pulley, and pulley 121, which is the second jaw pulley, then one of the two first jaw wires (e.g., wire 301) can enter pulley 113, which is the first jaw pitch main pulley, from the lower side of the XY plane, and the other (e.g., wire 305) can exit pulley 114, which is the first jaw pitch main pulley, on the upper side of the XY plane. In other words, this can be expressed as a structure in which the jaw wires enter from the lower side of the first jaw pitch main pulley and exit from the upper side. (The second jaw wire enters from the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0183] In other words, wire 301, which is one of the first jaw wires, contacts the upper side of pulley 115, the lower side of pulley 113, and the lower side of pulley 117 in this order, and then contacts pulley 111. Next, wire 305, which is the other of the first jaw wires, is wound around pulleys 111 and 112, and then contacts the lower side of pulley 118, the upper side of pulley 114, and the lower side of pulley 116 in this order, and then exits into connecting portion 400. As a result, the first jaw wire exits connecting portion 400, enters the lower side of pulley 113, passes through each pulley, passes the upper side of pulley 114, and then re-enters connecting portion 400.

[0184] Similarly, wire 306, which is one of the second jaw wires, contacts the underside of pulley 125, the upper side of pulley 123, and the upper side of pulley 127 in this order, and then contacts pulley 121. Next, wire 302, which is the other of the second jaw wires, is wound around pulleys 121 and 122, and then contacts the upper side of pulley 128, the lower side of pulley 124, and the upper side of pulley 126 in this order, and then exits into connecting portion 400. As a result, the second jaw wire exits connecting portion 400, enters the upper side of pulley 123, passes through each pulley, passes through the underside of pulley 124, and then re-enters connecting portion 400.

[0185] In other words, one of the two first jaw wires is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other wire is wound around the first jaw pitch main pulley in the other direction of the clockwise or counterclockwise direction. That is, as shown in Fig. 10, wire 301 is wound in the clockwise direction while entering from the connecting portion 400 toward the end tool 100, and wire 305 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 100.

[0186] Similarly, it can be expressed that one of the two second jaw wires is wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction, and the other wire is wound around the second jaw pitch main pulley in the other direction of the clockwise or counterclockwise directions. That is, as shown in Fig. 10, wire 302 is wound in the clockwise direction while entering from the connecting portion 400 toward the end tool 100, and wire 306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 100.

[0187] In this way, by winding two jaw wires around one jaw pulley in opposite directions around the pitch main pulley, it is possible to obtain the effect of facilitating control of the pitch motion, as will be described in more detail later.

[0188] On the other hand, from the viewpoint of the XZ plane, the two jaw wires are arranged on the same side with respect to the XZ plane. In detail, when the +Y axis direction is defined as the first side and the -Y axis direction is defined as the second side with respect to a plane (i.e., the XZ plane) passing between the pulley 114 which is the first jaw pitch main pulley and the pulley 124 which is the second jaw pitch main pulley, any one of the two first jaw wires (e.g., wire 301) can be arranged on the first side of the XZ plane, and the remaining one (e.g., wire 305) can also be arranged on the same first side. Similarly, any one of the two second jaw wires (e.g., wire 306) can be arranged on the second side of the XZ plane, and the remaining one (e.g., wire 302) can also be arranged on the same second side. That is, it can be expressed as a structure in which one jaw wire enters from the first side and exits from the first side. (Furthermore, it can be expressed as a structure in which the other jaw wire enters from the second side and exits from the second side.)

[0189] (Pitch movement)

[0190] The end tool 100 of the surgical instrument of the present invention includes a pulley 131 which is an end tool pitch pulley, the drive unit (see 200 in Figure 1) includes a drive unit pitch pulley 231, and the power transmission unit 300 can further include wires 303 and 304 which are pitch wires.

[0191] In detail, the pulley 131 of the end tool 100 can rotate around a rotation axis 143 which is a pitch main rotation axis, and can be formed integrally with the end tool hub 106 (or fixedly coupled to the end tool hub 180). In addition, the wires 303 and 304 can serve to connect the pulley 131 of the end tool 100 and the drive unit pitch pulley 231 of the drive unit (see 200 in FIG. 1).

[0192] Therefore, when the drive unit pitch pulley 231 of the drive unit (see 200 in Figure 1) rotates, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via the wires 303 and 304, and the pulley 131 also rotates together, resulting in the end tool 100 performing a pitch motion while rotating.

[0193] Incidentally, when drive unit pitch pulley 231 rotates to perform this pitch movement, if the drive unit does not perform separate pitch compensation for the jaw wire, the jaws of the end tool will also rotate about rotation axis 141, which is the jaw pulley rotation axis, in addition to the pitch movement, resulting in a problem that pure pitch movement cannot be performed.

[0194] Such pitch compensation is explained in more detail below.

[0195] Figures 9, 10, and 11 are conceptual diagrams showing the pitch operation of the surgical instrument shown in Figure 2. In detail, Figure 9 shows the surgical instrument in a neutral state, Figure 10 shows the surgical instrument when pitch compensation is not performed, and Figure 11 shows the surgical instrument when pitch compensation is performed. Here, for convenience of explanation, Figures 9A, 10A, and 11A mainly show pulleys and wires related to the rotation of the first jaw, and Figures 9B, 10B, and 11B mainly show pulleys and wires related to the rotation of the second jaw.

[0196] Here, the surgical instrument according to one embodiment of the present invention is characterized in that, during pitch operation, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 rotate to wind and unwind the jaw wire, thereby enabling the pitch operation of the end tool 100 to be performed.

[0197] As described above, if the drive does not provide separate pitch compensation for the jaw wire when the drive pitch pulley 231 rotates in the drive to perform the pitch movement, the jaws of the end tool will also rotate about the rotation axis 141, which is the jaw pulley rotation axis, in addition to the pitch movement, and as a result, pure pitch movement will not be possible.

[0198] In detail, referring to Figures 9 and 10, when the drive unit pitch pulley 231 of the drive unit (see 200 in Figure 1) rotates to perform the pitch movement of the end tool, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via wires 303 and 304, and the pulley 131 also rotates together, resulting in the end tool 100 performing a pitch movement while rotating.

[0199] That is, when the drive unit pitch pulley 231 rotates in the direction of arrow P1 in Fig. 10A, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via the wires 303 and 304, and the pulley 131 rotates in the direction of arrow P2 in Fig. 10A, whereby the end tool hub (see 106 in Fig. 2) rotates relative to the pitch hub (see 107 in Fig. 2). Also, the first jaw 101, the second jaw 102, the first jaw pulley 111, the second jaw pulley 122, the first jaw auxiliary pulley 112, and the second jaw auxiliary pulley 122 coupled to the end tool hub (see 106 in Fig. 2) rotate relative to the pitch hub (see 107 in Fig. 2) together with the end tool hub (see 106 in Fig. 2).

[0200] At this time, the jaw wires 301 and 302 are connected to the pulleys 113 and 114. JPEG0007681367000001.jpg614 is further wound, and wire 305 and wire 306 are wound around pulley 114 / pulley 114. Only JPEG0007681367000002.jpg614 will be unrolled further.

[0201] Therefore, if no compensation is made for this, the first jaw pulley 111 will rotate to a certain degree in the direction of the arrow J1 in FIG. 10B, and the second jaw pulley 121 will rotate to a certain degree in the direction of the arrow J2 in FIG. 10A.

[0202] Therefore, if compensation is not made for the movement of the jaw wire, in addition to the pitch movement of the end tool, the jaws will also rotate about rotation axis 141, which is the jaw pulley rotation axis, resulting in a problem that pure pitch movement is not performed, but rather pitch movement and yaw movement are mixed.

[0203] In order to compensate for the pitch movement in this manner, the surgical instrument according to one embodiment of the present invention is characterized in that, during the pitch movement, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 rotate to wind or unwind the jaw wire, thereby performing a type of compensation for the pitch movement and enabling the pitch movement of the end tool 100 to be performed.

[0204] That is, during pitch motion, the drive unit first jaw pulley 211 rotates to a certain extent in the direction of the arrow A1 in FIG. JPEG0007681367000003.jpg834) is unwound, and that amount is wound around the first jaw pitch main pulley 113. At the same time, the wire 305 is wound around the drive unit first jaw pulley 211 to a certain extent. JPEG0007681367000004.jpg835 will be wound around it, and that much will be unwound from the first jaw pitch main pulley 114.

[0205] Similarly, during pitch motion, the drive unit second jaw pulley 221 rotates to a certain extent in the direction of the arrow A2 in FIG. JPEG0007681367000005.jpg835 is wound around the second jaw pitch main pulley 123. At the same time, the wire 306 is wound around the drive section second jaw pulley 221 to a certain extent. JPEG0007681367000006.jpg835 will be wound around it, and that much will be unwound from the second jaw pitch main pulley 124.

[0206] In other words, when the drive unit pitch pulley 231 rotates, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 also rotate, thereby changing the length of the jaw wire wound around the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221. That is, the jaw wire wound on the end tool 100 side by the rotation of the drive unit pitch pulley 231 is unwound by the same amount on the drive unit (see 200 in FIG. 1) side, and the jaw wire unwound on the end tool 100 side is wound by the same amount on the drive unit (see 200 in FIG. 1) side, so that the pitch movement does not affect the yaw movement.

[0207] In other words, when the end tool 100 performs a pitch movement due to the rotation of the drive pitch pulley 231, the jaw wire (responsible for the yaw movement and actuation movement) also moves due to the pitch movement. That is, the end tool 100 performs a pitch rotation around the rotation axis 143, and one of the jaw wires connected to one jaw is pulled and the other is unwound. At the same time, one of the jaw wires connected to the other jaw is pulled and the other is unwound. Therefore, in order to compensate for such a movement of the jaw wires, when the drive pitch pulley 231 rotates for the pitch movement of the end tool, the drive first jaw pulley 211 and the drive second jaw pulley 221 also rotate, and the total length of the jaw wires in the drive unit is changed, and the jaw wire is unwound (or pulled) by the amount that the jaw wire is pulled (or unwound) on the end tool side, thereby compensating for the movement of the jaw wire when the end tool performs the pitch movement.

[0208] In this way, the end tool 100 of the surgical instrument according to one embodiment of the present invention can obtain an effect of facilitating control of the pitch movement by winding two jaw wires wound around one jaw pulley in opposite directions around the pitch main pulley. That is, during the pitch movement, the first jaw pulley 211 of the driving unit and the second jaw pulley 221 of the driving unit rotate to wind and unwind the jaw wires, thereby providing a kind of compensation for the pitch movement, and an effect of enabling the pitch movement of the end tool 100 to be performed.

