Surgical instrument

Abstract

To provide an instrument for surgical operations capable of being operated manually to be used for laparoscopic surgery or various surgical operations.SOLUTION: An instrument for surgical operations 100 comprises: an end tool 120 that is formed to be rotatable in at least two directions; an operation unit 110 that includes a pitch controlling element 111 for controlling a pitch operation of the end tool, a yaw controlling element 112 for controlling a yaw operation of the end tool and an actuation controlling element 113 for controlling an actuation operation of the end tool; a power transmission unit for transmitting an operation of the operation unit to the end tool; and a connection unit 140 that is formed to extend in a first direction X, has the end tool connected to its one end part and the operation unit to its other end part, and connects the operation unit and the end tool, at least one part of the operation unit being formed to extend to the side of the end tool.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a surgical instrument, and more particularly to a manually operable surgical instrument for use in laparoscopic surgery or various other surgeries.

Background Art

[0002] Medically, surgery refers to an operation of cutting or tearing the skin, mucous membrane, and other tissues using medical devices to cure diseases. In particular, laparotomy, which involves incising and opening the skin at the surgical site and treating, shaping, or removing the internal organs, causes problems such as bleeding, side effects, patient pain, and scars. Therefore, recently, surgeries performed by forming a predetermined hole in the skin and inserting only medical devices such as laparoscopes, surgical instruments, and microscopes for microsurgery, or surgeries using robots, have attracted attention as alternatives.

[0003] A surgical instrument is a tool for surgically operating on a surgical site by a doctor directly operating by hand or using a robotic arm a end tool provided at one end of a shaft passing through a hole perforated in the skin, using a predetermined drive unit. The end tool provided in the surgical instrument performs rotational operations, gripping operations, cutting operations, etc. through a predetermined structure.

[0004] By the way, existing surgical instruments had a problem that the end tool portion was not bent, and it was not easy to approach the surgical site and perform various surgical operations. To complement this, a surgical instrument with an end tool portion that can be warped has been developed, but the operation of bending the end tool or the operation of the operation unit for performing a surgical operation does not intuitively match the operation of actually bending the end tool or performing a surgical operation. From the perspective of the surgeon, intuitive operation is not easy, and it takes a long time to master the usage method.

[0005] The foregoing background art is technical information that the inventor possessed for the derivation of the present invention or acquired during the derivation process of the present invention, and it cannot necessarily be regarded as publicly known art that was publicly disclosed to the general public before the filing of the present invention.

Summary of the Invention

Problems to be Solved by the Invention

[0006] An object of the present invention is to solve the above-mentioned problems, and an object is to provide a surgical instrument for intuitively matching the operation of an actual end tool when it bends or performs a surgical operation with the operation of a corresponding operation unit. More specifically, for this purpose, there are provided an end tool having various degrees of freedom, an operation unit having a structure for intuitively operating the movement of the end tool, and a power transmission unit for transmitting the driving force of the operation unit to the end tool so that the end tool can operate as per the operation of the operation unit.

Means for Solving the Problems

[0007] The present invention includes an end tool formed to be rotatable in at least two or more directions; a pitch operator for controlling the pitch movement of the end tool, a yaw operator for controlling the yaw movement of the end tool, and an actuation operator for controlling the actuation movement of the end tool, wherein at least one of the pitch operator or the yaw operator is an operation unit formed by a joint member that bends in one or more directions; a power transmission unit for transmitting the operation of the operation unit to the end tool; and a connecting portion that extends in a first direction (X-axis), with the end tool coupled to one end and the operation unit coupled to the other end, for connecting the operation unit and the end tool, and at least a part of the operation unit is formed to extend toward the end tool side. A surgical instrument is provided.

Effects of the Invention

[0008] According to such an invention, since the operation direction of the operation unit by the surgeon and the operation direction of the end tool are intuitively in the same direction, the convenience of the surgeon is improved, and effects such as the accuracy, reliability, and speed of the surgery can be obtained.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] The present invention can be subjected to various transformations and can have various embodiments. Specific embodiments are illustrated in the drawings and will be described in detail below. However, it should be understood that they do not limit the present invention to specific embodiments, but include all transformations, equivalents, or alternatives included in the spirit and technical scope of the present invention. In the description of the present invention, when a specific description of related known technologies is determined to obscure the gist of the present invention, the detailed description thereof will be omitted.

[0011] Terms such as first and second are used in the description of various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

[0012] The terms used in this application are only those used for the description of specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "including" or "having" are used to specify the existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and it should not be understood as precluding the possibility of the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components are given the same drawing numbers, and redundant descriptions thereof are omitted.

[0014] Also, in the description of various embodiments of the present invention, it should be understood that each embodiment does not have to be interpreted or implemented independently, and the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described individually.

[0015] <First Embodiment of Surgical Instrument>(E1 + H1a) The surgical instrument according to the present invention is characterized in that, for at least one or more of the pitch operation, yaw operation, and actuation operation, when the operation part is rotated in any one direction, the end tool rotates in the same direction as the operation direction of the operation part intuitively.

[0016] FIG. 1A is a conceptual diagram of the pitch operation of a conventional surgical instrument, and FIG. 1B is a conceptual diagram of the yaw operation.

[0017] Referring to FIG. 1A, in performing the pitch operation of a conventional surgical instrument, the end tool 120a is formed ahead of the rotation center 121a of the end tool, and the operation part 110a is formed on the rear side of the rotation center 111a of the operation part. If the operation part 110a is rotated clockwise, the end tool 120a also rotates clockwise. If the operation part 120a is rotated counterclockwise, the end tool 120a is also formed to rotate counterclockwise. On the other hand, referring to FIG. 1B, in performing the yaw operation of a conventional surgical instrument, the end tool 120a is formed ahead of the rotation center 121a of the end tool, and the operation part 110a is formed on the rear side of the rotation center 111a of the operation part. If the operation part 110a is rotated clockwise, the end tool 120a also rotates clockwise. If the operation part 120a is rotated counterclockwise, the end tool 120a is also formed to rotate counterclockwise. In that case, when viewed from the perspective of the user's left and right directions, if the user moves the operation part 110a to the left, the end tool 120a moves to the right, and if the user moves the operation part 110a to the right, the end tool 120a moves to the left. As a result, there is a problem that the user's operation is not easy because the user's operation direction and the movement direction of the end tool are opposite.

[0018] FIG. 1C is a conceptual diagram of the pitch operation of another conventional surgical instrument, and FIG. 1D is a conceptual diagram of the yaw operation.

[0019] Referring to FIG. 1C, some of the conventional surgical instruments are formed in a mirror-symmetric form. In performing the pitch operation, the end tool 120b is formed ahead of the rotation center 121b of the end tool, and the operation part 110b is formed behind the rotation center 111b of the operation part. If the operation part 110b is rotated in the clockwise direction, the end tool 120b rotates in the counterclockwise direction. If the operation part 110b is rotated in the counterclockwise direction, the end tool 120b is formed to rotate in the clockwise direction. In that case, from the perspective of the rotation directions of the operation part and the end tool, the rotation direction in which the user rotates the operation part 110b and the rotation direction of the end tool 120b thereby are opposite to each other. As a result, there is a problem that it causes confusion in the operation direction for the user, the movement of the joint is not intuitive, and it induces mistakes. Also, referring to FIG. 1D, in performing the yaw operation, the end tool 120b is formed ahead of the rotation center 121b of the end tool, and the operation part 110b is formed behind the rotation center 111b of the operation part. If the operation part 110b is rotated in the clockwise direction, the end tool 120b rotates in the counterclockwise direction. If the operation part 110b is rotated in the counterclockwise direction, the end tool 120b is formed to rotate in the clockwise direction. In that case, from the perspective of the rotation directions of the operation part and the end tool, the rotation direction in which the user rotates the operation part 110b and the rotation direction of the end tool 120b thereby are opposite to each other. As a result, there is a problem that it causes confusion in the operation direction for the user, the movement of the joint is not intuitive, and it induces mistakes.

[0020] In order to solve such problems, the surgical instrument according to an embodiment of the present invention illustrated in FIGS. 1E and 1F forms the end tool 120c ahead of the rotation center 121c of the end tool, and also forms the operation part 110c ahead of the rotation center 111c of the operation part, and one feature is to make the operations of the operation part 110c and the end tool 120c intuitively coincide.

[0021] Stated differently, in the case of conventional surgical instruments such as FIGS. 1A, 1B, 1C, and 1D, compared to the end tool being located ahead of its own rotation center, the operating portion is formed on the rear side of its own rotation center, and through the operation of the operating portion that moves the rear side with the front side fixed, the end tool that moves the front side with the rear side fixed is moved. Therefore, structurally, it is a non-intuitive structure. As a result, in the operation of the operating portion and the movement of the end tool, inconsistencies occur from the perspective of the left-right direction or the rotation direction, causing confusion to the user, making it difficult to intuitively and quickly perform the operation of the operating portion, and inducing errors. On the contrary, in the surgical instrument according to an embodiment of the present invention, since both the end tool and the operating portion move based on the rotation center formed on the rear side, it can be said that the operations are intuitively consistent with each other structurally. Thereby, the user can intuitively and quickly perform the operation of controlling the direction of the end tool, and there is an advantage that the possibility of inducing errors is significantly reduced. Hereinafter, it will be described in more detail.

[0022] FIG. 2 is a side view showing a surgical instrument 100 according to a first embodiment of the present invention, FIG. 3 is an internal detailed view of the surgical instrument 100 of FIG. 2, FIG. 4 is an internal detailed view showing the yaw operation portion 112 of the surgical instrument 100 in FIG. 3, and FIG. 5 is an internal detailed view showing the actuation operation portion 113 of the surgical instrument 100 in FIG. 3.

[0023] Referring to FIGS. 2 to 5, the surgical instrument 100 according to the first embodiment of the present invention includes an operating portion 110, an end tool 120, a power transmission portion 130, and a connecting portion 140. Here, the connecting portion 140 is formed in the shape of a hollow shaft, and one or more wires (described later) are accommodated inside thereof. The operating portion 110 is coupled to one end thereof, and the end tool 120 is coupled to the other end thereof, serving to connect the operating portion 110 and the end tool 120.

[0024] Specifically, the operation unit 110 is formed at one end of the connection unit 140 and is provided in the form of an interface that can be directly operated by a doctor, such as a knob shape, a stick shape, a lever shape, etc. When the doctor operates it, the end tool 120 that is connected to the interface and inserted into the body of the surgical patient will perform a predetermined operation to perform the surgery. Here, in FIG. 2, the operation unit 110 is illustrated as being formed in a knob shape, but the idea of the present invention is not limited thereto, and various forms of operation units that can be connected to the end tool 120 and operate the end tool 120 are possible.

[0025] The end tool 120 is formed at the other end of the connection unit 140, is inserted into the surgical site, and performs operations necessary for the surgery. As an example of such an end tool 120, as illustrated in FIG. 2, a pair of jaws 121, 122 (FIG. 7A) for performing a grip operation are used. However, the idea of the present invention is not limited thereto, and various devices for surgery will be used as the end tool 120. For example, a configuration in which one arm is a cautery will also be used as the end tool. Such an end tool 120 is connected to the operation unit 110 and the power transmission unit 130, and by transmitting the driving force of the operation unit 110 through the power transmission unit 130, it will perform operations necessary for surgery such as a grip operation, a cutting operation, and a suturing operation.

[0026] Here, the end tool 120 of the surgical instrument 100 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 120 is formed to perform a pitch movement around the Y axis in FIG. 2 and at the same time perform a yaw movement and an actuation movement around the Z axis in FIG. 2. This will be described in detail later.

[0027] The power transmission unit 130 connects the operation unit 110 and the end tool 120 and serves to transmit the driving force of the operation unit 110 to the end tool 120, and may include a number of wires, pulleys, links, joints, gears, etc.

[0028] Hereinafter, the operation unit 110, the end tool 120, the power transmission unit 130, etc. of the surgical instrument 100 in FIG. 2 will be described in more detail.

[0029] (Operation unit) Referring to FIGS. 2 to 5, the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a pitch operation unit 111 that controls the pitch movement of the end tool 120, a yaw operation unit 112 that controls the yaw movement of the end tool 120, and an actuation operation unit 113 that controls the actuation movement of the end tool 120.

[0030] Illustrating the usage state of the surgical instrument 100 in FIG. 2, the user holds the pitch drive handle 1112 of the pitch operation unit 111 with the palm of the hand and rotates the pitch drive handle 1112 to perform a pitch movement, holds the yaw operation unit 112 between the index finger and rotates the yaw operation unit 112 to perform a yaw movement, and holds the actuation operation unit 113 between the thumb and rotates the actuation operation unit 113 to perform an actuation movement.

[0031] Here, if the operations of pitch, yaw, and actuation used in the present invention are defined respectively, they are as follows.

[0032] First, the pitch operation means a vertical movement with respect to the extension direction of the connecting part 140 (the X-axis direction in FIG. 2), that is, a rotation operation around the Y-axis in FIG. 2. In other words, it means that the end tool 120 formed by extending in the extension direction of the connecting part 140 (the X-axis direction in FIG. 2) rotates up and down around the Y-axis. Next, the yaw operation means a lateral movement with respect to the extension direction of the connecting part 140 (the X-axis direction in FIG. 2), that is, a rotation operation around the Z-axis in FIG. 2. In other words, it means that the end tool 120 formed by extending in the extension direction of the connecting part 140 (the X-axis direction in FIG. 2) rotates left and right around the Z-axis. On the other hand, the actuation operation rotates around the same rotation axis as the yaw operation, but means an operation in which two jaws 121, 122 (FIG. 7A) rotate in opposite directions while the jaws open and close. That is, it means that the two jaws 121, 122 (FIG. 7A) formed on the end tool 120 rotate in opposite directions around the Z-axis.

[0033] Here, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that when the operation unit 110 is rotated in any one direction, the end tool 120 rotates in the same direction as the operation direction of the operation unit 110 intuitively. In other words, when the pitch operation unit 111 of the operation unit 110 is rotated in any one direction, the end tool 120 also rotates in the same direction as the one direction intuitively to perform a pitch motion, and when the yaw operation unit 112 of the operation unit 110 is rotated in any one direction, the end tool 120 also rotates in the same direction as the one direction intuitively to perform a yaw motion. Here, the intuitively same direction can be elaborately explained as that the moving direction of the index finger of the user holding the operation unit 110 and the moving direction of the end portion of the end tool 120 substantially form the same direction. However, here, the same direction does not mean a direction that perfectly coincides on the three-dimensional coordinates. For example, it goes without saying that if the user's index finger moves to the left, the end portion of the end tool 120 also moves to the left, and if the user's index finger moves to the right, the end portion of the end tool 120 also moves to the right, and it can be understood as such an identity.

[0034] And for that purpose, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that the operation unit 110 and the end tool 120 are formed in the same direction with respect to a plane perpendicular to the extension axis (X axis) of the connecting portion 140. That is, when viewed with reference to the YZ plane of FIG. 2, the operation unit 110 is formed by extending in the +X axis direction, and at the same time, the end tool 120 is also formed by extending in the +X axis direction. Expressed in other words, it can also be said that the forming direction of the end tool 120 at one end of the connecting portion 140 and the forming direction of the operation unit 110 at the other end of the connecting portion 140 are the same direction with reference to the YZ plane. Or, expressed in other words, it can also be said that the operation unit 110 is formed in a direction away from the body of the user holding it, that is, the direction in which the end tool 120 is formed.

[0035] Specifically, in the case of conventional surgical instruments, since the direction in which the user operates the operation unit and the actual operating direction of the end tool are different from each other and do not intuitively match, it is not easy for the surgeon to operate intuitively from the surgeon's perspective, and it takes a long time to become proficient in moving the end tool in the desired direction. In some cases, there are problems such as malfunctions occurring and causing harm to the patient.

[0036] In order to solve such problems, the surgical instrument 100 according to the first embodiment of the present invention is configured such that the operation direction of the operation unit 110 and the operating direction of the end tool 120 are intuitively the same direction. For this purpose, the operation unit 110 and the end tool 120 are formed on the same side when viewed with reference to the YZ plane including the pitch drive joint 1111. More specifically, it is as follows.

[0037] Referring to FIGS. 2 to 5, the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a pitch operator 111 that controls the pitch movement of the end tool 120, a yaw operator 112 that controls the yaw movement of the end tool 120, and an actuation operator 113 that controls the actuation movement of the end tool 120.

[0038] The pitch operating unit 111 includes a pitch operating joint 1111 and a pitch operating grip 1112. Here, the pitch operating joint 1111 is formed to be rotatable about the Y-axis, and the pitch operating grip 1112 is connected to the pitch operating joint 1111 and is formed to rotate together with the pitch operating joint 1111. Here, since the pitch operating joint is a bending joint, when the pitch operating grip rotates about the Y-axis, it can be said that the pitch operating joint bends or folds accordingly. For the sake of convenience in explanation, hereinafter, the pitch operating joint folding will be expressed as the pitch operating joint rotating.

[0039] For example, when the user rotates the pitch operating grip 1112 while holding the pitch operating grip 1112, the pitch operating joint 1111 connected to the pitch operating grip 1112 rotates together, and such a rotational force is transmitted to the end tool 120 via the power transmission unit 130, and the end tool 120 rotates in the same direction as the rotational direction of the pitch operating joint 1111. That is, if the pitch operating unit 111 rotates clockwise about the pitch operating joint 1111, the end tool 120 also rotates clockwise about an axis parallel to the rotation axis of the pitch operating joint 1111. Conversely, if the pitch operating unit 111 rotates counterclockwise about the pitch operating joint 1111, the end tool 120 also rotates counterclockwise about an axis parallel to the rotation axis of the pitch operating joint 1111.

[0040] Here, the pitch drive joint 1111 is also a flexure joint member. Specifically, the pitch drive joint 1111 is formed in a hollow cylindrical shape, and a large number of grooves 1111a are formed along one direction (the X-axis direction in FIG. 2) on the outer peripheral surface, and is formed to be bendable. At that time, a rib 1111b for determining the bending direction of the pitch drive joint 1111 is formed in the middle of each groove 1111a. That is, bending does not occur at the position where the rib 1111b is formed, and bending occurs at the portion where the rib 1111b is not formed. That is, when viewed in FIG. 2, the rib 1111b is formed along both side surfaces of the pitch drive joint 1111, but the pitch drive joint 1111 bends in the vertical direction where the rib 1111b is not formed. Therefore, although there is no actual rotation axis in the pitch drive joint 1111, it can be assumed that it rotates up and down around the P axis in FIG. 4. Therefore, the pitch drive joint 1111 is formed by a flexure joint member and can be the rotation center of the pitch motion.

[0041] On the other hand, the yaw operation unit 112 and the actuation operation unit 113 are formed on one end of the pitch drive handle 1112 of the pitch operation unit 111. Therefore, if the pitch operation unit 111 rotates around the pitch drive joint 1111, the yaw operation unit 112 and the actuation operation unit 113 will also rotate together with the pitch operation unit 111.

[0042] Accordingly, the coordinate systems of the yaw operation unit 112 and the actuation operation unit 113 are not fixed, but rather will change relatively continuously due to the rotation of the pitch operation unit 111. That is, in FIG. 2, the yaw drive axis 1121 of the yaw operation unit 112 is illustrated as being parallel to the Z-axis, and the actuation drive axis 1131 of the actuation operation unit 113 is illustrated as being parallel to the Y-axis. However, if the pitch operation unit 111 rotates, the yaw drive axis 1121 of the yaw operation unit 112 and the actuation drive axis 1131 of the actuation operation unit 113 will no longer be parallel to the Z-axis and the Y-axis. That is, the coordinate systems of the yaw operation unit 112 and the actuation operation unit 113 have changed due to the rotation of the operation unit 111. However, in this specification, for the sake of convenience of explanation, unless otherwise stated, the coordinate systems of the yaw operation unit 112 and the actuation operation unit 113 will be described based on the state where the pitch drive handle 1112 is perpendicular to the connection portion 140 as shown in FIG. 2.

[0043] The yaw operation unit 112 includes a yaw drive axis 1121 and a yaw drive member 1122. Here, the yaw drive axis 1121 is formed at a predetermined angle with the XY plane in which the connection portion 140 is formed. For example, as illustrated in FIG. 2, the yaw drive axis 1121 is formed in a direction parallel to the Z-axis. In this state, when the pitch operation unit 111 rotates, as described above, the coordinate system of the yaw operation unit 112 will change relatively. However, the idea of the present invention is not limited thereto, and it goes without saying that the yaw drive axis 1121 can be formed in various directions so as to suit the hand structure of the user who grips the yaw operation unit 112 by ergonomic design.

[0044] On one hand, the yaw drive unit 1122 is connected to the yaw drive shaft 1121 and is configured to rotate together with the yaw drive shaft 1121. For example, if the user rotates the yaw drive unit 1122 with an index finger sandwiched between the yaw drive unit 1122, the yaw drive shaft 1121 connected to the yaw drive unit 1122 will rotate together, and such a rotational force is transmitted to the end tool 120 via the power transmission unit 130, causing the two jaws 121, 122 (Fig. 7A) of the end tool 120 to rotate left and right in the same direction as the rotational direction of the yaw drive shaft 1121. Therefore, a pulley 1121a is formed on the yaw drive shaft (yaw rotating axis) 1121. And a yaw wire 132W is connected to the pulley 1121a. Such a yaw wire 132W is connected to the joint member 125 of the end tool 120 described later in Fig. 7A and rotates the joint member 125.

[0045] The actuation operation unit 113 includes an actuation drive shaft (actuation rotating axis) 1131 and an actuation drive unit (actuation rotating member) 1132. Here, the actuation drive shaft 1131 is formed at a predetermined angle with respect to the XY plane in which the connecting portion 140 is formed. For example, as shown in Fig. 2, the actuation drive shaft 1131 is formed in a direction parallel to the Y axis. In this state, when the pitch operation unit 111 rotates, as described above, the coordinate system of the actuation operation unit 113 changes relatively. However, the idea of the present invention is not limited thereto. It goes without saying that the actuation drive shaft 1131 will be formed in various directions according to the ergonomic design so as to suit the hand structure of the user who grips the actuation operation unit 113.

[0046] On the one hand, the actuation driving part 1132 is connected to the actuation driving shaft 1131 and is formed to rotate together with the actuation driving shaft 1131. For example, if the user rotates the actuation driving part 1132 with the thumb sandwiched between the actuation driving part 1132, the actuation driving shaft 1131 connected to the actuation driving part 1132 will rotate together, and such a rotational force is transmitted to the end tool 120 via the power transmission part 130, and the two jaws 121, 122 (Fig. 7A) of the end tool 120 perform an actuation operation. Here, the actuation operation means, as described above, an operation of opening and closing the jaws 121, 122 (Fig. 7A) while the two jaws 121, 122 (Fig. 7A) rotate in opposite directions to each other. That is, if the actuation operation part 113 is rotated in one direction, the first jaw 121 (Fig. 7A) rotates counterclockwise, and the second jaw 122 (Fig. 7A) rotates clockwise while the end tool 120 closes. On the contrary, if the actuation operation part 113 is rotated in the opposite direction, the first jaw 121 (Fig. 7A) rotates clockwise, and the second jaw 122 (Fig. 7A) rotates counterclockwise while the end tool 120 opens.

[0047] On the other hand, a first actuation link 133L1 is connected to one end of the actuation operating axis 1131. A second actuation link 133L2 is connected to one end of the first actuation link 133L1. A third actuation link 133L3 is connected to one end of the second actuation link 133L2. At that time, a pivot point 133L3P is formed on the third actuation link 133L3, which serves as the moving center point of the third actuation link 133L3. On the other hand, a guide protrusion 133L3e is formed on one end of the third actuation link 133L3, and a guide groove 1112h is formed on the pitch driving handle 1112.

[0048] Therefore, when the actuation drive shaft 1131 rotates, the first actuation link 133L1 connected thereto rotates. When the first actuation link 133L1 rotates, the second actuation link 133L2 connected thereto moves up and down in the Z-axis direction. When the second actuation link 133L2 moves up and down in the Z-axis direction, the third actuation link 133L3 connected thereto rotates about the pivot point 133L3P. Therefore, the guide projection 133L3e of the third actuation link 133L3 linearly moves in the X-axis direction along the guide groove 1112h of the pitch drive handle 1112. On the other hand, an actuation wire 133W is connected to the guide projection 133L3e of the third actuation link 133L3. When the guide projection 133L3e linearly moves in the X-axis direction, it linearly moves in the X-axis direction together therewith. Such an actuation wire 133W is connected to the actuation guide pin 133WG of the end tool 120 described later in FIGS. 7A to 7C and controls the actuation operation of the jaws 121 and 122.

[0049] Next, referring to FIGS. 2 to 5, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch operation unit 111 and the end tool 120 are formed on the same or parallel axes (X-axis). That is, at one end of the connecting portion 140, the pitch drive joint 1111 of the pitch operation unit 111 is formed, and at the other end of the connecting portion 140, the end tool 120 is formed. Here, in the drawings, the connecting portion 140 is shown as being formed in a straight line, but the idea of the present invention is not limited thereto, and the connecting portion 140 may be curved to have a predetermined curvature or bent one or more times as necessary, and even in such a case, it can be said that the pitch operation unit 111 and the end tool 120 are formed on substantially the same or parallel axes. Also, in FIG. 2, the pitch operation unit 111 and the end tool 120 are shown as being formed on the same axis (X-axis), but the idea of the present invention is not limited thereto, and the pitch operation unit 111 and the end tool 120 may also be formed on different axes from each other. This will be described later.

[0050] FIGS. 6A to 6D show various modifications of the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention.

[0051] As described in FIG. 2 and the like, H1 in FIG. 6A is such that the pitch operation unit 111 and the yaw operation unit 112 of the operation unit 110 are formed independently of each other, and the pitch operation unit 111 and the yaw operation unit 112 are functionally separated from each other. Such H1 can be seen in the first embodiment, the second embodiment, the third embodiment, etc. of the present invention.

[0052] H21 in FIG. 6B includes a pitch / yaw operation unit 411 in which the pitch operation unit and the yaw operation unit of the operation unit 410 are integrally formed, and is formed to perform the roles of the pitch operation unit and the yaw operation unit simultaneously. 2) And at that time, the pitch / yaw operation unit 411 is formed above the extension line of the end tool 420. 3) And the actuation operation unit 413 is formed on the pitch / yaw operation unit 411 and is formed to be rotatable independently on the pitch / yaw operation unit 411. Such H21 can be seen in the fourth embodiment of the present invention and the like.

[0053] H22 in FIG. 6C includes a pitch / yaw operation unit 511 in which the pitch operation unit and the yaw operation unit of the operation unit 510 are integrally formed, and is formed to perform the roles of the pitch operation unit and the yaw operation unit simultaneously. 2) And at that time, the pitch / yaw operation unit 511 is formed on the extension line of the end tool 520. 3) And the actuation operation unit 513 is formed on the pitch / yaw operation unit 511 and rotates together with the pitch / yaw operation unit 511 when the pitch / yaw operation unit 511 rotates, and is also formed to be rotatable independently on the pitch / yaw operation unit 511. Such H22 can be seen in the fifth embodiment, the sixth embodiment, the seventh embodiment, etc. of the present invention.

[0054] H23 in FIG. 6D includes a pitch / yaw operation unit 811 in which the pitch operation unit and the yaw operation unit of the operation unit 810 are integrally formed, and is formed to perform the roles of the pitch operation unit and the yaw operation unit simultaneously. 2) And at that time, the pitch / yaw operation unit 811 is formed on the extension line of the end tool 820, but the connecting portion 840 is not linear and is formed in a form bent at least once or more. 3) And the actuation operation unit 813 is formed on the pitch / yaw operation unit 811 and rotates together with the pitch / yaw operation unit 811 when the pitch / yaw operation unit 811 rotates, and is also formed to be rotatable independently on the pitch / yaw operation unit 111. Such H23 can be seen in the eighth embodiment, the ninth embodiment, the tenth embodiment, etc. of the present invention.

[0055] In addition, various modified examples of the operation unit including the above-described modified examples are applicable to the surgical instrument of the present invention.

[0056] (End tool) - Flexion type FIG. 7A is an assembled perspective view of an end tool applied to the surgical instrument 100 according to the first embodiment of the present invention, FIG. 7B is an exploded perspective view of the end tool of FIG. 7A, FIG. 7C is a perspective view showing a state in which the jaw base 123 and the joint member 125 are omitted in the end tool of FIG. 7A, and FIG. 7D is a front view of the joint member 125 of the end tool of FIG. 7A.

[0057] Referring to FIGS. 7A to 7D, the end tool 120 applied to the surgical instrument 100 according to the first embodiment of the present invention applies a flexion type joint member as the joint member 125. That is, the end tool 120 includes a first jaw 121, a second jaw 122, a jaw base 123, and a joint member 125. On the other hand, the power transmission unit 130 applied to the surgical instrument 100 according to the first embodiment of the present invention includes one or more pitch wires 131W, one or more yaw wires 132W, and an actuation wire 133W.

[0058] In the present embodiment, the pitch operation is performed through the movement of the pitch wire connected to the joint member, and the yaw operation is performed through the movement of the yaw wire connected to the joint member. At that time, the actuation wire extends across between the pitch wire and the yaw wire to the end tool side and is connected to grooves formed in the two jaws respectively. Then, by pulling and pushing the actuation wire, an actuation operation for opening and closing the two jaws is performed. At that time, since the actuation wire is provided in the center across between the pitch wire and the yaw wire respectively, even if the pitch wire and the yaw wire move due to the pitch operation and the yaw operation, the actuation wire is not affected.

[0059] On the one hand, when the pitch operation is performed while the lengths on both sides of the pitch wire are different, the yaw wire passing through the centers of the pitch wires on both sides is not affected by the pitch operation. Similarly, when the yaw operation is performed while the lengths on both sides of the yaw wire are different, the pitch wire passing through the centers of the yaw wires on both sides is not affected by the yaw operation. This will be described in more detail later.

[0060] The overall configuration of the end tool 120 will be described in more detail.

[0061] Specifically, a joint member 125 is formed at one end of the connecting portion 140. Here, as the joint member 125 of the surgical instrument according to the first embodiment of the present invention, a bending type joint member can be applied. That is, in the present embodiment, a bending type joint member is applied, and it is a feature that the joint member 125 for performing the pitch operation and the yaw operation is configured.

[0062] The joint member 125 formed in a bending type is formed in a hollow cylindrical shape, and a large number of grooves 125a are formed on the outer peripheral surface along one direction (the X-axis direction in FIG. 7A), and is formed to be bendable. At that time, ribs 125P and 125Y for guiding the bending direction of the joint member 125 are formed in the middle of each groove 125a. That is, at the positions where the ribs 125P and 125Y are formed, bending is not performed well, and bending is mainly performed at the portions where the ribs 125P and 125Y are not formed.

[0063] At that time, the joint member 125 is formed with a first rib 125P for guiding the bending of the joint member 125 in the first direction (that is, the pitch movement) and a second rib 125Y for guiding the bending of the joint member 125 in the second direction (that is, the yaw movement). At that time, the second rib 125Y is formed to be offset to a certain extent with respect to the first rib 125P. Further, the first rib 125P and the second rib 125Y are alternately formed with each other in such a manner that the first rib 125P is formed in the even-numbered grooves 125a and the second rib 125Y is formed in the odd-numbered grooves 125a.

[0064] That is, as seen in FIG. 7A, the first rib 125P is formed along both lateral surfaces of the joint member 125, and the joint member 125 is bent in the vertical direction. Therefore, although there is no actual rotation axis in the joint member 125, it can be assumed that it rotates up and down about the Y-axis in FIG. 7A. Therefore, the joint member 125 becomes the rotation center of the pitch motion.

[0065] Also, the second rib 125Y is formed along the upper and lower surfaces of the joint member 125, and the joint member 125 is bent in the left-right direction. Therefore, although there is no actual rotation axis in the joint member 125, it can be assumed that it rotates left and right about the Z-axis in FIG. 7A. Therefore, the joint member 125 becomes the rotation center of the yaw motion. Here, the first rib 125P and the second rib 125Y do not necessarily have to be formed on the vertical plane or the horizontal plane of the joint member 125, and they may be formed so as to be offset from the vertical plane or the horizontal plane of the joint member 125 to a certain extent.