[0209] <First Modification of the First Embodiment>

[0210] The following describes an endotool 100 for a surgical instrument according to a first modified embodiment of the first embodiment of the present invention. The endotool 100 for a surgical instrument according to the first modified embodiment of the first embodiment of the present invention is characteristically different from the endotool for a surgical instrument according to the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the first embodiment.

[0211] Figures 20 and 21 are perspective views showing an end tool of a surgical instrument according to a first modified embodiment of the first embodiment of the present invention. Figure 22 is a plan view of the end tool of Figure 20. Figures 23 and 24 are perspective views showing a state in which the end tool of the surgical instrument of Figure 20 has been pitch-rotated by -90°. Figures 25 and 26 are side views showing a state in which the end tool of the surgical instrument of Figure 20 has been pitch-rotated by -90°.

[0212] 20 to 26, an end tool 100 according to a first modified example of the 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.

[0213] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0214] Furthermore, the end tool 100 of the first modified form of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0215] In this modified embodiment, the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 described in Figure 2 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0216] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 116, and 118 for the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, 126, and 128 for the rotational movement of the second jaw 102.

[0217] Here, the end tool 100 of the surgical instrument according to the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley each include only one pulley.

[0218] In detail, the end tool 100 of the surgical instrument according to the first embodiment of the present invention shown in Figure 6 etc. has a pair of pulleys, pulley 117 and pulley 118, as a first jaw pitch extra pulley, and a pair of pulleys, pulley 127 and pulley 128, as a second jaw pitch extra pulley.

[0219] In contrast, the end tool 100 of the surgical instrument according to the first variant of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in FIG. 6, etc., in that it has a single pulley, pulley 118, as the first jaw pitch extra pulley and a single pulley, pulley 128, as the second jaw pitch extra pulley.

[0220] As a result, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 118, pulley 113 / pulley 114, and pulley 115 / pulley 116, can be arranged sequentially while moving from the distal part 104 to the proximal part 105 of the end tool 100.

[0221] In addition, pulleys related to the rotation of the second jaw 102 from the distal portion 104 toward the proximal portion 105 of the end tool 100, namely pulley 121, pulley 122, pulley 128, pulley 123 / pulley 124, and pulley 125 / pulley 126, can be arranged in sequence.

[0222] Here, pulleys 117 and 127 of the end tool 100 of the first embodiment of the present invention shown in Figure 6 etc. are not pulleys around which a wire is wound, but pulleys that graze in a straight line, making it possible to omit the pulleys as in this modified embodiment.

[0223] In other words, the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in two rows, whereas the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in one row.

[0224] Here, a pulley 118 is disposed on one side of the pulleys 111 and 112. Here, the pulley 118 is formed to be rotatable around a rotation axis 145 which is a pitch extra rotation axis. In addition, pulleys 113 and 114 are disposed on one side of the pulley 118 to face each other. Here, the pulleys 113 and 114 are formed to be rotatable independently of each other around a rotation axis 143 which is a pitch main rotation axis. In addition, pulleys 115 and 116 are disposed on one side of the pulleys 113 and 114 to face each other. Here, the pulleys 115 and 116 are formed to be rotatable independently of each other around a rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulley 118, pulley 113, pulley 114, pulley 115 and pulley 116 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0225] Wire 301, which is the first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so that at least a portion of it contacts pulley 111, pulley 112, pulley 118, pulley 114, and pulley 116.

[0226] In other words, wire 301 and wire 305, which are the first jaw wires, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 111, pulley 112, pulley 118, 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.

[0227] Meanwhile, a pulley 128 is disposed on one side of the pulleys 121 and 122. Here, the pulley 128 is formed to be rotatable around a rotation axis 145 which is a pitch extra rotation axis. In addition, pulleys 123 and 124 are disposed on one side of the pulley 128 so as to face each other. Here, the pulleys 123 and 124 are formed to be rotatable independently of each other around the rotation axis 143 which is a pitch main rotation axis. In addition, pulleys 125 and 126 are disposed on one side of the pulleys 123 and 124 so as to face each other. Here, the pulleys 125 and 126 are formed to be rotatable independently of each other around the rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulley 128, pulley 123, pulley 124, pulley 125 and pulley 126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0228] The wire 306, which is the second jaw wire, is wound around the pulley 125, the pulley 123, and the pulley 121 in sequence so that at least a portion of the wire comes into contact with the pulleys. The wire 302, which is connected to the wire 306 by the fastening member 326, is wound around the pulley 121, the pulley 122, the pulley 128, the pulley 124, and the pulley 126 in sequence so that at least a portion of the wire comes into contact with the pulleys.

[0229] 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 128, pulley 124 and pulley 126, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0230] As a result, while the first embodiment of the present invention has two rows of first jaw pitch extra pulleys and two rows of second jaw pitch extra pulleys, the first variant of the first embodiment of the present invention has one row of first jaw pitch extra pulleys and one row of second jaw pitch extra pulleys, thereby reducing the number of parts and simplifying the manufacturing process.

[0231] <Second Modification of the First Embodiment>

[0232] The following describes the endotool 100 of the surgical instrument according to the second modified embodiment of the first embodiment of the present invention. Here, the endotool 100 of the surgical instrument according to the second modified embodiment of the first embodiment of the present invention has a characteristically different configuration of the endotool hub compared to the endotool of the surgical instrument according to the first embodiment of the present invention described above. The following describes in detail the configuration that has changed compared to the first embodiment.

[0233] 27 and 28 are perspective views of an end tool of a surgical instrument according to a second modified embodiment of the first embodiment of the present invention. FIG. 29 is an assembled perspective view of the second jaw of the end tool of FIG. 27. FIG. 30 is an exploded perspective view of the second jaw of the end tool of FIG. 27. FIG. 31 is an assembled perspective view of the first jaw of the end tool of FIG. 27. FIG. 32 is an exploded perspective view of the first jaw of the end tool of FIG. 27. FIGS. 33 and 34 are perspective views of an end tool hub of the end tool of FIG. 27. FIG. 35 is a plan view of the end tool of FIG. 27. FIGS. 36 and 37 are side views of the end tool of FIG. 27. FIGS. 38 and 39 are perspective views of the end tool of the surgical instrument of FIG. 27 in a state where the end tool has been pitch-rotated by −90°. FIGS. 40 and 41 are perspective views of the end tool of the surgical instrument of FIG. 27 in a state where the end tool has been pitch-rotated by +90°.

[0234] 27 to 41, an end tool 100 according to a second modified example of the 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.

[0235] Meanwhile, an electric wire 411 can be coupled to the first jaw 101, and an electric wire 412 can be coupled to the second jaw 102.

[0236] Additionally, the end tool 100 of the second variation of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107. The end tool hub 180 will be described in more detail below.

[0237] Also, the end tool 100 of the second modified example of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0238] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 for the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, and 126 for the rotational movement of the second jaw 102.

[0239] In this modified embodiment, the first jaw 101, the second jaw 102, the pitch hub 107, the respective pulleys and the respective rotating shafts, etc. are substantially the same as those of the end tool 100 described in FIG. 2 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0240] The following describes in more detail the end tool hub 180 of the second variant of the first embodiment of the present invention, with particular focus on the first pitch extra pulley portion 183 and the second pitch extra pulley portion 184 of the end tool hub 180 which serve as pitch extra pulleys.

[0241] End tool hub 180 includes a first jaw pulley attachment portion 181 and a second jaw pulley attachment portion 182 , a first pitch extra pulley portion 183 , a second pitch extra pulley portion 184 and a pitch pulley attachment portion 185 .

[0242] In detail, first jaw pulley coupling portion 181 and second jaw pulley coupling portion 182 are formed to face each other, and pulleys 111, 112, 121, and 122 are housed therein. Further, a through hole is formed in each jaw pulley coupling portion 181, 182, and rotating shaft 141 passes through jaw pulley coupling portions 181, 182 and pulleys 111 and 121 to axially couple them. Further, a through hole is formed in each jaw pulley coupling portion 181, 182, and rotating shaft 142 passes through jaw pulley coupling portions 181, 182 and pulleys 112 and 122 to axially couple them.

[0243] First jaw pulley coupling portion 181 and second jaw pulley coupling portion 182 are connected by guide portion 186. In other words, first jaw pulley coupling portion 181 and second jaw pulley coupling portion 182, which are parallel to each other, are coupled by guide portion 186 formed in a direction approximately perpendicular thereto, and first jaw pulley coupling portion 181, second jaw pulley coupling portion 182, and guide portion 186 form an approximately U-shape, and pulleys 111, 112, pulley 121, and pulley 122 are housed therein.

[0244] In other words, it can be considered that first jaw pulley connecting portion 181 and second jaw pulley connecting portion 182 are formed extending in the X-axis direction from both ends of guide portion 186 which is formed long in the Z-axis direction.

[0245] On one side of the guide part 186, a first pitch extra pulley part 183 can be formed, and on the other side, a second pitch extra pulley part 184 can be formed.

[0246] Specifically, on both sides of the guide part 186, a first pitch extra pulley part 183 and a second pitch extra pulley part 184 can be formed, which are formed in a disc shape like a pulley, and a groove around which a wire can be wound is formed on the outer peripheral surface thereof.

[0247] And the wire 305, which is the first jow wire, can be wound around the first pitch extra pulley part 183, and the wire 302, which is the second jow wire, can be wound around the second pitch extra pulley part 184.

[0248] On the other hand, the wire 301, which is the first jow wire, can pass along the side surface of the first pitch extra pulley part 183, and the wire 306, which is the second jow wire, can pass through the side surface of the second pitch extra pulley part 184.

[0249] On the other hand, a pulley 131 that serves as an end tool pitch pulley can be formed at the pitch pulley coupling part 185 at one end of the end tool hub 180. Here, the pulley 131 can be formed integrally with the end tool hub 180. That is, one end of the end tool hub 180 is formed in a disc shape or a semi-circular shape, and a groove around which a wire can be wound is formed on the outer peripheral surface thereof, and a kind of guide channel can be formed. Or, the pulley 131 can be formed as a member separate from the end tool hub 180 and can also be coupled to the end tool hub 180. The above-mentioned wires 303 and 304 are coupled to the pulley 131 that serves as an end tool pitch pulley, and this pulley 131 will perform a pitch operation while rotating around the rotation axis 143.

[0250] In this manner, by forming the first pitch extra pulley portion 183 and the second pitch extra pulley portion 184 on the already existing end tool hub 180 without adding a separate structure such as a pitch extra pulley, it is possible to realize an expansion of the rotation range without adding parts or manufacturing processes.

[0251] <Third Modification of the First Embodiment>

[0252] The following describes an endotool 100 of a surgical instrument according to a third modified embodiment of the first embodiment of the present invention. The endotool 100 of a surgical instrument according to the third modified embodiment of the first embodiment of the present invention is characteristically different from the endotool of a surgical instrument according to the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the first embodiment.

[0253] 42 and 43 are perspective views showing an end tool of a surgical instrument according to a third modified embodiment of the first embodiment of the present invention. FIGS. 44 and 45 are plan views of the end tool of FIG. 42. FIGS. 46, 47, and 48 are side views of the end tool of FIG. 42. FIGS. 49 and 50 are plan views of the end tool of FIG. 42. FIGS. 51 and 52 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by −90°. FIGS. 53 and 54 are side views showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by −90°. FIGS. 55 and 56 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by +90°. FIGS. 57 and 58 are side views showing a state in which the end tool of the surgical instrument of FIG. 42 has been pitch-rotated by +90°.

[0254] 42 to 58, an end tool 100 according to a third modified example of the 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.

[0255] Additionally, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0256] Furthermore, the end tool 100 of the third modified example of the first embodiment of the present invention may include the rotating shaft 141, the rotating shaft 142, the rotating shaft 145, the rotating shaft 143, and the rotating shaft 144. As described above, the rotating shaft 141, the rotating shaft 142, and the rotating shaft 145 may be inserted through the end tool hub 106, and the rotating shaft 143 and the rotating shaft 144 may be inserted through the pitch hub 107.

[0257] In this modified embodiment, the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each of the rotation shafts 141, 142, 143, 144, and 145 described in Figure 2 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0258] Meanwhile, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 117, and 118 for the rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, 127, and 128 for the rotational movement of the second jaw 102.

[0259] Here, the end tool 100 of the surgical instrument according to the third modified example of the first embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0260] In detail, the end tool 100 of the surgical instrument according to the first embodiment of the present invention shown in Figure 6 etc. has a pair of pulleys, pulley 115 and pulley 116, as a first jaw pitch sub-pulley, and a pair of pulleys, pulley 125 and pulley 126, as a second jaw pitch sub-pulley.

[0261] In contrast, the end tool 100 of the surgical instrument according to the third variant of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in FIG. 6, etc., in that it has a single pulley, pulley 115, as the first jaw pitch sub-pulley and a single pulley, pulley 125, as the second jaw pitch sub-pulley.

[0262] As a result, pulleys related to the rotation of the first jaw 101, namely pulley 111, pulley 112, pulley 117 / pulley 118, pulley 113 / pulley 114, and pulley 115, can be arranged sequentially while moving from the distal part 104 to the proximal part 105 of the end tool 100.

[0263] In addition, pulleys related to the rotation of the second jaw 102 from the distal portion 104 toward the proximal portion 105 of the end tool 100, namely pulley 121, pulley 122, pulley 127 / pulley 128, pulley 123 / pulley 124, and pulley 125, can be arranged in sequence.

[0264] Here, pulleys 116 and 126 of the end tool 100 of the first embodiment of the present invention shown in Figure 6 etc. are not pulleys around which a wire is wound, but pulleys that graze in a straight line, making it possible to omit the pulleys as in this modified embodiment.

[0265] In other words, the first embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas the third variant of the first embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in one row.

[0266] Here, pulley 117 / pulley 118 are disposed on one side of pulley 111 and pulley 112. Here, pulley 117 / pulley 118 are formed to be rotatable around rotation axis 145 which is a pitch extra rotation axis. In addition, pulley 113 and pulley 114 are disposed on one side of pulley 117 / pulley 118 to face each other. Here, pulley 113 and pulley 114 are formed to be rotatable independently of each other around rotation axis 143 which is a pitch main rotation axis. In addition, pulley 115 is disposed on one side of pulley 113 and pulley 114. Here, pulley 115 is formed to be rotatable around rotation axis 144 which is a pitch sub rotation axis. Here, the figure shows pulleys 117, 118, 113, 114 and 115 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0267] Wire 301, which is the first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 115, pulley 113, pulley 117, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound in sequence so that at least a portion of it contacts pulley 111, pulley 112, pulley 118, and pulley 114.

[0268] In other words, wire 301 and wire 305, which are the first jaw wires, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 117, pulley 111, pulley 112, pulley 118 and pulley 114, and wire 301 and wire 305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0269] On one side of the pulley 121 and the pulley 122, the pulley 127 / pulley 128 is arranged. Here, the pulley 127 / pulley 128 is formed to be rotatable about a rotation axis 145 which is a pitch extra rotation axis. Also, on one side of the pulley 127 / pulley 128, the pulley 123 and the pulley 124 are arranged so as to face each other. Here, the pulley 123 and the pulley 124 are formed to be rotatable independently of each other about a rotation axis 143 which is a pitch main rotation axis. Also, on one side of each of the pulley 123 and the pulley 124, the pulley 125 is arranged. Here, the pulley 125 is formed to be rotatable about a rotation axis 144 which is a pitch sub rotation axis. Here, in the figure, the pulley 127, the pulley 128, the pulley 123, the pulley 124, the pulley 125 and the pulley 126 are all shown to be formed to be rotatable about the Y-axis direction, but the idea of the present invention is not limited to this, and the rotation axes of the respective pulleys can be formed in various directions so as to be suitable for their configurations.

[0270] The wire 306 which is the second jow wire is sequentially wound so as to be in contact with at least a part of the pulley 125, the pulley 123, the pulley 127 and the pulley 121. And the wire 302 connected to the wire 306 by the fastening member 326 is sequentially wound so as to be in contact with at least a part of the pulley 121, the pulley 122, the pulley 128 and the pulley 124.

[0271] In other words, the wire 306 which is the second jow wire and the wire 302 are sequentially wound so as to be in contact with at least a part of the pulley 125, the pulley 123, the pulley 127, the pulley 121, the pulley 122, the pulley 128 and the pulley 124, and the wire 306 and the wire 302 are formed so as to be able to move along the pulley while rotating the pulley.

[0272] As a result, whereas in the first embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, in the third variant of the first embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in a single row, thereby reducing the number of parts and simplifying the manufacturing process.

[0273] <Second embodiment of the end tool of the surgical instrument>

[0274] The following describes an end tool 1100 of a surgical instrument according to a second embodiment of the present invention. The end tool 1100 of a surgical instrument according to the second embodiment of the present invention is characterized by a different arrangement of jaw pulleys and jaw wires compared to the end tool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). The configuration that has changed compared to the first embodiment will be described in detail later.

[0275] FIG. 59 is a diagram showing an example of use of the end tool of the surgical instrument according to the second embodiment of the present invention. FIG. 60 and FIG. 61 are perspective views showing the end tool of the surgical instrument according to the second embodiment of the present invention. FIG. 62, FIG. 63, FIG. 64, and FIG. 65 are plan views of the end tool of FIG. 60. FIG. 66, FIG. 67, and FIG. 68 are side views of the end tool of FIG. 60. FIG. 69 and FIG. 70 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 60 has been pitch-rotated by −90°. FIG. 71 and FIG. 72 are side views showing a state in which the end tool of the surgical instrument of FIG. 60 has been pitch-rotated by −90°. FIG. 73 and FIG. 74 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 60 has been pitch-rotated by +90°. FIG. 75 and FIG. 76 are side views showing a state in which the end tool of the surgical instrument of FIG. 60 has been pitch-rotated by +90°.

[0276] 59 to 76, a power transmission section 1300 of an end tool 1100 of a surgical instrument according to the second embodiment of the present invention can include a wire 1301, a wire 1302, a wire 1303, a wire 1304, a wire 1305, and a wire 1306. In this embodiment, the wires are substantially the same as the wires 301, 302, 303, 304, 305, and 306 described in FIG. 5 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0277] In addition, the power transmission unit 1300 of the end tool 100 of the surgical instrument according to the second embodiment of the present invention may include fastening members 1321, 1322, 1323, 1324, 1326, 1327, and 1329, which are coupled to each end of each wire to couple the wire with the pulley. Here, each fastening member may have various shapes such as a ball shape, a tube shape, and the like, as necessary. In this embodiment, the fastening members are substantially the same as the fastening members 321, 322, 323, 324, 326, 327, and 329 described in FIG. 5 of the first embodiment, and therefore detailed description thereof will be omitted here.

[0278] (End Tool)

[0279] The endotool 1100 of the surgical instrument of FIG. 59 will be described in more detail below.

[0280] 59 to 76, an end tool 1100 according to a second embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or a component including the first jaw 1101 and the second jaw 1102, may be referred to as a jaw 1103.

[0281] The end tool 1100 may also include pulleys 1111, 1112, 1113, 1114, 1115, 1116, 1117, and 1118 for rotational movement of the first jaw 1101. The end tool 1100 may also include pulleys 1121, 1122, 1123, 1124, 1125, 1126, 1127, and 1128 for rotational movement of the second jaw 1102. These pulleys are described in more detail below.

[0282] Additionally, the end tool 1100 of the second embodiment of the present invention may include an end tool hub 1106 and a pitch hub 1107 .

[0283] The end tool hub 1106 has a rotating shaft 1141, a rotating shaft 1142, and a rotating shaft 1145 inserted therethrough. The end tool hub 1106 can accommodate at least a portion of the pulley 1111 and the pulley 1121 axially coupled to the rotating shaft 1141 therein. The end tool hub 1106 can accommodate at least a portion of the pulley 1112 and the pulley 1122 axially coupled to the rotating shaft 1142 therein. The end tool hub 1106 can have the pulleys 1117 / 1118 and the pulleys 1127 / 1128 axially coupled to the rotating shaft 1145 coupled thereto.

[0284] The pitch hub 1107 has a rotation shaft 1143 and a rotation shaft 1144 inserted therethrough, and can be axially coupled to the end tool hub 1106 and the pulley 1131 by the rotation shaft 1143. Therefore, the end tool hub 1106 and the pulley 1131 (formed integrally therewith) can be formed rotatable relative to the pitch hub 1107 around the rotation shaft 1143.

[0285] In addition, the pitch hub 1107 can accommodate at least a portion of the pulleys 1113, 1114, 1123, and 1124 axially coupled to the rotation shaft 1143 therein. In addition, the pitch hub 1107 can accommodate at least a portion of the pulleys 1115, 1116, 1125, and 1126 axially coupled to the rotation shaft 1144 therein.

[0286] Furthermore, the end tool 1100 of the second embodiment of the present invention may include the rotating shaft 1141, the rotating shaft 1142, the rotating shaft 1145, the rotating shaft 1143, and the rotating shaft 1144. As described above, the rotating shaft 1141, the rotating shaft 1142, and the rotating shaft 1145 may be inserted through the end tool hub 1106, and the rotating shaft 1143 and the rotating shaft 1144 may be inserted through the pitch hub 1107.