[0066] On the other hand, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to the ends of the joint member 125 on the first joint 121 side and the second joint 122 side. Therefore, if either one end of the pitch wire 131W is pulled, one end of the joint member 125 connected thereto is also pulled. Therefore, the joint member 125 rotates about the Y-axis in FIG. 7A, and the pitch motion is performed. Similarly, if either one end of the yaw wire 132W is pulled, one end of the joint member 125 connected thereto is also pulled. Therefore, the joint member 125 rotates about the Z-axis in FIG. 7A, and the yaw motion is performed.

[0067] On one side, at one end of the connecting portion (not shown) and at one end of the joint member 125 facing it, a pitch wire through-hole 125PH, a yaw wire through-hole 125YH, and an actuator wire through-hole 125AH are formed. On one side, the pitch wire 131W passes through the pitch wire through-hole 125PH, extends from the connecting portion 140 to the end tool 120 side, and is coupled to the other end of the joint member 125. On one side, the yaw wire 132W passes through the yaw wire through-hole 125YH, extends from the connecting portion 140 to the end tool 120 side, and is coupled to the other end of the joint member 125. On one side, the yaw wire 132W passes through the actuator wire through-hole 125AH and extends from the connecting portion 140 to the end tool 120 side. Then, the actuator wire 133W passing through the actuator wire through-hole 125AH is coupled to the actuator guide pin 133WG.

[0068] At that time, as shown in FIG. 7D, the pitch wire through-hole 125PH is formed at both ends of the Z-axis direction diameter of the joint member 125 to control the pitch motion. On one side, the yaw wire through-hole 125YH is formed at both ends of the Y-axis direction diameter of the joint member 125 as shown in FIG. 7D to control the yaw motion. On one side, the actuator wire through-hole 125AH is formed at the center of the joint member 125 as shown in FIG. 7D to control the actuator motion.

[0069] As described above, when one side of either end of the yaw wire is pulled, the yaw operation is performed. At this time, since the actuator wire and the pitch wire passing through the center of both ends of the yaw wire do not change in length, the yaw operation is performed independently and separated from the actuator operation and the pitch operation. Similarly, when one side of either end of the pitch wire is pulled, the pitch operation is performed. At this time, since the actuator wire and the yaw wire passing through the center of both ends of the pitch wire do not change in length, the pitch operation is performed independently and separated from the actuator operation and the yaw operation.

[0070] On one hand, through-holes 121a and 122a are respectively formed in the first jaw 121 and the second jaw 122, and the actuation shaft 120AX is inserted through the through-holes 121a and 122a of the first jaw 121 and the second jaw 122. The first jaw 121 and the second jaw 122 will rotate around such an actuation shaft 120AX.

[0071] On one hand, guide holes 121b and 122b are respectively formed on one side of the through-holes 121a and 122a of the first jaw 121 and the second jaw 122, and the actuation guide pin 133WG is inserted through the guide holes 121b and 122b of the first jaw 121 and the second jaw 122. An actuation wire 133W is coupled to such an actuation guide pin 133WG. If the actuation wire 133W performs a linear reciprocating motion along the X-axis, the actuation guide pin 133WG connected thereto will perform a reciprocating motion along the guide holes 121b and 122b, whereby the first jaw 121 and the second jaw 122 rotate around the actuation shaft 120AX, and an actuation operation is performed. That is, the actuation operation in which the two jaws are simultaneously closed or simultaneously opened is performed by the forward or backward movement of one actuation wire.

[0072] Thus, the end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention is characterized in that a wire for a pitch operation, a wire for a yaw operation, and a wire for an actuation operation are separately formed, and any one operation is formed so as not to affect other operations.

[0073] First, the yaw operation of this embodiment will be described.

[0074] Referring to both FIGS. 4, 8, and 9, a yaw wire 132W for the yaw operation of the end tool 120 connects the yaw operation unit 112 of the operation unit 110 and the joint member 125 of the end tool 120. Therefore, when the yaw operation unit 112 rotates counterclockwise about the yaw drive shaft 1121, the yaw wire 132W on the operation unit 110 side moves entirely in the direction of the arrow in FIG. 4. Thus, as seen in FIG. 8, for the yaw wire 132W on the end tool 120 side connected thereto, the left yaw wire 132W is pushed from the operation unit side toward the end tool side, and the right yaw wire 132W is pulled and moves in the direction of arrow Y1 in FIG. 9. Accordingly, the joint member 125 connected to the yaw wire 132W, and the first jaw 121 and the second jaw 122 connected thereto rotate about the joint member 125 in the direction of arrow Y in FIG. 9, and the yaw operation is performed. In other words, if the yaw operation unit 112 is rotated in one direction about the yaw drive shaft 1121, the joint member 125 of the end tool 120, and the first jaw 121 and the second jaw 122 connected thereto also rotate in the same direction, and the operation direction of the operation unit 110 and the operation direction of the end tool 120 will intuitively coincide.

[0075] Next, the pitch operation of this embodiment will be described.

[0076] Similar to the above-mentioned yaw operation, a pitch wire 131W for the pitch operation of the end tool 120 connects the pitch operation unit 111 (FIG. 2) of the operation unit 110 (FIG. 2) and the joint member 125 of the end tool 120. Therefore, when the pitch operation unit 111 (FIG. 2) rotates around the pitch drive joint 1111 (FIG. 2), the connected pitch wire 131W moves. Accordingly, the joint member 125 connected to the pitch wire 131W, and the first jaw 121 and the second jaw 122 connected thereto rotate around the joint member 125, and the pitch operation is performed. In other words, if the pitch operation unit 111 (FIG. 2) is rotated in one direction around the pitch drive joint 1111 (FIG. 2), the joint member 125 of the end tool 120, and the first jaw 121 and the second jaw 122 connected thereto also rotate in the same direction, and the operation direction of the operation unit 110 and the operation direction of the end tool 120 will intuitively coincide.

[0077] Next, the actuation operation of the present embodiment will be described.

[0078] Referring to both FIGS. 5 and 8, an actuation wire 133W for the actuation operation of the end tool 120 connects the actuation operation unit 113 of the operation unit 110 and the actuation guide pin 133WG of the end tool 120. Therefore, when the actuation operation unit 113 rotates in the direction of arrow A in FIG. 5 about the actuation drive shaft 1131, the first actuation link 133L1, the second actuation link 133L2, and the third actuation link 133L3, which are sequentially connected thereto, will each move. At this time, a pivot point 133L3P is formed on the third actuation link 133L3, which serves as the center point of rotation of the third actuation link 133L3. And thus, when the third actuation link 133L3 rotates about the pivot point 133L3P, the guide projection 133L3e of the third actuation link 133L3 performs a linear motion in the direction of arrow C in FIG. 5, and the actuation wire 133W connected thereto performs a linear motion in the direction of arrow A in FIG. 10 in a state as shown in FIG. 7A. Therefore, while the actuation guide pin 133WG connected to the actuation wire 133W moves along the guide holes 121b, 122b, the first jaw 121 and the second jaw 122 rotate about the actuation axis 120AX, and an actuation operation is performed in which the first jaw 121 and the second jaw 122 close toward each other.

[0079] Regarding various applicable modifications of such an end tool, they will be described later with reference to FIGS. 33 to 36.

[0080] (Overall Operation of the First Embodiment) Hereinafter, with reference to the foregoing, the overall configurations of the pitch operation, yaw operation, and actuation operation of the surgical instrument 100 according to the first embodiment of the present invention will be organized.

[0081] First, the pitch operation is as follows.

[0082] As described above, when the user holds the pitch drive handle 1112 of the pitch operation unit 111 of the operation unit 110 and rotates the pitch drive handle 1112 in the direction of arrow P (pitch) in FIG. 4 around the pitch drive joint 1111, the pitch operation unit 111, the joint member 125 connected via the pitch wire 131W, and the jaws 121, 122 connected to the joint member rotate around the Y axis, and the pitch operation is performed. In other words, if the pitch operation unit 111 is rotated in one direction around the pitch drive joint 1111, the joint member 125 of the end tool 120 and the jaws 121, 122 connected thereto also rotate in the same direction, and the operation direction of the operation unit 110 and the operation direction of the end tool 120 will intuitively coincide.

[0083] Next, the yaw operation of the present embodiment will be described.

[0084] When the user sandwiches the index finger in the yaw drive unit 1122 and rotates the yaw drive unit 1122 in the direction of arrow Y in FIG. 4, the yaw drive unit 1122 rotates around the yaw drive shaft 1121, and such a rotational force rotates the yaw operation unit 112, the joint member 125 connected via the yaw wire 132W, and the jaws 121, 122 connected to the joint member around the Z axis, thereby performing the yaw operation. In other words, if the yaw operation unit 112 is rotated in one direction around the yaw drive shaft 1121, the joint member 125 of the end tool 120 and the jaws 121, 122 connected thereto also rotate in the same direction, and the operation direction of the operation unit 110 and the operation direction of the end tool 120 will intuitively coincide.

[0085] Next, the actuation operation of the present embodiment will be described.

[0086] If the user rotates the actuation drive unit 1132 in the direction of arrow A in FIG. 5 while pinching the actuation drive unit 1132 with the thumb, the actuation drive unit 1132 rotates about the actuation drive shaft 1131. Accordingly, the first actuation link 133L1 connected to the actuation drive shaft 1131 rotates together with the actuation drive shaft 1131, and the second actuation link 133L2 connected to the first actuation link 133L1 descends in the direction of arrow B in FIG. 5. When the second actuation link 133L2 descends in the direction of arrow B in FIG. 5, the third actuation link 133L3 connected thereto rotates counterclockwise along the pivot point 133L3P. Accordingly, the guide protrusion 133L3e of the third actuation link 133L3 linearly moves along the X-axis in the direction of arrow C in FIG. 5 along the guide groove 1112h of the pitch drive handle 1112. Accordingly, the actuation wire 133W connected to the guide protrusion 133L3e of the third actuation link 133L3 also linearly moves along the X-axis in the direction of arrow C, and such an actuation wire 133W linearly moves the actuation guide pin 133WG (FIG. 7) of the end tool 120 (FIG. 7), so that the first jaw 121 and the second jaw 122 rotate in opposite directions while the jaws close. Conversely, if the actuation drive unit 1132 is rotated in the direction opposite to arrow A in FIG. 5, as a result, the first jaw 121 and the second jaw 122 perform an actuation operation in which the jaws open while rotating in the opposite direction to the above.

[0087] <Conceptual classification of the first, second, and third embodiments of the surgical instrument> Prior to describing the surgical instruments according to the second and third embodiments of the present invention below, the criteria characterizing the first, second, and third embodiments of the surgical instrument of the present invention will be briefly described.

[0088] Figures 11A, 11B, and 11C are drawings schematically showing the pitch operations of the first, second, and third embodiments of the surgical instrument of the present invention, respectively, and Figure 11D is a drawing schematically showing the yaw operation of the first, second, and third embodiments of the surgical instrument of the present invention.

[0089] First, the yaw operations of the first, second, and third embodiments of the present invention will be described.

[0090] The first, second, and third embodiments of the present invention commonly perform the yaw operation using the index finger. That is, as shown in Figure 11D, in the first, second, and third embodiments of the present invention, in order to perform the yaw operation with the index finger, it is located behind the portion where the pivot point naturally moves. Therefore, an effect can be obtained in which the direction in which the user operates the operation unit and the actual operating direction of the end tool intuitively coincide with each other.

[0091] Next, the pitch operations of the first, second, and third embodiments of the present invention will be described. Here, the first, second, and third embodiments of the surgical instrument of the present invention are characterized in the positional relationship between the virtual central axis in the Z-axis direction of the pitch drive handle and the virtual central axis in the Z-axis direction of the pitch drive joint.

[0092] Here, the "virtual central axis X2 in the Z-axis direction of the pitch drive joint" means a virtual axis in the Z-axis direction that meets perpendicularly with the approximate central point in the X-axis direction in a state where the pitch drive joint is not bent, or a virtual axis in the Z-axis direction that is perpendicular to the virtual rotation central axis in the Y-axis direction of the pitch drive joint on the YZ plane including the virtual rotation central axis in the Y-axis direction of the pitch drive joint. Hereinafter, such an axis will be described as the "virtual central axis in the Z-axis direction of the pitch drive joint".

[0093] Referring to FIG. 11A, in the case of the first embodiment of the surgical instrument of the present invention, the virtual central axis of the pitch drive handle in the Z-axis direction is formed closer to the end tool side than the virtual central axis of the pitch drive joint in the Z-axis direction. That is, the virtual central axis X1 of the pitch drive handle 1112 of the surgical instrument 100 in the Z-axis direction is formed closer to the end tool side than the virtual central axis X2 of the pitch drive joint 1111 in the Z-axis direction. In that case, the pitch drive handle 1112 (or the hand that holds it, or the handle) that moves for the pitch operation is located in front of the pitch joint point (i.e., the end tool side). Therefore, as shown in FIG. 11A, the rotation center of the joint is placed at the user's wrist part, and the user's hand part will rotate. Thus, there is an advantage that the operation is intuitive and easy. That is, the end tool 120 can be actually rotated, and the user can operate the end tool by moving the hand located in front with the user's wrist as a reference. The pitch operation of the surgical instrument intuitively coincides.

[0094] Referring to FIG. 11B, in the case of the second embodiment of the surgical instrument of the present invention, the virtual central axis of the pitch drive handle in the Z-axis direction and the virtual central axis of the pitch drive joint in the Z-axis direction are formed on the same line. That is, the virtual central axis X1 of the pitch drive handle 2112 of the surgical instrument 200 in the Z-axis direction is formed at the same distance from the end tool as the virtual central axis X2 of the pitch drive joint 2111 in the Z-axis direction. In that case, the pitch drive handle 2112 (or the hand that holds it, or the handle) that moves for the pitch operation is located on the pitch joint point. Therefore, as shown in FIG. 11B, the rotation center of the joint is placed at the part where the user holds the pitch drive handle 2112.

[0095] Referring to FIG. 11C, in the case of the third embodiment of the surgical instrument of the present invention, the virtual central axis of the pitch drive handle in the Z-axis direction is formed farther from the end tool than the virtual central axis of the pitch drive joint in the Z-axis direction. That is, the virtual central axis X1 of the pitch drive handle 3112 of the surgical instrument 300 in the Z-axis direction is formed farther from the end tool than the virtual central axis X2 of the pitch drive joint 3111 in the Z-axis direction. In that case, the pitch drive handle 3112 (or the hand holding it, or the handle) that moves for the pitch operation is located behind the pitch joint point (that is, on the opposite side of the end tool).

[0096] What is common among the first, second, and third embodiments of the surgical instrument of the present invention described above is that, at least in any one operating state of the pitch operation unit 111, the pitch drive handle 1112 is formed closer to the end tool 120 than the virtual central axis X2 of the pitch drive joint in the Z-axis direction.

[0097] For example, in the first embodiment of the surgical instrument of the present invention illustrated in FIG. 11A, the virtual central axis X1 of the pitch drive handle 1112 itself in the Z-axis direction is formed closer to the end tool 120 side than the virtual central axis X2 of the pitch drive joint 1111 in the Z-axis direction. However, in almost all operating states of the pitch operation unit 111, the pitch drive handle 1112 is formed closer to the end tool 120 than the virtual central axis X2 of the pitch drive joint 1111 in the Z-axis direction.

[0098] On the other hand, in the second embodiment of the surgical instrument of the present invention illustrated in FIG. 11B, the virtual central axis X1 of the pitch drive handle 2112 in the Z-axis direction and the virtual central axis X2 of the pitch drive joint 2111 in the Z-axis direction are formed on the same line. However, if the pitch operation unit 211 rotates forward even a little around the pitch drive joint 2111 in the state shown in FIG. 11B, the pitch drive handle 2112 is formed closer to the end tool 220 than the virtual central axis X2 of the pitch drive joint 2111 in the Z-axis direction.