[0287] The rotating shafts 1141, 1142, 1145, 1143, and 1144 may be sequentially arranged from the distal end 1104 to the proximal end 1105 of the end tool 1100. Therefore, in order from the distal end 1104, the rotating shaft 1141 may be referred to as the first pin, the rotating shaft 1142 as the second pin, the rotating shaft 1145 as the 2.5 pin, the rotating shaft 1143 as the third pin, and the rotating shaft 1144 as the fourth pin.

[0288] Here, the rotation shaft 1141 functions as a jaw pulley rotation shaft, the rotation shaft 1142 functions as a jaw auxiliary pulley rotation shaft, the rotation shaft 1143 functions as a pitch main rotation shaft, and the rotation shaft 1144 functions as a pitch sub rotation shaft of the end tool 1100. And the rotation shaft 1145 disposed between the rotation shaft 1142 and the rotation shaft 1143 can function as a pitch extra rotation shaft of the end tool 1100.

[0289] In this embodiment, the end tool hub 1106, pitch hub 1107, and each of the rotation shafts 1141, 1142, 1143, 1144, and 1145 are substantially the same as the end tool hub 1106, pitch hub 1107, and each of the rotation shafts 1141, 1142, 1143, 1144, and 1145 described in Figure 2 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0290] Meanwhile, one or more pulleys may be fitted to each of the rotating shafts 1141, 1142, 1143, 1144, 1145, which will be described in detail below.

[0291] Pulley 1111 functions as a first jaw pulley and pulley 1121 functions as a second jaw pulley, and these two components may be collectively referred to as the jaw pulleys.

[0292] The pulleys 1111 and 1121, which are jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 1141, which is a jaw pulley rotation axis. Here, in the drawing, the pulleys 1111 and 1121 are formed to rotate around one rotation axis 1141, but it goes without saying that each jaw pulley can be formed to be rotatable around a different axis. Here, a first jaw 1101 is fixedly connected to the pulley 1111 and rotates together with the pulley 1111, and a second jaw 1102 is fixedly connected to the pulley 1121 and rotates together with the pulley 1121. Yaw and actuation operations of the end tool 1100 are performed according to the rotation of the pulleys 1111 and 1121. That is, when pulley 1111 and pulley 1121 rotate in the same direction around rotation axis 1141, a yaw motion is performed, and when pulley 1111 and pulley 1121 rotate in opposite directions around rotation axis 1141, an actuation motion is performed.

[0293] Here, the first jaw 1101 and the pulley 1111 may be formed of separate members and coupled to each other, or the first jaw 1101 and the pulley 1111 may be formed as a single body. Similarly, the second jaw 1102 and the pulley 1121 may be formed of separate members and coupled to each other, or the second jaw 1102 and the pulley 1121 may be formed as a single body.

[0294] Here, a groove 1111a around which the first wire 1301 / 1305 is wound from the pulley 1111 serving as the first jaw pulley and a groove 1121a around which the second wire 1302 / 1306 is wound from the pulley 1121 serving as the second jaw pulley are disposed adjacent to each other. Therefore, the wire 1301 / 1305 serving as the first jaw wire and the wires 1302 and 1306 serving as the second jaw wire are disposed adjacent to each other in the Z-axis direction, and there may be no space between the first jaw wire and the second jaw wire where a separate structure is interposed.

[0295] Pulley 1112 functions as a first jaw assist pulley and pulley 1122 functions as a second jaw assist pulley, and these two components may be collectively referred to as the jaw assist pulleys.

[0296] In detail, the pulley 1112 and the pulley 1122, which are jaw auxiliary pulleys, may be additionally provided on one side of the pulley 1111 and the pulley 1121. In other words, the pulley 1112, which is a jaw auxiliary pulley, may be disposed between the pulley 1111 and the pulley 1113 / pulley 1114. Also, the pulley 1122, which is a jaw auxiliary pulley, may be disposed between the pulley 1121 and the pulley 1123 / pulley 1124. The pulley 1112 and the pulley 1122 may be formed to be rotatable independently of each other about the rotation shaft 1142. Here, the pulley 1112 and the pulley 1122 are formed to rotate about one rotation shaft 1142 in the drawing, but it goes without saying that the pulley 1112 and the pulley 1122 may be formed to be rotatable about a different shaft. Such an auxiliary pulley will be described in more detail later.

[0297] Pulley 1113 and pulley 1114 function as a first jaw pitch main pulley, and pulley 1123 and pulley 1124 function as a second jaw pitch main pulley, and these two components may be collectively referred to as pitch main pulleys.

[0298] Pulleys 1115 and 1116 function as first jaw pitch sub-pulleys, and pulleys 1125 and 1126 function as second jaw pitch sub-pulleys, and these two components may be collectively referred to as pitch sub-pulleys.

[0299] On the other hand, the present invention is characterized in that pulleys 1117, 1118, 1127, and 1128, which are pitch redundant pulleys, are further disposed between pulleys 1112 and 1122, which are jaw auxiliary pulleys, and pulleys 1113, 1114, 1123, and 1124, which are pitch main pulleys.

[0300] Pulley 1117 and pulley 1118 function as first jaw pitch extra pulleys, and pulley 1127 and pulley 1128 function as second jaw pitch extra pulleys, and these two components may be collectively referred to as pitch extra pulleys.

[0301] Also, a rotation shaft 1145 functioning as a pitch extra rotation shaft may be further provided, and the rotation shaft 1145 may be inserted through the end tool hub 1106. Here, the rotation shaft 1145 may be formed substantially parallel to the rotation shaft 1143 which is the pitch main rotation shaft and the rotation shaft 1144 which is the pitch sub rotation shaft. In this case, the rotation shaft 1145 is disposed between the rotation shaft 1142 which is the 2nd pin and the rotation shaft 1143 which is the 3rd pin, and therefore, in terms of its position, it may also be referred to as the 2.5th pin.

[0302] Such pitch extra pulleys can serve to change the retraction / retraction path of the jaw wire as it enters or exits the end tool from the proximal to the distal portion, as will be described in more detail below.

[0303] As a result, the rotating shaft 1141, the rotating shaft 1142, the rotating shaft 1145, the rotating shaft 1143, and the rotating shaft 1144 can be arranged in sequence while moving in the direction from the distal portion 1104 to the proximal portion 1105 of the end tool 1100.

[0304] In addition, pulleys related to the rotation of the first jaw 1101, namely pulley 1111, pulley 1112, pulley 1117 / pulley 1118, pulley 1113 / pulley 1114, and pulley 1115 / pulley 1116, can be arranged sequentially while moving from the distal portion 1104 to the proximal portion 1105 of the end tool 1100.

[0305] In addition, pulleys related to the rotation of the second jaw 1102 from the distal part 1104 toward the proximal part 1105 of the end tool 1100, namely pulley 1121, pulley 1122, pulley 1127 / pulley 1128, pulley 1123 / pulley 1124, and pulley 1125 / pulley 1126, can be arranged sequentially.

[0306] The components involved in the rotation of pulley 1111 will be described below.

[0307] Pulley 1113 and pulley 1114 form a pair and function as a first jaw pitch main pulley. In other words, pulley 1113 and pulley 1114 function as main rotating pulleys for the pitch operation of first jaw 1101. Here, a wire 1301 which is a first jaw wire is wound around pulley 1113, and a wire 1305 which is a first jaw wire is wound around pulley 1114.

[0308] Pulley 1115 and pulley 1116 form a pair and function as a first jaw pitch sub pulley. In other words, pulley 1115 and pulley 1116 function as sub rotating pulleys for the pitch operation of first jaw 1101. Here, a wire 1301 which is the first jaw wire is wound around pulley 1115, and a wire 1305 which is the first jaw wire is wound around pulley 1116.

[0309] Pulley 1117 and pulley 1118 form a pair and function as first jaw extra pulleys. That is, pulley 1117 and pulley 1118 function as extra rotating pulleys for the pitch motion of first jaw 1101. Here, wire 1301, which is the first jaw wire, is wound around pulley 1117, and wire 1305, which is the first jaw wire, is wound around pulley 1118.

[0310] Here, pulleys 1117 and 1118 are disposed on one side of pulleys 1111 and 1112 so as to face each other. Here, pulleys 1117 and 1118 are formed to be rotatable independently of each other around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1113 and 1114 are disposed on one side of pulleys 1117 and 1118 so as to face each other. Here, pulleys 1113 and 1114 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, pulleys 1115 and 1116 are disposed on one side of pulleys 1113 and 1114 so as to face each other. Here, pulleys 1115 and 1116 are formed to be rotatable independently of each other around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1117, pulley 1118, pulley 1113, pulley 1114, pulley 1115 and pulley 1116 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0311] Wire 1301, which is a first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 1115, pulley 1113, pulley 1117, and pulley 1111. Wire 1305, which is connected to wire 1301 by fastening member 1323, is wound in sequence so that at least a portion of it contacts pulley 1111, pulley 1112, pulley 1118, pulley 1114, and pulley 1116.

[0312] In other words, wire 1301 and wire 1305, which are the first jaw wires, are wound sequentially so as to be in at least partial contact with pulley 1115, pulley 1113, pulley 1117, pulley 1111, pulley 1112, pulley 1118, pulley 1114, and pulley 1116, and wire 1301 and wire 1305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0313] Therefore, when wire 1301 is pulled in the direction of arrow 1301 in Fig. 64, fastening member 1323 to which wire 1301 is connected and pulley 1111 connected thereto rotate in the direction of arrow L in Fig. 64. Conversely, when wire 1305 is pulled in the direction of arrow 1305 in Fig. 64, fastening member 1323 to which wire 1305 is connected and pulley 1111 connected thereto rotate in the direction of arrow R in Fig. 64.

[0314] Next, components related to the rotation of pulley 1121 will be described.

[0315] Pulley 1123 and pulley 1124 form a pair and function as a second jaw pitch main pulley. In other words, pulley 1123 and pulley 1124 function as main rotating pulleys for the pitch operation of second jaw 1102. Here, a wire 1306 which is the second jaw wire is wound around pulley 1123, and a wire 1302 which is the second jaw wire is wound around pulley 1124.

[0316] Pulley 1125 and pulley 1126 form a pair and function as a second jaw pitch sub pulley. In other words, pulley 1125 and pulley 1126 function as sub rotating pulleys for the pitch operation of second jaw 1102. Here, a wire 1306 which is a second jaw wire is wound around pulley 1125, and a wire 1302 which is a second jaw wire is wound around pulley 1126.

[0317] Pulley 1127 and pulley 1128 form a pair and function as second jaw pitch extra pulleys. In other words, pulley 1127 and pulley 1128 function as extra rotation pulleys for the pitch motion of second jaw 1102. Here, wire 1306, which is the second jaw wire, is wound around pulley 1127, and wire 1302, which is the second jaw wire, is wound around pulley 1128.

[0318] Here, pulleys 1127 and 1128 are disposed on one side of pulleys 1121 and 1122 so as to face each other. Here, pulleys 1127 and 1128 are formed to be rotatable independently of each other around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1123 and 1124 are disposed on one side of pulleys 1127 and 1128 so as to face each other. Here, pulleys 1123 and 1124 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, pulleys 1125 and 1126 are disposed on one side of pulleys 1123 and 1124 so as to face each other. Here, pulleys 1125 and 1126 are formed to be rotatable independently of each other around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1127, pulley 1128, pulley 1123, pulley 1124, pulley 1125 and pulley 1126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0319] The wire 1306, which is the second jaw wire, is wound in sequence so as to contact at least a portion of the pulley 1125, the pulley 1123, the pulley 1127, and the pulley 1121. The wire 1302 connected to the wire 1306 by the fastening member 1326 is wound in sequence so as to contact at least a portion of the pulley 1121, the pulley 1122, the pulley 1128, the pulley 1124, and the pulley 1126.

[0320] In other words, the second jaw wires, wire 1306 and wire 1302, are wound sequentially so as to be in at least partial contact with pulley 1125, pulley 1123, pulley 1127, pulley 1121, pulley 1122, pulley 1128, pulley 1124 and pulley 1126, and wire 1306 and wire 1302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0321] Therefore, when wire 1306 is pulled in the direction of arrow 1306 in Fig. 64, fastening member 1326 to which wire 1306 is connected and pulley 1121 connected thereto rotate in the direction of arrow R in Fig. 64. Conversely, when wire 1302 is pulled in the direction of arrow 302 in Fig. 64, fastening member 1326 to which wire 1302 is connected and pulley 1121 connected thereto rotate in the direction of arrow L in Fig. 64.

[0322] Here, the present invention is characterized in that two jaw wires wound around one jaw pulley are wound around a pitch main pulley in opposite directions to each other, thereby facilitating control of the pitch movement.

[0323] Specifically, if the +Z axis direction is defined as the upper side and the -Z axis direction as the lower side based on a plane (i.e., the XY plane) passing between pulley 1111, which is the first jaw pulley, and pulley 1121, which is the second jaw pulley, then one of the two first jaw wires (e.g., wire 1301) can enter pulley 1113, which is the first jaw pitch main pulley, from below the XY plane, and the other (e.g., wire 1305) can exit pulley 1114, which is the first jaw pitch main pulley, above the XY plane. In other words, this can be expressed as a structure in which the jaw wires enter from the lower side of the first jaw pitch main pulley and exit from the upper side. (The second jaw wire enters from the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0324] In other words, wire 1301, which is one of the first jaw wires, contacts the upper side of pulley 1115, the lower side of pulley 1113, and the lower side of pulley 1117 in this order, and then contacts pulley 1111. Next, wire 1305, which is the other of the first jaw wires, is wound around pulleys 1111 and 1112, and then contacts the lower side of pulley 1118, the upper side of pulley 1114, and the lower side of pulley 1116 in this order, and then exits into connecting portion 400. As a result, the first jaw wire exits connecting portion 400, enters the lower side of pulley 1113, passes through each pulley, passes the upper side of pulley 1114, and then re-enters connecting portion 400.

[0325] Similarly, wire 1306, which is one of the second jaw wires, contacts the underside of pulley 1125, the upper side of pulley 1123, and the upper side of pulley 1127 in this order, and then contacts pulley 121. Next, wire 1302, which is the other of the second jaw wires, is wound around pulleys 1121 and 1122, and then contacts the upper side of pulley 1128, the lower side of pulley 1124, and the upper side of pulley 1126 in this order, and then exits into connecting portion 400. As a result, the second jaw wire exits connecting portion 400, enters the upper side of pulley 1123, passes through each pulley, passes through the underside of pulley 1124, and then re-enters connecting portion 400.

[0326] In other words, one of the two first jaw wires is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the other wire is wound around the first jaw pitch main pulley in the other direction while entering from the connecting portion 1400 toward the end tool 1100 side. That is, when viewed from Figures 66, 67, and 68, the wire 1301 is wound in the clockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the wire 1305 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 1100 side.

[0327] Similarly, it can be expressed that one of the two second jaw wires is wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the other wire is wound around the second jaw pitch main pulley in the other direction while entering from the connecting portion 1400 toward the end tool 1100 side. That is, when viewed from Figures 66, 67, and 68, the wire 1302 is wound in the clockwise direction while entering from the connecting portion 1400 toward the end tool 1100 side, and the wire 1306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 1100 side.

[0328] In this way, the end tool 1100 of the surgical instrument according to one embodiment of the present invention can obtain an effect of facilitating control of the pitch movement by winding two jaw wires wound around one jaw pulley in opposite directions around the pitch main pulley. That is, during the pitch movement, the first jaw pulley of the drive unit (see 211 in FIG. 11) and the second jaw pulley of the drive unit (see 221 in FIG. 11) rotate to wind and unwind the jaw wires, thereby providing a kind of compensation for the pitch movement, and an effect of enabling the pitch movement of the end tool 1100 to be performed.

[0329] <First Modification of the Second Embodiment>

[0330] The following describes an endotool 1100 of a surgical instrument according to a first modified embodiment of the second embodiment of the present invention. The endotool 100 of a surgical instrument according to the first modified embodiment of the second embodiment of the present invention is characteristically different from the endotool of a surgical instrument according to the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the first embodiment.

[0331] 77 and 78 are perspective views showing an end tool of a surgical instrument according to a first modified embodiment of the second embodiment of the present invention. FIGS. 79 and 80 are plan views of the end tool of FIG. 77. FIGS. 81, 82, and 83 are side views of the end tool of FIG. 77. FIGS. 84 and 85 are plan views of the end tool of FIG. 77. FIGS. 86 and 87 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by −90°. FIGS. 88 and 89 are side views showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by −90°. FIGS. 90 and 91 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by +90°. FIGS. 92 and 93 are side views showing a state in which the end tool of the surgical instrument of FIG. 77 has been pitch-rotated by +90°.

[0332] 77 to 93, an end tool 1100 according to a first modified example of a second embodiment of the present invention includes a pair of jaws for performing a gripping operation, i.e., a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or a component including the first jaw 1101 and the second jaw 1102, may be referred to as a jaw 1103.

[0333] Additionally, the end tool 1100 according to the first variation of the second embodiment of the present invention may include an end tool hub 1106 and a pitch hub 1107 .

[0334] Furthermore, the end tool 1100 of the first modified form of the second embodiment of the present invention may include a rotating shaft 1141, a rotating shaft 1142, a rotating shaft 1145, a rotating shaft 1143, and a rotating shaft 1144. As described above, the rotating shafts 1141, 1142, and 1145 may be inserted through the end tool hub 1106, and the rotating shafts 1143 and 1144 may be inserted through the pitch hub 1107.

[0335] In this modified embodiment, the end tool hub 1106, pitch hub 1107, and each rotation axis 1141, 1142, 1143, 1144, and 1145 are substantially the same as the end tool hub 1106, pitch hub 1107, and each rotation axis described in Figure 2 of the first embodiment, etc., so detailed description thereof will be omitted here.

[0336] Meanwhile, the end tool 1100 may include pulleys 1111, 1112, 1113, 1114, 1115, 1117, and 1118 for rotational movement of the first jaw 1101. The end tool 1100 may also include pulleys 1121, 1122, 1123, 1124, 1125, 1127, and 1128 for rotational movement of the second jaw 1102.

[0337] Here, an end tool 1100 of a surgical instrument according to a first modified example of the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0338] In detail, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention shown in Figure 60, etc., has a pair of pulleys, pulley 1115 and pulley 1116, as a first jaw pitch sub-pulley, and a pair of pulleys, pulley 1125 and pulley 1126, as a second jaw pitch sub-pulley.

[0339] In contrast, the end tool 1100 of the surgical instrument according to the first variant of the second embodiment of the present invention is differentiated from the second embodiment of the present invention shown in FIG. 60, etc. in that it has a single pulley, pulley 1115, as the first jaw pitch sub-pulley and a single pulley, pulley 1125, as the second jaw pitch sub-pulley.

[0340] As a result, pulleys related to the rotation of the first jaw 1101, namely pulley 1111, pulley 1112, pulley 1117 / pulley 1118, pulley 1113 / pulley 1114, and pulley 1115, can be arranged sequentially while moving from the distal part 1104 to the proximal part 1105 of the end tool 1100.

[0341] In addition, pulleys related to the rotation of the second jaw 1102 from the distal portion 1104 toward the proximal portion 1105 of the end tool 1100, namely pulley 1121, pulley 1122, pulley 1127 / pulley 1128, pulley 1123 / pulley 1124, and pulley 1125, can be arranged in sequence.

[0342] Here, pulleys 1116 and 1126 of the end tool 1100 of the second embodiment of the present invention shown in Figure 60, etc. are not pulleys around which a wire is wound, but pulleys that graze in a straight line, making it possible to omit the pulleys as in this modified embodiment.

[0343] In other words, the second embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas the first variant of the second embodiment of the present invention is characterized in that the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in one row.

[0344] Here, pulleys 1117 and 1118 are disposed on one side of pulleys 1111 and 1112. Here, pulleys 1117 and 1118 are formed to be rotatable around a rotation axis 1145 which is a pitch extra rotation axis. In addition, pulleys 1113 and 1114 are disposed on one side of pulleys 1117 and 1118 to face each other. Here, pulleys 1113 and 1114 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. In addition, pulleys 1115 are disposed on one side of pulleys 1113 and 1114. Here, pulley 1115 is formed to be rotatable around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1117, pulley 1118, pulley 1113, pulley 1114 and pulley 1115 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0345] Wire 1301, which is a first jaw wire, is wound in sequence so that at least a portion of it contacts pulley 1115, pulley 1113, pulley 1117, and pulley 1111. Wire 1305, which is connected to wire 1301 by fastening member 1323, is wound in sequence so that at least a portion of it contacts pulley 1111, pulley 1112, pulley 1118, and pulley 1114.