[0099] On the other hand, in the third embodiment of the surgical instrument of the present invention illustrated in FIG. 11C, the virtual central axis X1 of the pitch drive handle 3112 in the Z-axis direction is formed farther from the end tool than the virtual central axis X2 of the pitch drive joint 3111 in the Z-axis direction. Therefore, in the state as shown in FIG. 11C, the pitch drive handle 3112 is located farther from the end tool 320 than the virtual central axis X2 of the pitch drive joint in the Z-axis direction. However, in order to perform the pitch operation, if the pitch operation unit 311 is rotated forward by a certain angle or more around the pitch drive joint 3111, a part of the pitch drive handle 3112 is formed closer to the end tool 320 than the virtual central axis X2 of the pitch drive joint 3111 in the Z-axis direction.

[0100] As described above, in at least one operating state of the pitch operation units 111, 211, 311, the pitch drive handles 1112, 2112, 3112 are formed closer to the end tools 120, 220, 320 than the virtual central axis X2 of the pitch drive joints 1111, 2111, 3111 in the Z-axis direction, so that fingers and hands located on the distal side of the wrist joint of the user who performs the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip of the hand is fixed and the rear part such as the wrist and arm has to move greatly, which is a situation where there is a large difference from the operation of the end tool and it is difficult to perform an intuitive operation. However, the embodiment of the present invention can obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for operating the end tool, unlike the existing instruments due to the above-described characteristics.

[0101] <Second Embodiment of Surgical Instrument> (E1 + H1b) Hereinafter, the surgical instrument 200 according to the second embodiment of the present invention will be described. Here, the surgical instrument 200 according to the second embodiment of the present invention is different in that the virtual central axis X1 in the Z-axis direction of the pitch drive handle 2112 of the surgical instrument 200 is formed on the same line as the virtual central axis X2 in the Z-axis direction of the pitch drive joint 2111, compared with the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention described above. Thus, the configuration different from that of the first embodiment will be described in detail later.

[0102] FIGS. 12 and 13 are drawings showing the surgical instrument 200 according to the second embodiment of the present invention. Referring to FIGS. 12 and 13, the surgical instrument 200 according to the second embodiment of the present invention includes an operation unit 210, an end tool 220, a power transmission unit 230, and a connection unit 240.

[0103] The operation unit 210 of the surgical instrument 200 includes a pitch operation unit 211 that controls the pitch movement of the end tool 220, a yaw operation unit 212 that controls the yaw movement of the end tool 220, and an activation operation unit 213 that controls the activation movement of the end tool 220.

[0104] The pitch operation unit 211 includes a pitch drive joint 2111 and a pitch drive handle 2112. Here, the pitch drive joint 2111 is formed to be rotatable about the Y-axis, and the pitch drive handle 2112 is connected to the pitch drive joint 2111 and is formed to rotate together with the pitch drive joint 2111. Here, the pitch drive joint 2111 is also a bending joint member.

[0105] On the other hand, the yaw operation unit 212 and the activation operation unit 213 are formed on one end of the pitch drive handle 2112 of the pitch operation unit 211.

[0106] The yaw operation unit 212 includes a yaw drive shaft 2121 and a yaw drive unit 2122. Here, the yaw drive unit 2122 is connected to the yaw drive shaft 2121 and is formed to rotate together with the yaw drive shaft 2121. For example, when the user rotates the yaw drive unit 2122 with the index finger sandwiched between the yaw drive unit 2122, the yaw drive shaft 2121 connected to the yaw drive unit 2122 rotates together, and such a rotational force is transmitted to the end tool 220 via the power transmission unit 230, so that the two jaws 221, 222 of the end tool 220 rotate in the same direction as the rotational direction of the yaw drive shaft 2121. For this purpose, a pulley 2121a is formed on the yaw drive shaft 2121. And a yaw wire 232W is connected to the pulley 2121a. Such a yaw wire 232W is connected to the end tool 220 and rotates the end tool 220.

[0107] The actuation operation unit 213 includes an actuation drive shaft 2131 and an actuation drive unit 2132. On the other hand, a first actuation link (not shown) is connected to one end of the actuation drive shaft 2131, a second actuation link 233L2 is connected to one end of the first actuation link (not shown), and a third actuation link 233L3 is connected to one end of the second actuation link 233L2. At that time, a pivot point 233L3P is formed on the third actuation link 233L3, which serves as the center point of movement of the third actuation link 233L3. On the other hand, a guide protrusion 233L3e is formed on one end of the third actuation link 233L3, and a guide groove 2112h is formed on the pitch drive handle 2112.

[0108] On the other hand, as the end tool 220 of the surgical instrument 200, a bending type joint member described in FIGS. 7A to 7D is applied as the joint member 225. That is, the end tool 220 includes a first jaw (not shown), a second jaw 222, a jaw base 223, and a joint member 225. On the other hand, the power transmission unit 230 applied to the surgical instrument 200 according to the second embodiment of the present invention includes one or more pitch wires (not shown), one or more yaw wires 232W, and an actuation wire 233W.

[0109] Here, in the case of the second embodiment of the surgical instrument of the present invention, it is characterized in that the virtual central axis in the Z-axis direction of the pitch drive handle and the virtual central axis in the Z-axis direction of the pitch drive joint are formed on the same straight line. That is, the virtual central axis X1 in the Z-axis direction of the pitch drive handle 2112 of the surgical instrument 200 is formed at the same distance from the virtual central axis X2 in the Z-axis direction of the pitch drive joint 2111 as from the end tool. Here, in at least one operating state of the pitch operation unit 211 in the second embodiment of the surgical instrument of the present invention, the pitch drive handle 2112 is formed closer to the end tool 220 than the virtual central axis X2 in the Z-axis direction of the pitch drive joint. That is, in the second embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch drive handle 2112 and the virtual central axis X2 in the Z-axis direction of the pitch drive joint 2111 are formed on the same straight line. However, if the pitch operation unit 211 rotates even slightly around the pitch drive joint 2111 in the state shown in FIG. 12, the pitch drive handle 2112 is formed closer to the end tool 220 than the virtual central axis X2 in the Z-axis direction of the pitch drive joint 2111.

[0110] <Third Embodiment of Surgical Instrument> (E1 + H1c) Hereinafter, the surgical instrument 300 according to the third embodiment of the present invention will be described. Here, the surgical instrument 300 according to the third embodiment of the present invention is different in that the virtual central axis X1 of the pitch drive handle 3112 of the surgical instrument 300 in the Z-axis direction is formed farther from the end tool than the virtual central axis X2 of the pitch drive joint 3111 in the Z-axis direction, as compared with the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention described above. Also, the yaw operation unit 312 is different from the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention. The configuration different from that of the first embodiment will be described in detail later.

[0111] FIGS. 14 and 15 are drawings showing the surgical instrument 300 according to the third embodiment of the present invention. Referring to FIGS. 14 and 15, the surgical instrument 300 according to the third embodiment of the present invention includes an operation unit 310, an end tool 320, a power transmission unit 330, and a connection unit 340.

[0112] The operation unit 310 of the surgical instrument 300 includes a pitch operation unit 311 that controls the pitch movement of the end tool 320, a yaw operation unit 312 that controls the yaw movement of the end tool 320, and an activation operation unit 313 that controls the activation movement of the end tool 320.

[0113] The pitch operation unit 311 includes a pitch drive joint 3111 and a pitch drive handle 3112. Here, the pitch drive joint 3111 is formed to be rotatable about the Y-axis, and the pitch drive handle 3112 is connected to the pitch drive joint 3111 and is formed to rotate together with the pitch drive joint 3111. Here, the pitch drive joint 3111 is also a bending type joint member.

[0114] Meanwhile, the yaw operation unit 312 includes a yaw drive joint 3121 and a yaw drive unit 3122. Here, the yaw drive unit 3122 is connected to the yaw drive joint 3121 and is formed to rotate together with the yaw drive joint 3121. For example, if a user rotates the yaw drive unit 3122 while pinching his / her index finger between the yaw drive unit 3122, the yaw drive joint 3121 connected to the yaw drive unit 3122 rotates together, and such a rotational force is transmitted to the end tool 320 via the power transmission unit 330, and two jaws of the end tool 320 rotate left and right in the same direction as the rotational direction of the yaw drive joint 3121.

[0115] That is, in the third embodiment, a bending type joint member is used as the yaw operation unit 312, which is an equivalent component having the same purpose as the yaw operation unit of the above embodiment in terms of providing rotation by yaw operation, and various configurations can be applied to this purpose other than the bending type joint member of this embodiment. In this embodiment, the yaw operation unit 312 is formed in a hollow cylindrical shape, and a large number of grooves 3121a are formed on the outer circumferential surface along one direction (X-axis direction) to be freely bent. At that time, ribs 3121b for determining the bending direction of the yaw drive joint 3121 are formed in the middle of each groove 3121a. That is, bending does not occur at the position where the rib 3121b is formed, and bending occurs at the part where the rib 3121b is not formed. That is, the rib 3121b is formed along the upper and lower surfaces of the yaw drive joint 3121, but the yaw drive joint 3121 is bent in the left-right direction where the rib 3121b is not formed. Therefore, although the yaw drive joint 3121 does not have an actual rotation axis, it can be assumed that it rotates left and right around the Z axis. Therefore, the yaw drive joint 3121 is formed by a bending joint member, and becomes the rotation center of the yaw motion.

[0116] The actuation operation unit 313 includes an actuation drive shaft 3131 and an actuation drive unit 3132. On the other hand, a first actuation link 333L1 is connected to one end of the actuation drive shaft 3131, a second actuation link 333L2 is connected to one end of the first actuation link 333L1, and a third actuation link 333L3 is connected to one end of the second actuation link 333L2. At this time, a pivot point 333L3P is formed on the third actuation link 333L3, which serves as the center point of movement of the third actuation link 333L3. On the other hand, a guide protrusion 333L3e is formed at one end of the third actuation link 333L3, and a guide groove (not shown) is formed in the pitch drive handle 3112.

[0117] On the other hand, the end tool 320 of the surgical instrument 300 applies the bending type joint member described in FIGS. 7A to 7D as the joint member 325. That is, the end tool 320 includes a first jaw (not shown), a second jaw 322, a jaw base 323, and a joint member 325. On the other hand, the power transmission unit 330 applied to the surgical instrument 300 according to the third embodiment of the present invention includes one or more pitch wires 331W, one or more yaw wires 332W, and an actuation wire (not shown).

[0118] Here, in the case of the third embodiment of the surgical instrument of the present invention, it is characterized in that the virtual central axis of the pitch drive handle in the Z-axis direction is formed farther from the end tool than the virtual central axis of the pitch drive joint in the Z-axis direction. That is, the virtual central axis X1 of the pitch drive handle 3112 of the surgical instrument 300 in the Z-axis direction is formed farther from the end tool than the virtual central axis X2 of the pitch drive joint 3111 in the Z-axis direction.

[0119] Here, in at least one operating state of the pitch operating unit 311 of the third embodiment of the surgical instrument of the present invention, the pitch driving handle 3112 is formed closer to the end tool 320 than the virtual central axis X2 in the Z-axis direction of the pitch driving joint. That is, in the third embodiment of the surgical instrument of the present invention, the pitch driving handle 3112 is located farther from the end tool 320 than the virtual central axis X2 in the Z-axis direction of the pitch driving joint. However, in order to perform the pitch operation, if the pitch operating unit 311 is rotated by a certain angle or more around the pitch driving joint 3111, a part of the pitch driving handle 3112 is formed closer to the end tool 220 than the virtual central axis X2 in the Z-axis direction of the pitch driving joint 3111.

[0120] <Fourth Embodiment of the Surgical Instrument>(E1+H21) Hereinafter, the surgical instrument 400 according to the fourth embodiment of the present invention will be described. Here, the surgical instrument 400 according to the fourth embodiment of the present invention is different in that, compared with the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention described above, it includes a pitch / yaw operating unit 411 in which the pitch operating unit and the yaw operating unit of the operating unit 410 are integrally formed, and is formed to perform the roles of the pitch operating unit and the yaw operating unit simultaneously. At that time, the pitch / yaw operating unit 411 is formed above the extension line of the end tool 420. Accordingly, the surgical instrument 400 according to the fourth embodiment of the present invention will be operated with a finger other than the user's wrist on the pitch / yaw operating unit 411. The different configurations compared with the first embodiment will be described in detail later.

[0121] FIGS. 16 and 17 are drawings showing the surgical instrument 400 according to the fourth embodiment of the present invention. Referring to FIGS. 16 and 17, the surgical instrument 400 according to the fourth embodiment of the present invention includes an operating unit 410, an end tool 420, a power transmission unit 430, and a connecting unit 440.

[0122] The operation unit 410 of the surgical instrument 400 includes a pitch / yaw operation unit 411 that controls the pitch movement and yaw movement of the end tool 420, and an activation operation unit 413 that controls the activation movement of the end tool 420.

[0123] The pitch / yaw operation unit 411 includes a pitch / yaw drive joint 4111 and a pitch / yaw drive unit 4112. Here, the pitch / yaw drive joint 4111 is formed to be rotatable about the Y-axis and Z-axis, and the pitch / yaw drive unit 4112 is connected to the pitch / yaw drive joint 4111 and is formed to rotate together with the pitch / yaw drive joint 4111. Here, the pitch / yaw drive joint 4111 is also a flexure joint member.

[0124] The pitch / yaw drive joint 4111 formed in a flexure type is formed in a hollow cylindrical shape, and a plurality of grooves 4111a are formed on the outer peripheral surface along one direction (X-axis direction) and is formed to be bendable. At that time, ribs 4111P and 4111Y for guiding the bending direction of the pitch / yaw drive joint 4111 are formed in the middle of each groove 4111a. That is, at the positions where the ribs 4111P and 4111Y are formed, bending is not performed well, and bending is mainly performed at portions where the ribs 4111P and 4111Y are not formed.

[0125] At that time, the pitch / yaw drive joint 4111 is formed with a first rib 4111P for guiding the bending of the pitch / yaw drive joint 4111 in the first direction (i.e., pitch movement) and a second rib 4111Y for guiding the bending of the pitch / yaw drive joint 4111 in the second direction (i.e., yaw movement). At that time, the second rib 4111Y is formed to be offset to a certain extent with respect to the first rib 4111P. Also, the first rib 4111P and the second rib 4111Y are alternately formed with each other in such a manner that the first rib 4111P is formed in the even-numbered grooves 4111a and the second rib 4111Y is formed in the odd-numbered grooves 4111a.

[0126] That is, as seen in FIG. 17, the first rib 4111P is formed along both lateral surfaces of the pitch / yaw drive joint 4111, but the pitch / yaw drive joint 4111 is bent in the vertical direction. Therefore, although there is no actual rotation axis in the pitch / yaw drive joint 4111, it can be assumed that it rotates up and down around the Y-axis in FIG. 17. Therefore, the pitch / yaw drive joint 4111 becomes the rotation center of the pitch motion.

[0127] Also, the second rib 4111Y is formed along the upper and lower surfaces of the pitch / yaw drive joint 4111, but the pitch / yaw drive joint 4111 is bent in the left-right direction. Therefore, although there is no actual rotation axis in the pitch / yaw drive joint 4111, it can be assumed that it rotates left and right around the Z-axis in FIG. 17. Therefore, the pitch / yaw drive joint 4111 becomes the rotation center of the yaw motion.

[0128] Here, the first rib 4111P and the second rib 4111Y do not necessarily have to be formed on the vertical plane or the horizontal plane of the pitch / yaw drive joint 4111, but may also be formed so as to be offset to a certain extent from the vertical plane or the horizontal plane of the pitch / yaw drive joint 4111.

[0129] On the other hand, both ends of the pitch wire 431W and the yaw wire 432W are respectively connected to the end of the pitch / yaw drive joint 4111 on the pitch / yaw drive unit 4112 side. Therefore, when the pitch / yaw drive unit 4112 rotates, the pitch / yaw drive joint 4111 connected thereto rotates, and while the pitch / yaw drive joint 4111 rotates, one end of either the pitch wire 431W or the yaw wire 432W is pushed and the other end is pulled, thereby performing the pitch motion or the yaw motion of the end tool 420 connected thereto.

[0130] Stated differently, for the end tool, the rotation centers of the pitch motion and the yaw motion (i.e., the joint members) are formed on the rear side of the end tool (the first jaw and the second jaw), and for the operation unit, the rotation centers of the pitch motion and the yaw motion (i.e., the pitch / yaw drive joint) are formed on the rear side of the operation unit (the pitch / yaw drive unit). Since both the end tool and the operation unit move based on the rotation centers formed on their respective rear sides, it can be said that their operations intuitively match each other in terms of structure.