[0346] In other words, the first jaw wires, wire 1301 and wire 1305, are wound sequentially so as to be in at least partial contact with pulley 1115, pulley 1113, pulley 1117, pulley 1111, pulley 1112, pulley 1118 and pulley 1114, and wire 1301 and wire 1305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0347] Meanwhile, pulleys 1127 and 1128 are disposed on one side of pulleys 1121 and 1122. Here, pulleys 1127 and 1128 are formed to be rotatable around a rotation axis 1145 which is a pitch extra rotation axis. Also, pulleys 1123 and 1124 are disposed on one side of pulleys 1127 and 1128 to face each other. Here, pulleys 1123 and 1124 are formed to be rotatable independently of each other around a rotation axis 1143 which is a pitch main rotation axis. Also, pulleys 1125 are disposed on one side of pulleys 1123 and 1124. Here, pulley 1125 is formed to be rotatable around a rotation axis 1144 which is a pitch sub rotation axis. Here, the figure shows pulley 1127, pulley 1128, pulley 1123, pulley 1124, pulley 1125 and pulley 1126 all being formed to be rotatable around the Y-axis direction, however, the concept of the present invention is not limited to this, and the rotation axis of each pulley could be formed in various directions as appropriate for the configuration.

[0348] The wire 1306, which is the second jaw wire, is wound in sequence so as to contact at least a portion of the pulley 1125, the pulley 1123, the pulley 1127, and the pulley 1121. The wire 1302 connected to the wire 1306 by the fastening member 1326 is wound in sequence so as to contact at least a portion of the pulley 1121, the pulley 1122, the pulley 1128, and the pulley 1124.

[0349] In other words, the second jaw wires, wire 1306 and wire 1302, are wound sequentially so as to be in at least partial contact with pulley 1125, pulley 1123, pulley 1127, pulley 1121, pulley 1122, pulley 1128 and pulley 1124, and wire 1306 and wire 1302 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0350] As a result, in the second embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in two rows, whereas in the first variant of the second embodiment of the present invention, the first jaw pitch sub pulley and the second jaw pitch sub pulley are each configured in a single row, thereby reducing the number of parts and simplifying the manufacturing process.

[0351] <Third embodiment of the end tool of the surgical instrument>

[0352] The following describes an end tool 2100 of a surgical instrument according to the third embodiment of the present invention. The end tool 2100 of a surgical instrument according to the third embodiment of the present invention is characterized by a different arrangement of jaw pulleys and jaw wires compared to the end tool of a surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2, etc.). The configuration that has changed compared to the first embodiment will be described in detail later.

[0353] 94, 95, 96, and 97 are perspective views showing an end tool of a surgical instrument according to a third embodiment of the present invention. FIGS. 98 and 99 are plan views of the end tool of FIG. 94. FIGS. 100, 101, and 102 are side views of the end tool of FIG. 94. FIGS. 103 and 104 are plan views of the end tool of FIG. 94. FIGS. 105 and 106 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by −90°. FIGS. 107 and 108 are side views showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by −90°. FIGS. 109 and 110 are perspective views showing a state in which the end tool of the surgical instrument of FIG. 94 has been pitch-rotated by +90°. Fig. 111 and Fig. 112 are side views showing a state where the endotool of the surgical instrument of Fig. 94 has been pitch-rotated by +90°. Fig. 113 is a perspective view of the endotool hub of the endotool of Fig. 94, Fig. 114 is a front view of the endotool hub of the endotool of Fig. 94, and Fig. 115 is a side view of the endotool hub of the endotool of Fig. 94.

[0354] Referring to FIGS. 94 to 115, the power transmission unit 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention can include a wire 2301, a wire 2302, a wire 2303, a wire 2304, a wire 2305, and a wire 2306. Since the wires in this embodiment are substantially the same as the wires 301, 302, 303, 304, 305, and 306 described in FIG. 5 of the first embodiment, the detailed description thereof is omitted here.

[0355] In addition, the power transmission unit 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention can include fastening members 2321, 2322, 2323, and 2326, etc., which are coupled to each end of each wire in order to couple the wire and the pulley. Here, each fastening member can be in various forms as needed, such as ball-shaped, tube-shaped, etc. Since the fastening members in this embodiment are substantially the same as the fastening members 321, 322, 323, and 326 described in FIG. 5 of the first embodiment, the detailed description thereof is omitted here.

[0356] (End Tool)

[0357] Hereinafter, the end tool 2100 of the surgical instrument in FIG. 94 will be described in more detail.

[0358] Continuing to refer to FIGS. 94 to 115, the end tool 2100 of the third embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 2101 and a second jaw 2102. Here, each of the first jaw 2101 and the second jaw 2102, or a component including the first jaw 2101 and the second jaw 2102 can be referred to as a jaw 2103.

[0359] The end tool 2100 may also include pulleys 2111, 2112, 2113, 2114, 2115, and 2116 for rotational movement of the first jaw 2101. The end tool 2100 may also include pulleys 2121, 2122, 2123, 2124, 2125, and 2126 for rotational movement of the second jaw 2102. These pulleys are described in more detail below.

[0360] The end tool 2100 of the third embodiment of the present invention may also include an end tool hub 2180 and a pitch hub 2107. The end tool hub 2180 is described in more detail below.

[0361] Here, the end tool hub 2180 can accommodate at least a portion of the pulley 2111 and the pulley 2121 axially coupled to the rotation shaft 2141 therein. Also, the end tool hub 2180 can accommodate at least a portion of the pulley 2112 and the pulley 2122 axially coupled to the rotation shaft 2142 therein.

[0362] The pitch hub 2107 has a rotation shaft 2143 and a rotation shaft 2144 inserted therethrough, and can be axially coupled to the end tool hub 2180 and the pulley 21131 by the rotation shaft 2143. Therefore, the end tool hub 2180 and the pulley 2131 (formed integrally therewith) can be formed rotatable relative to the pitch hub 2107 around the rotation shaft 2143.

[0363] Furthermore, the pitch hub 2107 can accommodate at least a portion of the pulleys 2113, 2114, 2123, and 2124 axially coupled to the rotation shaft 2143 therein. The pitch hub 2107 can accommodate at least a portion of the pulleys 2115, 2116, 2125, and 2126 axially coupled to the rotation shaft 2144 therein.

[0364] Moreover, the end tool 2100 of the third embodiment of the present invention may include a rotation shaft 2141 , a rotation shaft 2142 , a rotation shaft 2143 and a rotation shaft 2144 .

[0365] The rotating shaft 2141, the rotating shaft 2142, the rotating shaft 2143, and the rotating shaft 2144 may be sequentially arranged in a direction from the distal end 2104 to the proximal end 2105 of the end tool 2100. Therefore, in order from the distal end 2104, the rotating shaft 2141 may be referred to as the first pin, the rotating shaft 2142 as the second pin, the rotating shaft 2143 as the third pin, and the rotating shaft 2144 as the fourth pin.

[0366] Here, the rotation axis 21141 functions as the jaw pulley rotation axis, the rotation axis 21142 is the jaw auxiliary pulley rotation axis and also functions as the pitch extra rotation axis, the rotation axis 2143 functions as the pitch main rotation axis, and the rotation axis 2144 functions as the pitch sub rotation axis of the end tool 2100.

[0367] The end tool hub 2180 of the third embodiment of the present invention will now be described in more detail, with particular emphasis on the axis of rotation 2142 of the end tool hub 2180 which serves as the jaw assist pulley axis of rotation.

[0368] 113 to 115, the end tool hub 2180 includes a first jaw pulley coupling portion 2181, a second jaw pulley coupling portion 2182, a rotating shaft 2142, a pitch pulley coupling portion 2185, and a guide portion 2186. The rotating shaft 2142 can include a first sub-shaft 2142a and a second sub-shaft 2142b.

[0369] In detail, the first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182 are formed to face each other, and accommodate the pulleys 2111, 2112, 2121, and 2122 therein. Further, a through hole is formed in each jaw pulley coupling portion 2181, 2182, and the rotating shaft 2141 passes through the jaw pulley coupling portions 2181, 2182 and the pulleys 2111 and 2121 to axially couple them.

[0370] The first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182 are connected by a guide portion 2186. In other words, the first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182, which are parallel to each other, are coupled by a guide portion 2186 formed in a direction approximately perpendicular thereto, and the first jaw pulley coupling portion 2181, the second jaw pulley coupling portion 2182, and the guide portion 2186 form an approximately U-shape, and the pulleys 2111, 2112, 2121, and 2122 are housed therein.

[0371] In other words, it can be considered that the first jaw pulley coupling portion 2181 and the second jaw pulley coupling portion 2182 are formed extending in the X-axis direction from both ends of the guide portion 2186 which is formed long in the Z-axis direction.

[0372] A first sub-shaft 2142a may be formed on an inner surface of the first jaw pulley coupling portion 2181, and a second sub-shaft 2142b may be formed on the second jaw pulley coupling portion 2182. In other words, the second rotation shaft 2142, which is the jaw auxiliary pulley rotation shaft, may be expressed as being divided into two, the first sub-shaft 2142a and the second sub-shaft 2142b.

[0373] Specifically, the first sub-shaft 2142a and the second sub-shaft 2142b may be formed with a certain degree of inclination, in other words, the first sub-shaft 2142a and the second sub-shaft 2142b may be formed obliquely, not parallel to any of the X-axis, Y-axis, and Z-axis.

[0374] A pulley 2112 may be coupled to the first sub-shaft 2142a, and a pulley 2122 may be coupled to the second sub-shaft 2142b. The pulley 2112 may function as a first jaw auxiliary pulley and a first pitch extra pulley at the same time. The pulley 2122 may function as a second jaw auxiliary pulley and a second pitch extra pulley at the same time. This will be described later.

[0375] Meanwhile, a pulley 2131 serving as an end tool pitch pulley may be formed at a pitch pulley coupling portion 2185 at one end of the end tool hub 2180. Here, the pulley 2131 may be formed integrally with the end tool hub 2180. That is, one end of the end tool hub 2180 may be formed in a disk or semicircular shape, and a groove around which a wire is wound may be formed on the outer circumferential surface thereof to form a kind of guide channel. Alternatively, the pulley 2131 may be formed of a member separate from the end tool hub 2180 and coupled to the end tool hub 2180. The above-mentioned wire 2303 and wire 2304 are coupled to the pulley 2131 serving as an end tool pitch pulley, and the pulley 2131 rotates around the rotation axis 2143 to perform a pitch operation.

[0376] Meanwhile, each of the rotating shafts 2141, 2142, 2143, 2144 may be fitted with one or more pulleys, which will be described in detail below.

[0377] Pulley 2111 functions as a first jaw pulley and pulley 2121 functions as a second jaw pulley, and these two components may be collectively referred to as the jaw pulleys.