[0131] The actuation operation unit 413 includes an actuation drive shaft 4131 and an actuation drive unit 4132. On the other hand, an actuation wire 433W is connected to one end of the actuation drive shaft 4131. And the other end of the actuation wire 433W is connected to the actuation guide pin 133WG (FIG. 8) of the end tool 420.

[0132] On the other hand, for the end tool 420 of the surgical instrument 400, a bending type joint member described in FIGS. 7A to 7D is applied as the joint member 425. That is, the end tool 420 includes a first jaw (not shown), a second jaw 422, a jaw base 423, and a joint member 425. On the other hand, the power transmission unit 430 applied to the surgical instrument 400 according to the second embodiment of the present invention includes one or more pitch wires 431W, one or more yaw wires 432W, and an actuation wire 433W.

[0133] Here, in the case of the fourth embodiment of the surgical instrument of the present invention, as described above, 1) it is provided with a pitch / yaw operation unit 411 in which the pitch operation unit and the yaw operation unit of the operation unit 410 are integrally formed, and is formed to perform the roles of the pitch operation unit and the yaw operation unit simultaneously. 2) And at that time, the pitch / yaw operation unit 411 is characterized in that it is formed above the extension line of the end tool 420.

[0134] <Conceptual Classification of the Fifth, Sixth, and Seventh Embodiments of the Surgical Instrument> Before describing the surgical instruments according to the fifth, sixth, and seventh embodiments of the present invention below, the criteria characterizing the fifth, sixth, and seventh embodiments of the surgical instrument of the present invention will be briefly explained.

[0135] FIG. 18A is a pitch motion conceptual diagram of the fifth embodiment of the surgical instrument of the present invention, FIG. 18B is a yaw motion conceptual diagram, FIG. 18C is a pitch motion conceptual diagram of the sixth embodiment of the surgical instrument of the present invention, FIG. 18D is a yaw motion conceptual diagram, FIG. 18E is a pitch motion conceptual diagram of the seventh embodiment of the surgical instrument of the present invention, and FIG. 18F is a yaw motion conceptual diagram.

[0136] Here, the fifth, sixth, and seventh embodiments of the surgical instrument of the present invention are characterized by the positional relationship between the virtual central axis in the Z-axis direction of the pitch / yaw drive handle and the virtual central axis in the Z-axis direction of the pitch / yaw drive joint.

[0137] Referring to FIGS. 18A and 18B, in the case of the fifth embodiment of the surgical instrument of the present invention, the virtual central axis in the Z-axis direction of the pitch / yaw drive handle is formed closer to the end tool side than the virtual central axis in the Z-axis direction of the pitch / yaw drive joint. That is, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 5112 of the surgical instrument 500 is formed closer to the end tool side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111.

[0138] In that case, the pitch / yaw drive handle 5112 that moves for the pitch operation (or the hand that holds it, or the handle) is located in front of the pitch / yaw joint point (i.e., on the end tool side). Therefore, as shown in Fig. 18A, the center of rotation of the joint is placed at the user's wrist part, and the user's hand part will rotate. Thus, there is an advantage that the operation is intuitive and easy. That is, with the user's wrist as a reference, the hand located in front can be moved to operate the end tool as if the actual end tool 520 rotates, and the pitch operation of the surgical instrument is intuitively consistent.

[0139] Also, the pitch / yaw drive handle 5112 that moves for the yaw operation (or the hand that holds it, or the handle) is located in front of the pitch / yaw joint point (i.e., on the end tool side). Therefore, as shown in Fig. 18B, the center of rotation of the joint is placed at the user's wrist part, and the user's hand part will rotate. Thus, there is an advantage that the operation is intuitive and easy. That is, with the user's wrist as a reference, the hand located in front can be moved to operate the end tool as if the actual end tool 520 rotates, and the yaw operation of the surgical instrument is intuitively consistent. Such a configuration is also identically applicable to the eighth embodiment described later.

[0140] Referring to Figs. 18C and 18D, in the case of the sixth embodiment of the surgical instrument of the present invention, the virtual central axis in the Z-axis direction of the pitch / yaw drive handle and the virtual central axis in the Z-axis direction of the pitch / yaw drive joint are formed on the same straight line. That is, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 6112 of the surgical instrument 600 is formed at the same distance from the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111 and the end tool.

[0141] In that case, the pitch / yaw drive handle 6112 (or the hand that holds it, or the handle) that moves for the pitch operation is positioned on the pitch / yaw joint point. Therefore, as shown in FIG. 18C, the rotation center of the joint is placed at the part where the user holds the pitch / yaw drive handle 6112.

[0142] Also, the pitch / yaw drive handle 6112 (or the hand that holds it, or the handle) that moves for the yaw operation is positioned on the pitch / yaw joint point. Therefore, as shown in FIG. 18D, the rotation center of the joint is placed at the part where the user holds the pitch / yaw drive handle 6112. Accordingly, in such a case, both the tip part and the rear part of the hand will move. Such a configuration is also identically applicable to the ninth embodiment described later.

[0143] Referring to FIGS. 18E and 18F, in the case of the seventh embodiment of the surgical instrument of the present invention, the virtual central axis of the pitch / yaw drive handle in the Z-axis direction is formed farther from the end tool than the virtual central axis of the pitch / yaw drive joint in the Z-axis direction. That is, the virtual central axis X1 of the pitch / yaw drive handle 7112 of the surgical instrument 700 in the Z-axis direction is formed farther from the end tool than the virtual central axis X2 of the pitch / yaw drive joint 7111 in the Z-axis direction.

[0144] In that case, the pitch / yaw drive handle 7112 (or the hand that holds it, or the handle) that moves for the pitch operation is positioned behind the pitch / yaw joint point (i.e., on the opposite side of the end tool).

[0145] Also, the pitch / yaw drive handle 7112 (or the hand that holds it, or the handle) that moves for the yaw operation is positioned behind the pitch / yaw joint point (i.e., on the opposite side of the end tool). Therefore, as shown in FIG. 18E, the tip side of the user's hand is fixed, and based on that, the rear part of the arm (such as the wrist) moves.

[0146] What is common to the fifth, sixth, and seventh embodiments of the surgical instrument of the present invention described above is that, at least in any one operating state of the pitch operation unit, the pitch / yaw drive handle is formed closer to the end tool than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint.

[0147] For example, in the fifth embodiment of the surgical instrument of the present invention illustrated in FIGS. 18A and 18B, the virtual central axis X1 itself in the Z-axis direction of the pitch / yaw drive handle 5112 is formed closer to the end tool 520 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111. However, in almost all operating states of the pitch / yaw operation unit 511, the pitch drive / yaw handle 5112 is formed closer to the end tool 520 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111.

[0148] On the other hand, in the sixth embodiment of the surgical instrument of the present invention illustrated in FIGS. 18C and 18D, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 6112 and the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111 are formed on the same straight line. However, when the pitch / yaw operation unit 611 rotates forward even slightly around the pitch / yaw drive joint 6111 in the state shown in FIG. 18C, the pitch / yaw drive handle 6112 is formed closer to the end tool 620 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111.

[0149] On the other hand, in the seventh embodiment of the surgical instrument of the present invention illustrated in FIGS. 18E and 18F, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 7112 is formed farther from the end tool than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111. Therefore, in the state as shown in FIG. 18E, the pitch / yaw drive handle 7112 is located farther from the end tool 720 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint. However, in order to perform the pitch operation, if the pitch / yaw operation unit 711 is rotated forward by a certain angle or more around the pitch / yaw drive joint 7111, a part of the pitch / yaw drive handle 7112 is formed closer to the end tool 720 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111.

[0150] In this way, in at least one operating state of the pitch / yaw operation units 511, 611, 711, the pitch / yaw drive handles 5112, 6112, 7112 are formed closer to the end tools 520, 620, 720 than the virtual central axes X2 in the Z-axis direction of the pitch / yaw drive joints 5111, 6111, 7111, so that fingers and hands located on the front side of the wrist joint of the user performing the pitch operation move more. That is, in the existing case illustrated in FIGS. 1A to 1D, the front side of the hand is fixed, and the back part such as the wrist and arm has to move greatly, which is a situation with a large difference from the operation of the end tool and makes intuitive operation difficult. However, due to such characteristics, the embodiment of the present invention can obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for end tool manipulation, different from the existing instruments.

[0151] <Fifth Embodiment of Surgical Instrument> (E1+H22a) Hereinafter, the surgical instrument 500 according to the fifth embodiment of the present invention will be described. Here, the surgical instrument 500 according to the fifth embodiment of the present invention is different in that, compared with the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention described above, the pitch operation part and the yaw operation part of the operation part 510 are integrally formed into a pitch / yaw operation part 511, which is formed to perform the roles of the pitch operation part and the yaw operation part simultaneously. And at that time, the pitch / yaw operation part 511 is characterized in that it is formed on the extension line of the end tool 520. Further, the surgical instrument 500 according to the fifth embodiment of the present invention is different in that the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 5112 of the surgical instrument 500 is formed closer to the end tool 520 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111. Thus, the different configurations compared with the first embodiment will be described in detail later.

[0152] FIGS. 19A and 19B are drawings showing the surgical instrument 500 according to the fifth embodiment of the present invention. Referring to FIGS. 19A and 19B, the surgical instrument 500 according to the fifth embodiment of the present invention includes an operation part 510, an end tool 520, a power transmission part 530, and a connecting part 540.

[0153] The operation part 510 of the surgical instrument 500 includes a pitch / yaw operation part 511 that controls the pitch movement and yaw movement of the end tool 520, and an actuation operation part 513 that controls the actuation movement of the end tool 520.

[0154] The pitch / yaw operation part 511 includes a pitch / yaw drive joint 5111 and a pitch / yaw drive handle 5112. Here, the pitch / yaw drive joint 5111 is formed to be rotatable about the Y-axis and Z-axis, and the pitch / yaw drive handle 5112 is connected to the pitch / yaw drive joint 5111 and is formed to rotate together with the pitch / yaw drive joint 5111. Here, the pitch / yaw drive joint 5111 is also a bending type joint member.

[0155] The pitch / yaw drive joint 5111 formed in a bending type is formed in a hollow cylindrical shape, and a number of grooves 5111a are formed along one direction (X-axis direction) on the outer peripheral surface, and is formed to be bendable. At that time, ribs 5111P and 5111Y for guiding the bending direction of the pitch / yaw drive joint 5111 are formed in the middle of each groove 5111a. That is, at the positions where the ribs 5111P and 5111Y are formed, bending is not performed well, and bending is mainly performed at the portions where the ribs 5111P and 5111Y are not formed.

[0156] At that time, the first rib 5111P that guides the bending of the pitch / yaw drive joint 5111 in the first direction (that is, the pitch motion) causes the pitch / yaw drive joint 5111 to rotate up and down about the Y axis, and the pitch / yaw drive joint 5111 becomes the rotation center of the pitch motion. Further, the second rib 5111Y that guides the bending of the pitch / yaw drive joint 5111 in the second direction (that is, the yaw motion) causes the pitch / yaw drive joint 5111 to rotate left and right about the Z axis, and the pitch / yaw drive joint 5111 becomes the rotation center of the yaw motion.

[0157] In other words, as shown in FIG. 19B, since the first rib 5111P becomes the rotation center of the pitch motion, it is formed on the diameter in the Y-axis direction of the pitch / yaw drive joint 5111, and the second rib 5111Y becomes the rotation center of the yaw motion, and thus is formed on the diameter in the Z-axis direction of the pitch / yaw drive joint 5111. Further, in addition to the first rib 5111P and the second rib 5111Y, ribs at various positions are additionally formed on the pitch / yaw drive joint 5111, and such ribs serve to further soften the bending of the pitch / yaw drive joint 5111.

[0158] On one hand, in the pitch / yaw drive joint 5111, both ends of the pitch wire 531W and the yaw wire 532W are respectively connected to the end tool 520 side end. Therefore, when the pitch / yaw drive handle 5112 rotates, the pitch / yaw drive joint 5111 connected thereto rotates. While the pitch / yaw drive joint 5111 rotates, by pushing one end of either the pitch wire 531W or the yaw wire 532W and pulling the other end, the pitch movement or yaw movement of the end tool 520 connected thereto is performed.

[0159] The actuation operation unit 513 includes an actuation drive shaft 5131 and an actuation drive unit 5132. On one hand, a first actuation link 533L1 is connected to one end of the actuation drive shaft 5131. A second actuation link 533L2 is connected to one end of the first actuation link 533L1. A third actuation link 533L3 is connected to one end of the second actuation link 533L2. At that time, a pivot point 533L3P is formed on the third actuation link 533L3, which serves as the center point of the movement of the third actuation link 533L3. On one hand, a guide protrusion 533L3e is formed on one end of the third actuation link 533L3, and a guide groove 5112h is formed on the pitch / yaw drive handle 5112. On one hand, an actuation wire 533W is connected to the guide protrusion 533L3e. And the other end of the actuation wire 533W is connected to the actuation guide pin 133WG (FIG. 8) of the end tool 520.

[0160] On the one hand, the end tool 520 of the surgical instrument 500 applies the bending type joint member described in FIGS. 7A to 7D as the joint member 525. That is, the end tool 520 includes a first jaw (not shown), a second jaw 522, a jaw base 523, and a joint member 525. On the other hand, the power transmission unit 530 applied to the surgical instrument 500 according to the fifth embodiment of the present invention includes one or more pitch wires 531W, one or more yaw wires 532W, and an actuation wire 533W.

[0161] Here, in the case of the fifth embodiment of the surgical instrument of the present invention, as described above, 1) it is provided with a pitch / yaw operation unit 511 in which the pitch operation unit and the yaw operation unit of the operation unit 510 are integrally formed, and is formed to perform the roles of the pitch operation unit and the yaw operation unit simultaneously. 2) And at that time, the pitch / yaw operation unit 511 is characterized in that it is formed on the extension line of the end tool 520.

[0162] Also, in the case of the fifth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 5112 is formed closer to the end tool 520 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111.

[0163] Therefore, in the fifth embodiment of the surgical instrument of the present invention, in at least one operating state of the pitch / yaw operation unit 511, the pitch / yaw drive handle 5112 is formed closer to the end tool 120 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111. That is, in the fifth embodiment of the surgical instrument of the present invention, the virtual central axis X1 itself in the Z-axis direction of the pitch / yaw drive handle 5112 is formed closer to the end tool 520 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111, but in almost all operating states of the pitch / yaw operation unit 511, the pitch / yaw drive handle 5112 is formed closer to the end tool 520 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111.

[0164] Thus, in at least one operating state of the pitch / yaw operation unit 511, the pitch / yaw drive handle 5112 is formed closer to the end tool 520 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 5111, so that fingers and hands located on the front side of the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the front side of the hand is fixed, and the rear parts such as the wrist and arm have to move greatly, which is a large difference from the operation of the end tool and makes the operation less intuitive and difficult. However, according to such characteristics, the present embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for end tool manipulation, unlike the existing instruments.

[0165] <Sixth Embodiment of the Surgical Instrument> (E1+H22b) Hereinafter, the surgical instrument 600 according to the sixth embodiment of the present invention will be described. Here, the surgical instrument 600 according to the sixth embodiment of the present invention is different in that the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 6112 of the surgical instrument 600 is formed on the same line as the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111, as compared with the surgical instrument 500 (FIG. 19A) according to the fifth embodiment of the present invention described above.

[0166] FIGS. 20 and 21 are drawings showing the surgical instrument 600 according to the sixth embodiment of the present invention. Referring to FIGS. 20 and 21, the surgical instrument 600 according to the sixth embodiment of the present invention includes an operation unit 610, an end tool 620, a power transmission unit 630, and a connection unit 640.

[0167] The operation unit 610 of the surgical instrument 600 includes a pitch / yaw operation unit 611 that controls the pitch movement and yaw movement of the end tool 620, and an activation operation unit 613 that controls the activation movement of the end tool 620. Here, the pitch / yaw operation unit 611 includes a pitch / yaw drive joint 6111 and a pitch / yaw drive handle 6112. At this time, the pitch / yaw drive joint 6111 is formed to be rotatable about the Y-axis and Z-axis, and the pitch / yaw drive handle 6112 is connected to the pitch / yaw drive joint 6111 and is formed to rotate together with the pitch / yaw drive joint 6111. Here, the pitch / yaw drive joint 6111 is also a bending type joint member.

[0168] On the other hand, as the joint member 625 of the end tool 620 of the surgical instrument 600, the bending type joint member described in FIGS. 7A to 7D is applied. That is, the end tool 620 includes a first jaw (not shown), a second jaw 622, a jaw base 623, and a joint member 625. On the other hand, the power transmission unit 630 applied to the surgical instrument 600 according to the sixth embodiment of the present invention includes one or more pitch wires 631W, one or more yaw wires 632W, and an activation wire 633W.

[0169] Here, in the sixth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 6112 of the surgical instrument 600 is formed at the same distance from the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111 and the end tool. In that case, the rotation center of the joint is placed at the part where the user holds the pitch / yaw drive handle 6112.

[0170] In addition, in at least one operating state of the pitch / yaw operation unit 611 of the sixth embodiment of the surgical instrument of the present invention, the pitch / yaw drive handle 6112 is formed closer to the end tool 620 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111. That is, in the sixth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 6112 and the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111 are formed on the same straight line. However, when the pitch / yaw operation unit 611 rotates even slightly about the pitch / yaw drive joint 6111 in the state shown in FIG. 20, the pitch / yaw drive handle 6112 is formed closer to the end tool 620 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111.

[0171] In this way, in at least one operating state of the pitch / yaw operation unit 611, since the pitch / yaw drive handle 6112 is formed closer to the end tool 620 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 6111, fingers and hands located further forward than the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip of the hand is fixed, and the back part such as the wrist and arm has to move greatly. There is a large difference from the operation of the end tool, and it becomes difficult to operate intuitively. However, due to such characteristics, this embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for end tool manipulation, unlike existing instruments.

[0172] <Seventh Embodiment of Surgical Instrument>(E1+H22c) Hereinafter, the surgical instrument 700 according to the seventh embodiment of the present invention will be described. Here, the surgical instrument 700 according to the seventh embodiment of the present invention is different in that the virtual central axis X1 of the pitch / roll drive handle 7112 of the surgical instrument 700 in the Z-axis direction is formed farther from the end tool 720 than the virtual central axis X2 of the pitch / roll drive joint 7111 in the Z-axis direction, as compared with the surgical instrument 500 (FIG. 19A) according to the fifth embodiment of the present invention described above. Also, the actuation operation unit 713 is different from the surgical instrument 500 (FIG. 19A) according to the fifth embodiment of the present invention. The configuration different from that of the fifth embodiment will be described in detail later.

[0173] FIGS. 22, 23, and 24 are drawings showing the surgical instrument 700 according to the seventh embodiment of the present invention. Referring to FIGS. 22, 23, and 24, the surgical instrument 700 according to the seventh embodiment of the present invention includes an operation unit 710, an end tool 720, a power transmission unit 730, and a connection unit 740.

[0174] The operation unit 710 of the surgical instrument 700 includes a pitch / roll operation unit 711 that controls the pitch movement and roll movement of the end tool 720, and an actuation operation unit 713 that controls the actuation movement of the end tool 720.

[0175] Here, the pitch / roll operation unit 711 includes a pitch / roll drive joint 7111 and a pitch / roll drive handle 7112. At this time, the pitch / roll drive joint 7111 is formed to be rotatable about the Y-axis and Z-axis, and the pitch / roll drive handle 7112 is connected to the pitch / roll drive joint 7111 and is formed to rotate together with the pitch / roll drive joint 7111. Here, the pitch / roll drive joint 7111 is also a combined type of a bending joint member and a ball joint. Such a combined joint of a bending joint member and a ball joint will be described later with reference to FIG. 46.

[0176] On the one hand, the actuation operation unit 713 includes an actuation drive shaft 7131, a first actuation drive unit 7132, a second actuation drive unit 7133, and an actuation guide pin 713WG. Specifically, the first actuation drive unit 7132 and the second actuation drive unit 7133 are each formed with an axial through-hole (not shown), and the actuation drive shaft 7131 is inserted through the axial through-holes (not shown) of the first actuation drive unit 7132 and the second actuation drive unit 7133. With such an actuation drive shaft 7131 as the center, the first actuation drive unit 7132 and the second actuation drive unit 7133 will rotate.

[0177] On the other hand, a guide hole 7133b is formed on one side of each of the axial through-holes (not shown) of the first actuation drive unit 7132 and the second actuation drive unit 7133, and the actuation guide pin 713WG is inserted through the guide holes 7133b of the first actuation drive unit 7132 and the second actuation drive unit 7133. And an actuation wire 733W is coupled to such an actuation guide pin 713WG. Therefore, when the first actuation drive unit 7132 and the second actuation drive unit 7133 rotate, the actuation guide pin 713WG connected thereto moves along the guide hole 7133b, whereby the actuation wire 733W performs a linear translational motion and the actuation operation is performed.

[0178] For example, in a state as shown in FIG. 23, if either one side or both sides of the first actuation drive unit 7132 and the second actuation drive unit 7133 are rotated in the directions of A1 and / or A2 in FIG. 24, the actuation guide pin 713WG moves linearly in the direction of arrow B. Accordingly, the actuation wire 733W connected thereto moves linearly in the direction of arrow C, and the first jaw 721 and the second jaw 722 of the end tool 720 connected thereto open to both sides. That is, it is one of various modified examples for the transmission of actuation motion. It is an example in which the motion of the actuation operation unit 713 is transmitted to the end tool 720 not only by the link structure described above but also by a simple wire structure, and various other structures for achieving the same purpose are possible.

[0179] However, in FIGS. 22 to 24, the actuation operation unit 713 of the surgical instrument 700 according to the seventh embodiment of the present invention is shown to include the first actuation drive unit 7132 and the second actuation drive unit 7133 and perform an actuation operation with two fingers. However, this embodiment is not limited thereto, and an actuation operation unit 519 (FIG. 19B) or 613 (FIG. 21) that performs an actuation operation with one finger, as shown in FIGS. 19B or 21, can of course be applied to this embodiment.

[0180] On the other hand, as the joint member 725 of the end tool 720 of the surgical instrument 700, the bending type joint member described in FIGS. 7A to 7D is applied. That is, the end tool 720 includes a first jaw 721, a second jaw 722, a jaw base 723, and a joint member 725. On the other hand, the power transmission unit 730 applied to the surgical instrument 700 according to the seventh embodiment of the present invention includes one or more pitch wires 731W, one or more yaw wires 732W, and an actuation wire 733W.

[0181] Here, in the seventh embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 7112 of the surgical instrument 700 is formed farther from the end tool than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111. In that case, the tip side of the user's hand is fixed, and based on that, the rear part of the arm (such as the elbow) moves.

[0182] Further, in the seventh embodiment of the surgical instrument of the present invention, in at least one operating state of the pitch / yaw operation unit 711, the pitch / yaw drive handle 7112 is formed closer to the end tool 720 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111. That is, in the seventh embodiment of the surgical instrument of the present invention, the pitch / yaw drive handle 7112 is located farther from the end tool 720 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111. However, in order to perform a pitch operation or a yaw operation, if the pitch / yaw operation unit 711 is rotated by a certain angle or more around the pitch / yaw drive joint 7111, a part of the pitch / yaw drive handle 7112 is formed closer to the end tool 720 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111.

[0183] Thus, in at least one operating state of the pitch / yaw operation unit 711, since the pitch / yaw drive handle 7112 is formed closer to the end tool 720 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 7111, fingers and hands located on the front side of the user's wrist joint for performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip side of the hand is fixed, and the rear parts such as the wrist and the arm have to move greatly, resulting in a large difference from the operation of the end tool and making the operation less intuitive and difficult. However, in this embodiment, due to such characteristics, unlike existing instruments, it is possible to obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for end tool manipulation.

[0184] <Eighth Embodiment of Surgical Instrument> (E1 + H23a) Hereinafter, the surgical instrument 800 according to the eighth embodiment of the present invention will be described. Here, the surgical instrument 800 according to the eighth embodiment of the present invention is different in that, compared with the surgical instrument 100 (FIG. 2) according to the first embodiment of the present invention described above, the pitch operation part and the yaw operation part of the operation part 810 are integrally formed into a pitch / yaw operation part 811, which is formed to simultaneously perform the roles of the pitch operation part and the yaw operation part. And at that time, the pitch / yaw operation part 811 is formed on the extension line of the end tool 820, but the connecting part 840 is not linear but is formed in a form bent at least once or more. Also, the surgical instrument 800 according to the eighth embodiment of the present invention is different in that the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 8112 of the surgical instrument 800 is formed closer to the end tool 820 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 8111. Thus, the different configurations compared with the first embodiment will be described in detail later.

[0185] FIGS. 25, 26A, and 26B are drawings showing the surgical instrument 800 according to the eighth embodiment of the present invention. Referring to FIGS. 25, 26A, and 26B, the surgical instrument 800 according to the eighth embodiment of the present invention includes an operation part 810, an end tool 820, a power transmission part 830, and a connecting part 840.

[0186] The operation part 810 of the surgical instrument 800 includes a pitch / yaw operation part 811 that controls the pitch movement and yaw movement of the end tool 820, and an actuation operation part 813 that controls the actuation movement of the end tool 820.

[0187] Here, the pitch / yaw operation unit 811 includes a pitch / yaw drive joint 8111 and a pitch / yaw drive handle 8112. At this time, the pitch / yaw drive joint 8111 is formed to be rotatable about the Y-axis and the Z-axis, and the pitch / yaw drive handle 8112 is connected to the pitch / yaw drive joint 8111 and is formed to rotate together with the pitch / yaw drive joint 8111. Here, the pitch / yaw drive joint 8111 is also a bending type joint member.

[0188] On the other hand, the actuation operation unit 813 includes an actuation drive shaft 8131, a first actuation drive unit 8132, a second actuation drive unit 8133, and an actuation guide pin 813WG. Such an actuation operation unit 813 has substantially the same configuration as the actuation operation unit 713 (FIG. 23) of the seventh embodiment described above.

[0189] That is, when the first actuation drive unit 8132 and the second actuation drive unit 8133 rotate, the actuation guide pin 813WG connected thereto moves along the guide hole 8133b, whereby the actuation wire 833W performs a linear translational motion and the actuation operation is performed.

[0190] However, FIGS. 25 to 27 illustrate that the actuation operation unit 813 of the surgical instrument 800 according to the eighth embodiment of the present invention includes the first actuation drive unit 8132 and the second actuation drive unit 8133 and performs the actuation operation with two fingers. However, the present embodiment is not limited thereto, and an actuation operation unit 519 (FIG. 19B) or 613 (FIG. 21) that performs the actuation operation with one finger as illustrated in FIGS. 19B or 21 is also naturally applicable to the present embodiment.

[0191] On the one hand, as the end tool 820 of the surgical instrument 800, a bending type joint member described in FIGS. 7A to 7D is applied as the joint member 825. That is, the end tool 820 includes a first jaw 821, a second jaw 822, a jaw base 823, and a joint member 825. On the other hand, the power transmission unit 830 applied to the surgical instrument 800 according to the seventh embodiment of the present invention includes one or more pitch wires 831W, one or more yaw wires 832W, and an actuation wire 833W.

[0192] Here, in the case of the eighth embodiment of the surgical instrument of the present invention, as described above, 1) it is provided with a pitch / yaw operation unit 811 in which the pitch operation unit and the yaw operation unit of the operation unit 810 are integrally formed, and is formed to perform the roles of the pitch operation unit and the yaw operation unit simultaneously. 2) And at that time, the pitch / yaw operation unit 811 is formed on the extension line of the end tool 820, and the connecting portion 840 is not in a straight line shape, but is formed in a shape bent at least once or more.

[0193] Further, in the case of the eighth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 8112 is formed closer to the end tool 820 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 8111.

[0194] Therefore, in at least one operating state of the pitch / yaw operation unit 811 of the surgical instrument of the present invention, the pitch / yaw drive handle 8112 is formed closer to the end tool 820 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 8111. That is, in the eighth embodiment of the surgical instrument of the present invention, the virtual central axis X1 of the pitch / yaw drive handle 8112 itself in the Z-axis direction is formed closer to the end tool 820 side than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 8111. However, in almost all operating states of the pitch / yaw operation unit 811, the pitch / yaw drive handle 8112 is formed closer to the end tool 820 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 8111.

[0195] Thus, in at least one operating state of the pitch / yaw operation unit 811, the pitch / yaw drive handle 8112 is formed closer to the end tool 820 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 8111, so that fingers and hands located further ahead of the wrist joint of the user performing the pitch operation move more. That is, in the existing case illustrated in FIGS. 1A to 1D, the tip of the hand is fixed, and the back part such as the wrist and arm has to move greatly, which is a situation where there is a large difference from the movement of the end tool, and the operation is not so intuitive and becomes difficult. However, according to this embodiment, due to such characteristics, unlike the existing instruments, in the operation of the operation unit for end tool manipulation, the effect of greatly improving the intuitiveness can be obtained.

[0196] FIGS. 27A and 27B are drawings showing a surgical instrument 800 according to a modification of the eighth embodiment of the present invention. Here, the difference in characteristics of the surgical instrument 800 according to a modification of the eighth embodiment of the present invention compared to the surgical instrument 800 (FIG. 25) according to the eighth embodiment of the present invention described above is that the actuation operation is performed with one finger instead of two fingers.

[0197] Specifically, the operation unit 810 of the surgical instrument 800 includes a pitch / yaw operation unit 811 that controls the pitch movement and yaw movement of the end tool 820, and an activation operation unit 813 that controls the activation movement of the end tool 820. The activation operation unit 813 includes an activation drive shaft 8131 and an activation drive unit 8132. On the other hand, a first activation link 8131 is connected to one end of the activation drive shaft 8131, and an activation wire 813 is connected to one end of the first activation link 8131. Then, the other end of the activation wire 813 is connected to an activation guide pin (not shown) of the end tool 820. With such a configuration, the activation movement can be performed with only one finger. This is a modified example for the activation operation unit 813 to finally push and pull the activation wire 813, and other configurations for performing such an operation may also be possible.

[0198] <Ninth Embodiment of Surgical Instrument>(E1+H23b) Hereinafter, the surgical instrument 900 according to the ninth embodiment of the present invention will be described. Here, the surgical instrument 900 according to the ninth embodiment of the present invention is different in that the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 9112 of the surgical instrument 900 is formed on the same line as the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 9111, as compared with the surgical instrument 800 (FIG. 25) according to the eighth embodiment of the present invention described above.

[0199] FIGS. 28, 29, and 30 are drawings showing the surgical instrument 900 according to the ninth embodiment of the present invention. Referring to FIGS. 28, 29, and 30, the surgical instrument 900 according to the ninth embodiment of the present invention includes an operation unit 910, an end tool 920, a power transmission unit 930, and a connection unit 940.

[0200] The operation unit 910 of the surgical instrument 900 includes a pitch / yaw operation unit 911 that controls the pitch movement and yaw movement of the end tool 920, and an activation operation unit 913 that controls the activation movement of the end tool 920.

[0201] Here, the pitch / yaw operation unit 911 includes a pitch / yaw drive joint 9111 and a pitch / yaw drive handle 9112. At this time, the pitch / yaw drive joint 9111 is formed to be rotatable about the Y-axis and Z-axis, and the pitch / yaw drive handle 9112 is connected to the pitch / yaw drive joint 9111 and is formed to rotate together with the pitch / yaw drive joint 9111. Here, the pitch / yaw drive joint 9111 is also a bending type joint member.

[0202] On the other hand, the activation operation unit 913 includes an activation drive shaft 9131, a first activation drive unit 9132, a second activation drive unit 9133, and an activation guide pin 913WG. Such an activation operation unit 913 has substantially the same configuration as the activation operation unit 713 (FIG. 23) of the seventh embodiment described above.