[0378] The pulleys 2111 and 2121, which are jaw pulleys, are formed to face each other and are formed to be rotatable independently of each other around a rotation axis 2141, which is a jaw pulley rotation axis. Here, in the drawing, the pulleys 2111 and 2121 are formed to rotate around one rotation axis 2141, but it goes without saying that each jaw pulley can be formed to be rotatable around a different axis. Here, a first jaw 2101 is fixedly connected to the pulley 2111 and rotates together with the pulley 2111, and a second jaw 2102 is fixedly connected to the pulley 2121 and rotates together with the pulley 2121. Yaw and actuation operations of the end tool 2100 are performed according to the rotation of the pulleys 2111 and 2121. That is, when pulley 2111 and pulley 2121 rotate in the same direction around rotation axis 2141, a yaw motion is performed, and when pulley 2111 and pulley 2121 rotate in opposite directions around rotation axis 2141, an actuation motion is performed.

[0379] Here, the first jaw 2101 and the pulley 2111 may be formed of separate members and coupled to each other, or the first jaw 2101 and the pulley 2111 may be formed as a single body. Similarly, the second jaw 2102 and the pulley 2121 may be formed of separate members and coupled to each other, or the second jaw 2102 and the pulley 2121 may be formed as a single body.

[0380] Pulley 2112 functions as a first jaw assist pulley and pulley 2122 functions as a second jaw assist pulley, and these two components may be collectively referred to as the jaw assist pulleys. At the same time, pulley 2112 may function as a first pitch extra pulley and pulley 2122 may function as a second pitch extra pulley.

[0381] In detail, the pulleys 2112 and 2122, which are jaw assist pulleys, may be additionally provided on one side of the pulleys 2111 and 2121. In other words, the pulley 2112, which is the jaw assist pulley, may be disposed between the pulley 2111 and the pulleys 2113 / 2114. In addition, the pulley 2122, which is the jaw assist pulley, may be disposed between the pulley 2121 and the pulleys 2123 / 2124. The pulley 2112 may be formed to rotate around a first sub-shaft 2142a of the rotation shaft 2142, and the pulley 2122 may be formed to be rotatable around a second sub-shaft 2142b of the rotation shaft 2142.

[0382] Pulley 2113 and pulley 2114 function as first jaw pitch main pulleys, and pulley 2123 and pulley 2124 function as second jaw pitch main pulleys, and these two components may be collectively referred to as pitch main pulleys.

[0383] Pulley 2115 and pulley 2116 function as first jaw pitch sub-pulleys, and pulley 2125 and pulley 2126 function as second jaw pitch sub-pulleys, and these two components may be collectively referred to as pitch sub-pulleys.

[0384] As a result, the rotating shaft 2141, the rotating shaft 2142, the rotating shaft 2143, and the rotating shaft 2144 can be arranged in sequence while moving in the direction from the distal portion 2104 to the proximal portion 2105 of the end tool 2100.

[0385] In addition, pulleys related to the rotation of the first jaw 2101, namely pulley 2111, pulley 2112, pulley 2113 / pulley 2114, and pulley 2115 / pulley 2116, can be arranged in sequence from the distal portion 2104 toward the proximal portion 2105 of the end tool 2100.

[0386] In addition, pulleys related to the rotation of the second jaw 2102 from the distal portion 2104 toward the proximal portion 2105 of the end tool 2100, namely pulley 2121, pulley 2122, pulley 2123 / pulley 2124, and pulley 2125 / pulley 2126, can be arranged in sequence.

[0387] Pulley 2112 and pulley 2122 are described in more detail below.

[0388] First, the pulley 2112 may function as a first jaw auxiliary pulley, and the pulley 2122 may function as a second jaw auxiliary pulley. The pulley 2112 and the pulley 2122 may play a role in expanding the rotation angle of each of the first jaw 2101 and the second jaw 2102 by contacting the wire 2305, which is the first jaw wire, and the wire 2302, which is the second jaw wire, to a certain extent and changing the arrangement path of the wire 2305 and the wire 2302. It can be said that the role of such a jaw auxiliary pulley is similar to that described in the first embodiment of the present invention.

[0389] At the same time, pulley 2112 can function as a first pitch extra pulley and pulley 2122 can function as a second pitch extra pulley. Such pitch extra pulleys can serve to change the retraction / retraction path of the jawwire entering or exiting the end tool from the proximal to the distal portion.

[0390] Here, the plane passing between pulley 2111, which is the first jaw pulley, and pulley 2121, which is the second jaw pulley, (i.e., the XY plane) is defined as the first plane, and based on the first plane, the +Z axis direction is defined as the upper side, and the -Z axis direction is defined as the lower side.

[0391] The wire 2305, which is the first jaw wire, is located above the first plane when passing through pulley 2114, which is the first jaw pitch main pulley, and its path is changed as it passes through pulley 2112, which is the first pitch extra pulley, so that it is located below the first plane when it passes through pulley 2111, which is the first jaw pulley.

[0392] Here, the first sub-shaft 2142a and the pulley 2112 coupled thereto are formed at an incline with respect to the first plane, and serve to guide the path of the wire 2305 so that the wire 2305, which is located above the first plane when it contacts the pulley 2114, is located below the first plane when it contacts the pulley 2111.

[0393] That is, as shown in Fig. 114, the first sub-shaft 2142a and the pulley 2112 coupled thereto may be formed to be inclined to a certain degree on the YZ plane. At the same time, as shown in Fig. 115, the first sub-shaft 2142a and the pulley 2112 coupled thereto may be formed to be inclined to a certain degree on the XZ plane.

[0394] Similarly, the second jaw wire, wire 2302, is located below the first plane when passing through pulley 2124, the second jaw pitch main pulley, and its route is changed as it passes through pulley 2122, the second pitch extra pulley, so that it is located above the first plane when it passes through pulley 2121, the second jaw pulley.

[0395] Here, the second sub-shaft 2142b and the pulley 2122 coupled thereto are formed at an incline with respect to the first plane, and serve to guide the path of the wire 2302 so that the wire 2302, which is located below the first plane when it contacts the pulley 2124, is located above the first plane when it contacts the pulley 2121.

[0396] That is, as shown in Fig. 114, the second sub-shaft 2142b and the pulley 2122 coupled thereto may be formed to be inclined to a certain degree on the YZ plane. At the same time, as shown in Fig. 115, the second sub-shaft 2142b and the pulley 2122 coupled thereto may be formed to be inclined to a certain degree on the XZ plane.

[0397] The components involved in the rotation of pulley 2111 will be described below.

[0398] Pulley 2113 and pulley 2114 form a pair and function as a first jaw pitch main pulley. In other words, pulley 2113 and pulley 2114 function as main rotating pulleys for the pitch operation of first jaw 2101. Here, a wire 2301 which is a first jaw wire is wound around pulley 2113, and a wire 2305 which is a first jaw wire is wound around pulley 2114.

[0399] Pulley 2115 and pulley 2116 form a pair and function as a first jaw pitch sub pulley. That is, pulley 2115 and pulley 2116 function as sub rotating pulleys for the pitch operation of first jaw 2101. Here, a wire 2301 which is a first jaw wire is wound around pulley 2115, and a wire 2305 which is a first jaw wire is wound around pulley 2116.

[0400] Here, pulleys 2113 and 2114 are disposed on one side of pulleys 2111 and 2112 so as to face each other. Here, pulleys 2113 and 2114 are formed to be rotatable independently of each other about a rotation axis 2143 which is a pitch main rotation axis. In addition, pulleys 2115 and 2116 are disposed on one side of pulleys 2113 and 2114 so as to face each other. Here, pulleys 2115 and 2116 are formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, in the drawing, pulleys 2113, 2114, 2115, and 2116 are all formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, although the drawing shows that pulleys 2113, 2114, 2115, and 2116 are all formed to be rotatable about the Y-axis direction, 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.

[0401] The wire 2301, which is the first jaw wire, is wound in sequence so that at least a portion of the wire contacts the pulley 2115, the pulley 2113, and the pulley 2111. The wire 2305, which is connected to the wire 2301 by the fastening member 2323, is wound in sequence so that at least a portion of the wire contacts the pulley 2111, the pulley 2112, the pulley 2114, and the pulley 2116.

[0402] In other words, the first jaw wires, wire 2301 and wire 2305, are wound sequentially so as to be in at least partial contact with pulley 2115, pulley 2113, pulley 2111, pulley 2112, pulley 2114 and pulley 2116, and wire 2301 and wire 2305 are formed so as to be able to move along the pulleys while rotating the pulleys.

[0403] Therefore, when wire 2301 is pulled in the direction of arrow 2301 in Fig. 103, fastening member 2323 to which wire 2301 is connected and pulley 2111 connected thereto rotate in the direction of arrow L in Fig. 103. Conversely, when wire 2305 is pulled in the direction of arrow 2305 in Fig. 103, fastening member 2323 to which wire 2305 is connected and pulley 2111 connected thereto rotate in the direction of arrow R in Fig. 103.

[0404] Next, components related to the rotation of pulley 2121 will be described.

[0405] Pulley 2123 and pulley 2124 form a pair and function as a second jaw pitch main pulley. In other words, pulley 2123 and pulley 2124 function as main rotating pulleys for the pitch operation of second jaw 2102. Here, a wire 2306 which is a second jaw wire is wound around pulley 2123, and a wire 2302 which is a second jaw wire is wound around pulley 2124.

[0406] Pulley 2125 and pulley 2126 form a pair and function as a second jaw pitch sub pulley. In other words, pulley 2125 and pulley 2126 function as sub rotating pulleys for the pitch operation of second jaw 2102. Here, a wire 2306 which is a second jaw wire is wound around pulley 2125, and a wire 2302 which is a second jaw wire is wound around pulley 2126.

[0407] Here, pulleys 2123 and 2124 are disposed on one side of pulleys 2121 and 2122 so as to face each other. Here, pulleys 2123 and 2124 are formed to be rotatable independently of each other about a rotation axis 2143 which is a pitch main rotation axis. In addition, pulleys 2125 and 2126 are disposed on one side of pulleys 2123 and 2124 so as to face each other. Here, pulleys 2125 and 2126 are formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, in the drawing, pulleys 2123, 2124, 2125, and 2126 are all formed to be rotatable independently of each other about a rotation axis 2144 which is a pitch sub rotation axis. Here, although the drawing shows that pulleys 2123, 2124, 2125, and 2126 are all formed to be rotatable about the Y-axis direction, 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.

[0408] The wire 2306, which is the second jaw wire, is wound around the pulley 2125, the pulley 2123, and the pulley 2121 in sequence so that at least a portion of the wire contacts the pulley 2125, the pulley 2123, and the pulley 2121. The wire 2302 connected to the wire 2306 by the fastening member 2326 is wound around the pulley 2121, the pulley 2122, the pulley 2124, and the pulley 1126 in sequence so that at least a portion of the wire contacts the pulley 2125, the pulley 2123, and the pulley 1126.