[0203] That is, when the first activation drive unit 9132 and the second activation drive unit 9133 rotate, the activation guide pin 913WG connected thereto moves along the guide hole 9133b, whereby the activation wire 933W performs a linear translation movement and the activation operation is performed. That is, FIG. 29 is a drawing showing the activation operation unit 913 in a state where the first jaw 921 and the second jaw 922 are opened, and FIG. 30 is a drawing showing the activation operation unit 913 in a state where the first jaw 921 and the second jaw 922 are closed.

[0204] However, in FIGS. 28 to 30, the actuation operation unit 913 of the surgical instrument 900 according to the ninth embodiment of the present invention includes a first actuation drive unit 9132 and a second actuation drive unit 9133 and is illustrated as performing an actuation operation with two fingers. However, this embodiment is not limited thereto. As illustrated in FIG. 19B or FIG. 21, an actuation operation unit 519 (FIG. 19B) or 613 (FIG. 21) that performs an actuation operation with one finger can also be naturally applied to this embodiment.

[0205] On the other hand, as the end tool 920 of the surgical instrument 900, a bending type joint member described in FIGS. 7A to 7D is applied as the joint member 925. That is, the end tool 920 includes a first jaw 921, a second jaw 922, a jaw base 923, and a joint member 925. On the other hand, the power transmission unit 930 applied to the surgical instrument 900 according to the ninth embodiment of the present invention includes one or more pitch wires 931W, one or more yaw wires 932W, and an actuation wire 933W.

[0206] Here, in the ninth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 9112 of the surgical instrument 900 is formed at the same distance from the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 9111 and the end tool. In that case, the center of rotation of the joint is placed at the site where the user holds the pitch / yaw drive handle 9112.

[0207] Further, in at least one operating state of the ninth embodiment of the surgical instrument of the present invention, the pitch / yaw drive handle 9112 is formed closer to the end tool 920 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 9111. That is, in the ninth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 9112 and the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 9111 are formed on the same line. However, when the pitch / yaw operation unit 911 rotates even slightly about the pitch / yaw drive joint 9111 in the state shown in FIG. 25, the pitch / yaw drive handle 9112 is formed closer to the end tool 920 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 9111.

[0208] In this way, in at least one operating state of the pitch / yaw operation unit 911, since the pitch / yaw drive handle 9112 is formed closer to the end tool 920 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 9111, fingers and hands located further forward than the wrist joint of the user performing the pitch operation can move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip of the hand is fixed, and the back part such as the wrist and arm has to move greatly. There is a large difference from the operation of the end tool, and the operation is not very intuitive and difficult. However, due to such characteristics, this embodiment can obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for end tool manipulation, unlike the existing instruments.

[0209] <Tenth Embodiment of Surgical Instrument>(E1+H23c) Hereinafter, the surgical instrument 1000 according to the tenth embodiment of the present invention will be described. Here, the surgical instrument 1000 according to the tenth embodiment of the present invention is different in that the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 10112 of the surgical instrument 1000 is formed farther from the end tool 1020 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 10111, as compared with the surgical instrument 800 (FIG. 25) according to the eighth embodiment of the present invention described above.

[0210] FIGS. 31 and 32 are drawings showing the surgical instrument 1000 according to the tenth embodiment of the present invention. Referring to FIGS. 31 and 32, the surgical instrument 1000 according to the tenth embodiment of the present invention includes an operation unit 1010, an end tool 1020, a power transmission unit 1030, and a connection unit 1040.

[0211] The operation unit 1010 of the surgical instrument 1000 includes a pitch / yaw operation unit 1011 that controls the pitch movement and yaw movement of the end tool 1020, and an actuation operation unit 1013 that controls the actuation movement of the end tool 1020.

[0212] Here, the pitch / yaw operation unit 1011 includes a pitch / yaw drive joint 10111 and a pitch / yaw drive handle 10112. At this time, the pitch / yaw drive joint 10111 is formed to be rotatable about the Y-axis and Z-axis, and the pitch / yaw drive handle 10112 is connected to the pitch / yaw drive joint 10111 and is formed to rotate together with the pitch / yaw drive joint 10111. Here, the pitch / yaw drive joint 10111 is also a flexure joint member.

[0213] On the one hand, the actuation operation unit 1013 includes an actuation drive shaft 10131, a first actuation drive unit 10132, a second actuation drive unit 10133, and an actuation guide pin 1013WG. Such an actuation operation unit 1013 has substantially the same configuration as the actuation operation unit 713 (FIG. 23) of the seventh embodiment described above.

[0214] That is, when the first actuation drive unit 10132 and the second actuation drive unit 10133 rotate, the actuation guide pin 1013WG connected thereto moves along the guide hole 10133b, whereby the actuation wire 1033W performs a linear translational motion and the actuation operation is performed. Here, FIG. 32 is a drawing showing the actuation operation unit 1013 in a state where the first jaw 1021 and the second jaw 1022 are closed.

[0215] However, in FIGS. 31 and 32, the actuation operation unit 1013 of the surgical instrument 1000 according to the tenth embodiment of the present invention is illustrated as including the first actuation drive unit 10132 and the second actuation drive unit 10133 and performing the actuation operation with two fingers. However, this embodiment is not limited thereto. As illustrated in FIG. 19B or FIG. 21, an actuation operation unit 519 (FIG. 19B) or 613 (FIG. 21) that performs the actuation operation with one finger can of course be applied to this embodiment.

[0216] On the one hand, the end tool 1020 of the surgical instrument 1000 applies a bending joint member described in FIGS. 7A to 7D as the joint member 1025. That is, the end tool 1020 includes a first jaw 1021, a second jaw 1022, a jaw base 1023, and a joint member 1025. On the other hand, the power transmission unit 1030 applied to the surgical instrument 1000 according to the tenth embodiment of the present invention includes one or more pitch wires 1031W, one or more yaw wires 1032W, and an activation wire 1033W.

[0217] Here, in the tenth embodiment of the surgical instrument of the present invention, the virtual central axis X1 in the Z-axis direction of the pitch / yaw drive handle 10112 of the surgical instrument 1000 is formed farther from the end tool than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 10111. In that case, the tip side of the user's hand is fixed, and based on that, the rear part of the arm (such as the elbow) moves.

[0218] Also, in the tenth embodiment of the surgical instrument of the present invention, in at least one operating state of the pitch / yaw operation unit 1011, the pitch / yaw drive handle 10112 is formed closer to the end tool 1020 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 10111. That is, in the tenth embodiment of the surgical instrument of the present invention, the pitch / yaw drive handle 10112 is located farther from the end tool 1020 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 10111. However, in order to perform a pitch operation or a yaw operation, if the pitch / yaw operation unit 1011 is rotated by a certain angle or more around the pitch / yaw drive joint 10111, a part of the pitch / yaw drive handle 10112 is formed closer to the end tool 1020 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 10111.

[0219] As described above, in at least one operating state of the pitch / yaw operation unit 1011, the pitch / yaw drive handle 10112 is formed closer to the end tool 1020 than the virtual central axis X2 in the Z-axis direction of the pitch / yaw drive joint 10111. As a result, fingers and hands located beyond the wrist joint of the user performing the pitch operation move more. That is, in the existing cases illustrated in FIGS. 1A to 1D, the tip of the hand is fixed, and the rear part such as the wrist and arm has to move significantly. There is a large difference from the operation of the end tool, and the operation becomes less intuitive. However, due to such characteristics, the present embodiment, unlike existing instruments, can obtain the effect of greatly improving the intuitiveness in the operation of the operation unit for end tool manipulation.

[0220] <Modification Example of the End Tool of the Surgical Instrument> The features of the end tool of the present invention are as follows. Wires are located at both ends of the cross-section of the end tool joint. When one is pulled, it has the characteristic of warping to that side. That is, the pitch wire and the yaw wire are located in four directions of the cross-section, and the middle is penetrated by the actuation wire, enabling pitch operation, yaw operation, and actuation operation. A major feature is that each operation is performed independently without affecting other operations. There are various specific structures that can embody such features, and specific modification examples will be given below. However, the modification examples described below refer to some of the various modification examples that can embody the above-described basic features. Even if not mentioned here, various examples that can implement the present invention are possible, and it can be said that all of these examples are included in the content of the present invention.

[0221] Hereinafter, various modifications of the end tool of the surgical instrument of the present invention will be described. In the end tool of the surgical instrument of the present invention, in addition to the bending type joint member described with reference to FIG. 2 and the like, a knuckle type joint member, a gear type joint member, etc. are also applicable. The reason why such a knuckle type or gear type joint member can be used is that the configuration of the end tool of the surgical instrument of the present invention is such that by pushing and pulling each wire, a pitch motion or a yaw motion is performed. That is, by pulling or pushing the pitch wire or the yaw wire, in the joint member, a rotation corresponding to pitch or yaw occurs. Hereinafter, it will be described in more detail.

[0222] FIG. 33 is a drawing showing a first modification of the end tool of the surgical instrument illustrated in FIG. 2 and the like (knuckle type 1).

[0223] Referring to FIG. 33, in the first modification of the end tool of the surgical instrument, a knuckle type joint member is applied as the joint member 126 of the end tool 120. That is, in the end tool 120 (FIG. 7) of the surgical instrument illustrated in FIGS. 2 and 7, a bending type joint member is used to configure the joint member 120 (FIG. 7) for performing a pitch operation, a yaw operation, and an actuation operation. In contrast, in the present embodiment, a knuckle type joint member is applied to configure the joint member 126 for performing a pitch operation and a yaw operation.

[0224] Specifically, the joint member 126 includes one or more pitch joints 126P that serve as a pitch axis and one or more yaw joints 126Y that serve as a yaw axis. Here, the pitch joint 126P is provided with a pitch connection portion 126PC that protrudes toward the end tool 120 on the diameter in the Y-axis direction of the pitch joint 126P so as to be connected to an adjacent joint, and the yaw joint 126Y is provided with a yaw connection portion 126YC that protrudes toward the end tool 120 on the diameter in the Z-axis direction of the yaw joint 126Y so as to be connected to an adjacent joint.

[0225] Therefore, when viewed in FIG. 33, the pitch joint 126P of the knuckle joint member 126 is formed to be rotatable about the Y-axis and serves as the center of rotation of the pitch motion. Also, the yaw joint 126Y of the knuckle joint member 126 is formed to be rotatable about the Z-axis and serves as the center of rotation of the yaw motion.

[0226] Further, this modified example can further include an elastic member 126S. That is, the elastic member 126S is housed inside the pitch joint 126P and the yaw joint 126Y, and serves to provide a predetermined elastic force to the knuckle joint member 126 in the original position direction.

[0227] FIGS. 34 and 35 are drawings showing a second modified example of the end tool of the surgical instrument illustrated in FIG. 2 etc. (knuckle type 2).

[0228] Referring to FIGS. 34 and 35, in the second modified example of the end tool of the surgical instrument, a knuckle joint member is applied as the joint member 127 of the end tool 120. That is, in the end tool 120 (FIG. 7) of the surgical instrument illustrated in FIGS. 2 and 7, a flexure joint member was used to configure the joint member 120 (FIG. 7) for performing pitch motion, yaw motion, and actuation motion. In contrast, in the present embodiment, a knuckle joint member is applied to configure a joint member 126 for performing pitch motion and yaw motion, which is one feature.

[0229] Specifically, the knuckle joint member 127 includes one or more pitch joints 127P that serve as a pitch axis and one or more yaw joints 127Y that serve as a yaw axis. Here, the pitch joint 127P includes a pitch connection portion 127PC that protrudes toward the end tool 120 on the diameter in the Y-axis direction of the pitch joint 127P so as to be connected to an adjacent joint, and the yaw joint 127Y includes a yaw connection portion 127YC that protrudes toward the end tool 120 on the diameter in the Z-axis direction of the yaw joint 127Y so as to be connected to an adjacent joint.

[0230] Therefore, when viewed in FIG. 34, the pitch joint 127P of the articular joint member 127 is formed to be rotatable up and down about the Y-axis and serves as the rotation center of the pitch motion. Also, the yaw joint 127Y of the articular joint member 127 is formed to be rotatable left and right about the Z-axis and serves as the rotation center of the yaw motion.

[0231] At that time, this modification is characterized in that the pitch joint 127P and the yaw joint 127Y are alternately formed. That is, as shown in FIG. 34, the pitch joint 127P, the yaw joint 127Y, the pitch joint 127P, and the yaw joint 127Y are alternately formed. Also, this modification can further include an elastic member 127S. That is, the elastic member 127S is housed inside the pitch joint 127P and the yaw joint 127Y, and the articular joint member 127 serves to provide a predetermined elastic force in the original position direction.

[0232] FIGS. 36 to 38 are drawings showing a third modification of the end tool of the surgical instrument shown in FIG. 2 etc. (gear type).

[0233] Referring to FIGS. 36 to 38, in the third modification of the end tool of the surgical instrument, a gear type joint member is applied as the joint member 128 of the end tool 120. That is, in the end tool 120 (FIG. 7A) of the surgical instrument shown in FIGS. 2 and 7, compared with the case where a flexure type joint member is used to configure the joint member 125 (FIG. 7A) for performing a pitch motion, a yaw motion, and an actuation motion, in this embodiment, a gear type joint member is applied and a joint member 128 for performing a pitch motion and a yaw motion is configured, which is one feature.

[0234] Specifically, the joint member 128 includes pitch gears 128P1 and 128P2 that perform pitch operations, and yaw gears 128Y1 and 128Y2 that perform yaw operations. Further, it further includes an end tool connecting member 128C that connects the connecting portion 140 and the jo base 123. At this time, the second pitch gear 128P2 is formed to be rotatable about the axis of the first pitch gear 128P1 so as to perform a pitch operation, and the second yaw gear 128Y2 is formed to be rotatable about the axis of the first yaw gear 128Y1 so as to perform a yaw operation.

[0235] Here, the first yaw gear 128Y1 is formed to be fixed to one end of the connecting portion 140. And the second yaw gear 128Y2 is formed to be fixed to the end tool connecting member 128C. By pulling and pushing both sides of the yaw wire, the second yaw gear 128Y2 rotates with respect to the first yaw gear 128Y1, and plays a role of rotating the jo base 123, the first jo 121, and the second jo 122 connected to the end tool connecting member 128C about the axis of the first yaw gear 128Y1.

[0236] On the other hand, the first pitch gear 128P1 is formed to be fixed to the end tool connecting member 128C. And the second pitch gear 128P2 is formed to be fixed to the jo base 123. By pulling and pushing both sides of the pitch wire, the second pitch gear 128P2 rotates with respect to the first pitch gear 128P1, and plays a role of rotating the jo base 123, the first jo 121, and the second jo 122 about the axis of the first pitch gear 128P1.

[0237] Therefore, the second pitch gear 128P2 of the joint member 128 is formed to be rotatable about the axis of the first pitch gear 128P1 and becomes the rotation center of the pitch motion. Also, the second yaw gear 128Y2 of the joint member 128 is formed to be rotatable about the axis of the first yaw gear 128Y1 and becomes the rotation center of the yaw motion.

[0238] <Modification example of the operation part joint of the surgical instrument> As shown in Fig. 2, the feature of the pitch drive joint of the present invention is that it can operate in the pitch direction through rotation in the Y-axis direction, and the pitch wire and yaw wire are located in four directions of the joint cross-section, and the actuation wire is located in the middle. The pitch operation by the pitch drive joint, the yaw operation by the operation of the yaw operation part, and the actuation operation by the operation of the actuation operation part can be performed independently without affecting other operations. There are various specific structures that can embody such features, and specific modification examples will be given below. However, the modification examples described below refer to some of the various modification examples that can embody the above-mentioned basic features. Even if not mentioned here, various examples that can perform this feature are possible, and all of these examples can be said to be included in the content of the present invention.

[0239] Fig. 39 is a drawing showing a first modification example of the pitch drive joint 1111 (Fig. 2) of the surgical instrument shown in Fig. 2 and the like (gear type - G).

[0240] Referring to Fig. 39, in the first modification example of the pitch drive joint of the surgical instrument, a gear type joint member is applied as the pitch drive joint 1111G of the operation part 110. That is, in the operation part 110 (Fig. 2) of the surgical instrument shown in Figs. 2 and 3, a bending type joint member is used to form the pitch drive joint 1111 (Fig. 2) for performing the pitch operation of the operation part. In this modification example, a gear type joint member is applied to form a pitch drive joint 1111G for performing the pitch operation, which is one feature.