[0409] In other words, the second jaw wires, wire 2306 and wire 2302, are wound sequentially so as to be in at least partial contact with pulley 2125, pulley 2123, pulley 2121, pulley 2122, pulley 2124 and pulley 2116, and wire 2306 and wire 2302 are formed so as to be able to move along the pulleys while rotating them.

[0410] Therefore, when wire 2306 is pulled in the direction of arrow 2306 in Fig. 103, fastening member 2326 to which wire 2306 is connected and pulley 2121 connected thereto rotate in the direction of arrow R in Fig. 103. Conversely, when wire 2302 is pulled in the direction of arrow 2302 in Fig. 103, fastening member 2326 to which wire 2302 is connected and pulley 2121 connected thereto rotate in the direction of arrow L in Fig. 103.

[0411] Here, the present invention is characterized in that two jaw wires wound around one jaw pulley are wound around a pitch main pulley in opposite directions to each other, thereby facilitating control of the pitch movement.

[0412] Specifically, if the +Z axis direction is defined as the upper side and the -Z axis direction as the lower side based on a plane (i.e., the XY plane) passing between pulley 2111, which is the first jaw pulley, and pulley 2121, which is the second jaw pulley, one of the two first jaw wires (e.g., wire 2301) can enter pulley 2113, which is the first jaw pitch main pulley, from the lower side of the XY plane, and the other (e.g., wire 2305) can exit pulley 2114, which is the first jaw pitch main pulley, on the upper side of the XY plane. In other words, it can be expressed as a structure in which the first jaw wire enters from the lower side of the first jaw pitch main pulley and exits from the upper side. (The second jaw wire enters from the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0413] In other words, the wire 2301, which is one of the first jaw wires, contacts the upper side of the pulley 2115 and the lower side of the pulley 2113 in this order, and then contacts the pulley 2111. Then, the other wire 2305, which is the first jaw wire, is wound around the pulleys 2111 and 2112, and then contacts the upper side of the pulley 2114 and the lower side of the pulley 2116 in this order, and then exits into the connecting part 400. As a result, the first jaw wire exits the connecting part 2400, enters the lower side of the pulley 2113, passes through each pulley, passes the upper side of the pulley 2114, and then re-enters the connecting part 400.

[0414] Similarly, wire 2306, which is one of the second jaw wires, contacts the underside of pulley 2125, the upper side of pulley 2123, in that order, and then contacts pulley 2121. Next, wire 2302, which is the other of the second jaw wires, is wound around pulleys 2121 and 2122, contacts the underside of pulley 2124, the upper side of pulley 2126, in that order, and then exits into connecting portion 400. As a result, the second jaw wire exits connecting portion 400, enters the upper side of pulley 2123, passes through each pulley, passes through the underside of pulley 2124, and then re-enters connecting portion 2400.

[0415] In other words, one of the two first jaw wires is wound around the first jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the other wire is wound around the first jaw pitch main pulley in the other direction while entering from the connecting portion 2400 toward the end tool 2100 side. That is, when viewed from Figures 100, 101, and 102, the wire 2301 is wound in the clockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the wire 2305 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 2100 side.

[0416] Similarly, it can be expressed that one of the two second jaw wires is wound around the second jaw pitch main pulley in either the clockwise or counterclockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the other wire is wound around the second jaw pitch main pulley in the other direction while entering from the connecting portion 2400 toward the end tool 2100 side. That is, when viewed from Figures 100, 101, and 102, the wire 2302 is wound in the clockwise direction while entering from the connecting portion 2400 toward the end tool 2100 side, and the wire 2306 is wound in the counterclockwise direction while entering from the connecting portion 400 toward the end tool 2100 side.

[0417] In this way, the end tool 2100 of the surgical instrument according to one embodiment of the present invention can obtain an effect of facilitating control of the pitch movement by winding two jaw wires wound around one jaw pulley in opposite directions around the pitch main pulley. That is, during the pitch movement, the first jaw pulley of the drive unit (see 211 in FIG. 11) and the second jaw pulley of the drive unit (see 221 in FIG. 11) rotate to wind and unwind the jaw wires, thereby providing a kind of compensation for the pitch movement, and an effect of enabling the pitch movement of the end tool 2100 to be performed can be obtained.

[0418] Thus, the present invention has been described with reference to one embodiment shown in the drawings, but this is merely illustrative, and those skilled in the art will appreciate that various modifications and changes to the embodiment are possible from this. Therefore, the true technical scope of the present invention should be determined by the technical ideas of the appended claims. [Industrial Applicability]

[0419] The present invention relates to an end tool for a surgical instrument, and in particular, can be used for an end tool provided on a surgical instrument that is mounted on a robotic arm or manually actuable for use in laparoscopic or various surgical procedures.

Claims

1. First Joe, A second jaw formed to face the first jaw; 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 and opposed to the first jaw pulley; a pair of 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; a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis substantially the same as or parallel to the second axis; a first jaw pitch extra pulley disposed between the first jaw pulley and the pair of first jaw pitch main pulleys and formed to be rotatable about a third axis; a second jaw pitch extra pulley disposed between the second jaw pulley and the pair of second jaw pitch main pulleys and formed to be rotatable about a fourth axis; a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wound around at least a portion of the pair of first jaw pitch main pulleys; a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley and wound around at least a portion of the pair of second jaw pitch main pulleys; With respect to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, Of the two first jaw wires coupled to the first jaw pulley, Any one of the first jaw wires contacts an upper side of the first jaw pitch main pulley, The end tool of a surgical instrument, wherein another one of the first jaw wires contacts an underside of the first jaw pitch main pulley.

2. While moving from the proximal to the distal end of the endotool, Of the two first jaw wires coupled to the first jaw pulley, Any one of the first jaw wires is wound around the first jaw pitch main pulley in either a clockwise direction or a counterclockwise direction, 2. The end tool of the surgical instrument according to claim 1, wherein another one of the first jaw wires is wound around the first jaw pitch main pulley in the other of a clockwise direction and a counterclockwise direction.

3. An end tool for a surgical instrument, comprising: First Joe, A second jaw formed to face the first jaw; 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 and opposed to the first jaw pulley; a pair of 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; a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis substantially the same as or parallel to the second axis; a first jaw pitch extra pulley disposed between the first jaw pulley and the pair of first jaw pitch main pulleys and formed to be rotatable about a third axis; a second jaw pitch extra pulley disposed between the second jaw pulley and the pair of second jaw pitch main pulleys and formed to be rotatable about a fourth axis; a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wound around at least a portion of the pair of first jaw pitch main pulleys; a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley and wound around at least a portion of the pair of second jaw pitch main pulleys; The first jaw wire is While moving from the proximal to the distal end of the endotool, The first jaw pitch main pulley and the first jaw pitch extra pulley are successively contacted, With respect to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, One of the two first jaw wires coupled to the first jaw pulley contacts the lower side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley in sequence, An end tool of a surgical instrument, characterized in that the other of the two first jaw wires coupled to the first jaw pulley sequentially contacts the upper side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley.

4. a first jaw auxiliary pulley formed between the first jaw pulley and the first jaw pitch extra pulley; 2. The surgical instrument end tool of claim 1, further comprising a second jaw assist pulley formed between said second jaw pulley and said second jaw pitch extra pulley.

5. 5. The end tool of the surgical instrument according to claim 4, wherein the first jaw wire is located on a common inscribed line of the first jaw pulley and the first jaw auxiliary pulley, and a rotation angle of the first jaw pulley is expanded by the first jaw auxiliary pulley.

6. One or more first jaw pitch sub pulleys formed on one side of the first jaw pitch main pulley and rotatable about an axis substantially parallel to the second axis; 2. The end tool of the surgical instrument according to claim 1, further comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatably formed around an axis substantially parallel to the second axis.

7. The end tool of a surgical instrument according to claim 6, characterized in that the first jaw pitch sub-pulley or the second jaw pitch sub-pulley includes only one pulley.

8. an end tool hub formed so that at least a portion of the first jaw and the second jaw can be accommodated therein; The end tool of the surgical instrument according to claim 1 , further comprising a pitch hub axially coupled to the end tool hub and configured to be rotatable relative to the end tool hub.

9. The first jaw and the second jaw rotate about the first axis to perform a yaw motion; The surgical instrument end tool of claim 8, wherein the end tool hub rotates about the second axis to provide a pitch motion.

10. an end tool pitch pulley formed at a proximal end of the end tool hub; The surgical instrument endotool of claim 8 , further comprising a pitch wire coupled to the endotool pitch pulley to rotate the endotool pitch pulley.

11. When the end tool pitch pulley is rotated by the pitch wire, The end tool of a surgical instrument according to claim 10, characterized in that the entire end tool hub rotates together with the end tool pitch pulley, changing the length by which the first jaw wire is wound around the first jaw pitch main pulley and the second jaw pitch main pulley.

12. 12. The end tool of the surgical instrument according to claim 11, wherein the first jaw wire is moved to a certain extent by an external force to compensate for a change in the length of the first jaw wire wound around the first jaw pitch main pulley and the second jaw pitch main pulley when the end tool pitch pulley is rotated by the pitch wire.

13. The end tool of a surgical instrument according to claim 8, wherein the first jaw pitch extra pulley or the second jaw pitch extra pulley is integrally formed with the end tool hub.

14. The surgical instrument end tool of claim 1 , wherein the third axis and the fourth axis are substantially parallel to the second axis.

15. The end tool of the surgical instrument according to claim 1 , wherein the third axis and the fourth axis are formed at an angle with respect to the first axis and the second axis, respectively.

16. 2. The end tool of the surgical instrument according to claim 1, wherein the groove around which the first jaw wire is wound at the first jaw pulley and the groove around which the second jaw wire is wound at the second jaw pulley are formed at a fixed interval from each other.

17. 2. The end tool of the surgical instrument according to claim 1, wherein a groove around which the first jaw wire is wound at the first jaw pulley and a groove around which the second jaw wire is wound at the second jaw pulley are formed adjacent to each other.

18. The end tool of a surgical instrument according to claim 1 , wherein the first jaw pitch extra pulley or the second jaw pitch extra pulley includes only one pulley.

19. An end tool of a surgical instrument according to any one of claims 1 to 18, A drive unit that provides a predetermined driving force required for rotating the end tool; A surgical instrument comprising: a connecting portion extending in a first direction (X-axis), having one end to which the end tool is connected and another end to which the drive portion is connected, thereby connecting the drive portion and the end tool.

20. 20. The surgical instrument of claim 19, wherein when the drive section pitch pulley of the drive section rotates for pitch motion, the drive section first jaw pulley and the drive section second jaw pulley of the drive section rotate together to compensate for the pitch motion.

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