[0241] Specifically, the pitch drive joint 1111G includes pitch gears 1111G1 and 1111G2 for performing the pitch drive joint role. At this time, the first pitch gear 1111G1 and the second pitch gear 1111G2 are formed to be rotatable around each other's axes so as to perform the pitch operation.

[0242] Here, the first pitch gear 1111G1 is formed by being fixed to one end of the pitch drive joint 1111G, the second pitch gear 1111G2 is formed by being fixed to one end of the connecting portion 140, and if the pitch drive handle 1112 is rotated, the first pitch gear 1111G1 and the end tool 120 connected thereto will rotate about the Y-axis.

[0243] That is, the first pitch gear 1111G1 of the pitch drive joint 1111G is formed to be rotatable about the axis of the second pitch gear 1111G2 along the second pitch gear 1111G2 and becomes the rotation center of the pitch motion.

[0244] At this time, the actuation wire (not shown) passes through the centers of the two pitch wires 131W parallel to each other and the centers of the two yaw wires 132W parallel to each other, so it is not affected by the pitch motion and yaw motion.

[0245] FIG. 40 is a drawing showing a second modification of the pitch drive joint 1111 (FIG. 2) of the surgical instrument shown in FIG. 2 etc. (joint type - J).

[0246] Referring to FIG. 40, in the second modification of the pitch drive joint of the surgical instrument, a joint type joint member is applied as the pitch drive joint 1111J of the operation unit 110. That is, in the operation unit 110 (FIG. 2) of the surgical instrument shown in FIGS. 2 and 3, a flexure type joint member was used to configure the pitch drive joint 1111 (FIG. 2) for performing the pitch operation of the operation unit. In contrast, in this modification, a joint type joint member is applied to configure a pitch drive joint 1111J for performing the pitch operation, which is one feature.

[0247] Specifically, the pitch drive joint 1111J includes pitch joints 1111J1, 1111J2 for performing the pitch drive joint role. At this time, the first pitch joint 1111J1 and the second pitch joint 1111J2 are each formed to be rotatable about the Y-axis so as to perform the pitch operation.

[0248] Here, the first pitch joint 1111J1 is provided with a pitch connection part 1111J1C that protrudes toward the end tool 120 on the diameter in the Y-axis direction of the first pitch joint 1111J1 so as to be connected to an adjacent joint, and the second pitch joint 1111J2 is provided with a pitch connection part 1111J2C that protrudes toward the end tool 120 on the diameter in the Y-axis direction of the second pitch joint 1111J2 so as to be connected to an adjacent joint.

[0249] Here, the first pitch joint 1111J1 and the second pitch joint 1111J2 are formed so as to connect the connection part 140 and the pitch drive joint 1111J. When the pitch drive handle 1112 is rotated, the first pitch joint 1111J1 and the end tool 120 connected thereto will rotate about the Y-axis. At that time, the rotation amounts of the first pitch joint 1111J1 and the second pitch joint 1111J2 are combined to become the rotation amount of the entire pitch drive joint 1111J.

[0250] That is, the pitch joints 1111J1, 1111J2 of the pitch drive joint 1111J are formed to be rotatable about the Y-axis and become the rotation center of the pitch motion.

[0251] At that time, the actuation wire (not shown) passes through the centers of the two pitch wires 131W parallel to each other and the centers of the two yaw wires 132W parallel to each other, so it is not affected by the pitch motion and the yaw motion.

[0252] <Modification Example of Yaw Operation Part of Surgical Instrument> As shown in Fig. 2, the yaw operation unit of the present invention is characterized by rotating around the Z axis and performing operations of pulling and pushing the yaw wires connected to both sides. There are various specific structures that can embody such features, and specific modification examples thereof will be described below. However, the modification examples described later refer to some of the various modification examples that can embody the above-mentioned basic features. Even if not mentioned here, various examples that can perform this feature are possible, and all of these examples can be said to be included in the content of the present invention.

[0253] Fig. 41 is a drawing showing a first modification example of the yaw operation unit 112 (Fig. 2) of the surgical instrument illustrated in Fig. 2 etc. (flexure type - S).

[0254] Referring to Fig. 41, a first modification example of the yaw operation unit of the surgical instrument applies a flexure joint member as the yaw operation unit 112S of the operation unit 110. That is, in the operation unit 110 (Fig. 4) of the surgical instrument illustrated in Figs. 2 and 4, a yaw operation unit 112 (Fig. 4) for performing the yaw operation of the operation unit is configured using the yaw drive shaft 1121 (Fig. 4) and the pulley 1121a (Fig. 4). In this modification example, a yaw operation unit 112S for performing the yaw operation is configured by applying a flexure joint member, which is a feature.

[0255] Specifically, the yaw operation unit 112S includes a yaw joint member 1121S in the form of a flexure joint member for performing the role of a yaw drive joint, and a yaw drive unit 1122 formed at one end of the yaw joint member 1121S. At this time, the yaw joint member 1121S is formed to be rotatable around the Z axis so as to perform a yaw operation, and becomes the rotation center of the yaw motion.

[0256] Fig. 42 is a drawing showing a second modification example of the yaw operation unit 112 (Fig. 2) of the surgical instrument illustrated in Fig. 2 etc. (gear type - G).

[0257] Referring to FIG. 42, a second modification of the yaw operation part of the surgical instrument applies a gear-type joint member as the yaw operation part 112G of the operation part 110. That is, in the operation part 110 (FIG. 4) of the surgical instrument shown in FIGS. 2 and 4, compared with the configuration of the yaw operation part 112 (FIG. 4) for performing the yaw operation of the operation part by using the yaw drive shaft 1121 (FIG. 4) and the pulley 1121a (FIG. 4), a feature of this modification is that a gear-type joint member is applied to configure the yaw operation part 112G for performing the yaw operation.

[0258] Specifically, the yaw operation part 112G includes a yaw joint member 1121G in the form of a gear-type joint member for performing the role of a yaw drive joint, and a yaw drive part 1122 formed at one end of the yaw joint member 1121G.

[0259] Specifically, the yaw operation part 112G includes yaw gears 1121G1 and 1121G2 for performing the role of a yaw drive joint. At this time, the second yaw gear 1121G2 is formed to be rotatable about the Z axis so as to perform a yaw operation.

[0260] Here, the first yaw gear 1121G1 is formed by being fixed to one end of the pitch drive handle 1112, and the second yaw gear 1121G2 is formed by being fixed to one end of the yaw drive part 1122. If the yaw drive part 1122 is rotated, the second yaw gear 1121G2 rotates about the axis of the first yaw gear 1121G1 along the first yaw gear 1121G1. That is, the yaw operation part 112G is formed to be rotatable about the Z axis and performs a yaw motion.

[0261] FIG. 43 is a drawing showing a third modification of the yaw operation part 112 (FIG. 2) of the surgical instrument shown in FIG. 2 etc. (joint type - J).

[0262] Referring to FIG. 43, a third modification example of the yaw operation portion of the surgical instrument applies a knuckle joint member as the yaw operation portion 112J of the operation portion 110. That is, in the operation portion 110 (FIG. 4) of the surgical instrument illustrated in FIGS. 2 and 4, compared with the configuration of the yaw operation portion 112 (FIG. 4) for performing the yaw operation of the operation portion using the yaw drive shaft 1121 (FIG. 4) and the pulley 1121a (FIG. 4), in this modification example, a feature is that a yaw operation portion 112J for performing a yaw operation is configured by applying a knuckle joint member.

[0263] Specifically, the yaw operation portion 112J includes a yaw joint member 1121J in the form of a knuckle joint member for playing a role of a yaw drive joint, and a yaw drive portion 1122 formed at one end of the yaw joint member 1121J.

[0264] Specifically, the yaw operation portion 112J includes yaw joints 1121J1 and 1121J2 for playing a role of a yaw drive joint. At this time, the first yaw joint 1121J1 and the second yaw joint 1121J2 are each formed rotatably about the Z axis so as to perform a yaw operation. At this time, the rotation amounts of the first yaw joint 1121J1 and the second yaw joint 1121J2 are combined to become the rotation amount of the entire yaw joint member 1121J.

[0265] Here, the first yaw joint 1121J1 is formed at one end of the pitch drive handle 1112, the second yaw joint 1121J2 is formed at one end of the yaw drive portion 1122, and when the yaw drive portion 1122 is rotated, the first yaw joint 1121J1 and the second yaw joint 1121J2 rotate about the Z axis, pushing one side of a yaw wire (not shown) and pulling the opposite side. That is, the yaw operation portion 112J is formed rotatably about the Z axis and performs a yaw motion.

[0266] <Modification Examples of Pitch / Yaw Joints of Surgical Instruments> As shown in Fig. 19A, the features of the pitch / yaw joint of the present invention are that the pitch wire and the yaw wire are positioned in four directions, and the actuation wire is positioned at the center thereof. When the pitch / yaw joint performs pitch operation and yaw operation, each pitch operation and yaw operation does not affect other operations, and the actuation operation by the actuation operation unit also does not affect other operations mutually. There are various specific structures that can embody such features, and specific modification examples thereof will be given below. However, the modification examples described later refer to some of the various modification examples that can embody the above-mentioned basic features. Even if not mentioned here, various examples that can perform this feature are possible, and it can be said that all of those examples are included in the content of the present invention.

[0267] Fig. 44 is a drawing showing a first modification example of the pitch / yaw drive joint 5111 (Fig. 19A) of the surgical instrument illustrated in Fig. 19A etc. (ball joint - B).

[0268] Referring to Fig. 44, a first modification example of the pitch / yaw drive joint of the surgical instrument applies a ball joint as the pitch / yaw drive joint 1111B of the operation unit 110. That is, in the operation unit 510 (Fig. 19A) of the surgical instrument illustrated in Fig. 19A, compared with configuring the pitch / yaw drive joint 5111 (Fig. 19A) for performing the pitch / yaw operation of the operation unit by using a flexure joint member, in this modification example, a feature is to configure the pitch / yaw drive joint 1111B for performing pitch and yaw operations by applying a ball joint. Here, the ball joint itself is a known technique, and its detailed description is omitted in this specification.

[0269] At that time, the pitch / yaw drive joint 1111B rotates up and down around the Y axis and becomes the rotation center of the pitch motion. Also, the pitch / yaw drive joint 1111B rotates left and right around the Z axis and becomes the rotation center of the yaw motion.

[0270] On one side, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to one end inside the pitch / yaw drive joint 1111B. Therefore, when the pitch / yaw drive handle 1112 rotates, the pitch / yaw drive joint 1111B connected thereto rotates. While the pitch / yaw drive joint 1111B rotates, by pushing one end of either the pitch wire 131W or the yaw wire 132W and pulling the other end, the pitch movement or yaw movement of the end tool 120 connected thereto is performed.

[0271] FIG. 45 is a drawing showing a second modification of the pitch / yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A etc. (Universal Joint - U).

[0272] Referring to FIG. 45, in the second modification of the pitch / yaw drive joint of the surgical instrument, a universal joint is applied as the pitch / yaw drive joint 1111U of the operation unit 110. That is, in the operation unit 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a pitch / yaw drive joint 5111 (FIG. 19A) for performing the pitch / yaw operation of the operation unit is configured using a flexure joint member. In contrast, in this modification, a feature is that a pitch / yaw drive joint 1111U for performing pitch and yaw operations is configured by applying a universal joint. Here, the universal joint itself is a known technique, and in this specification, its detailed description is omitted.

[0273] At that time, the pitch / yaw drive joint 1111U rotates up and down about the Y axis and becomes the rotation center of the pitch movement. Also, the pitch / yaw drive joint 1111U rotates left and right about the Z axis and becomes the rotation center of the yaw movement.

[0274] On one side, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to one end inside the pitch / yaw drive joint 1111U. Therefore, when the pitch / yaw drive handle 1112 rotates, the pitch / yaw drive joint 1111U connected thereto rotates. While the pitch / yaw drive joint 1111U rotates, one end of either the pitch wire 131W or the yaw wire 132W is pushed and the other end is pulled, thereby performing the pitch motion or the yaw motion of the end tool 120 connected thereto.

[0275] FIG. 46 is a drawing showing a third modified example of the pitch / yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A etc. (SB).

[0276] Referring to FIG. 46, in the third modified example of the pitch / yaw drive joint of the surgical instrument, as the pitch / yaw drive joint 1111SB of the operation part 110, a combined joint of a bending type joint member and a ball joint is applied. That is, in the operation part 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, compared with configuring the pitch / yaw drive joint 5111 (FIG. 19A) for performing the pitch / yaw motion of the operation part by using a bending type joint member, in this modified example, a pitch / yaw drive joint 1111SB for performing the pitch and yaw motions is configured by applying both the bending type joint member 1111S and the ball joint 1111B, which is one feature.

[0277] At that time, the pitch / yaw drive joint 1111SB rotates up and down around the Y axis and becomes the rotation center of the pitch motion. Also, the pitch / yaw drive joint 1111SB rotates left and right around the Z axis and becomes the rotation center of the yaw motion.

[0278] On one side, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to one end inside the pitch / yaw drive joint 1111SB. Therefore, when the pitch / yaw drive handle 1112 rotates, the pitch / yaw drive joint 1111SB connected thereto rotates. While the pitch / yaw drive joint 1111SB rotates, by pushing one end of either the pitch wire 131W or the yaw wire 132W and pulling the other end, the pitch movement or yaw movement of the end tool 120 connected thereto is performed.

[0279] At that time, the actuation wire (not shown) passes through the centers of the two parallel pitch wires 131W and the centers of the two parallel yaw wires 132W respectively, so it is not affected by the pitch movement and yaw movement.

[0280] FIG. 47 is a drawing showing a fourth modification of the pitch / yaw drive joint 5111 (FIG. 19A) of the surgical instrument shown in FIG. 19A etc. (SU).

[0281] Referring to FIG. 47, in the fourth modification of the pitch / yaw drive joint of the surgical instrument, as the pitch / yaw drive joint 1111SU of the operation part 110, a combined joint of a bending type joint member and a universal joint is applied. That is, in the operation part 510 (FIG. 19A) of the surgical instrument shown in FIG. 19A, compared with constructing the pitch / yaw drive joint 5111 (FIG. 19A) for performing the pitch / yaw operation of the operation part using a bending type joint member, in this modification, a pitch / yaw drive joint 1111SU for performing pitch and yaw operations is constructed by applying both the bending type joint member 1111S and the universal joint 1111U, which is one feature.

[0282] At that time, the pitch / yaw drive joint 1111SU rotates up and down around the Y axis and becomes the rotation center of the pitch movement. Also, the pitch / yaw drive joint 1111SU rotates left and right around the Z axis and becomes the rotation center of the yaw movement.

[0283] On one side, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to one end inside the pitch / yaw drive joint 1111SU. Therefore, when the pitch / yaw drive handle 1112 rotates, the pitch / yaw drive joint 1111SU connected thereto rotates. While the pitch / yaw drive joint 1111SU rotates, by pushing one end of either the pitch wire 131W or the yaw wire 132W and pulling the other end, the pitch movement or yaw movement of the end tool 120 connected thereto is performed.

[0284] FIG. 48 is a drawing showing a fifth modification of the pitch / yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A etc. (JB).

[0285] Referring to FIG. 48, in the fifth modification of the pitch / yaw drive joint of the surgical instrument, as the pitch / yaw drive joint 1111JB of the operation part 110, a combined joint of a knuckle joint member and a ball joint is applied. That is, in the operation part 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, compared with configuring the pitch / yaw drive joint 5111 (FIG. 19A) for performing the pitch / yaw movement of the operation part using a bending joint member, in this modification, a pitch / yaw drive joint 1111JB for performing pitch and yaw movements is configured by applying both the knuckle joint member 1111J and the ball joint 1111B, which is a feature.

[0286] At that time, the pitch / yaw drive joint 1111JB rotates up and down around the Y axis and becomes the rotation center of the pitch movement. Also, the pitch / yaw drive joint 1111JB rotates left and right around the Z axis and becomes the rotation center of the yaw movement.

[0287] On one side, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to one end inside the pitch / yaw drive joint 1111JB. Therefore, when the pitch / yaw drive handle 1112 rotates, the pitch / yaw drive joint 1111JB connected thereto rotates. While the pitch / yaw drive joint 1111JB rotates, one end of either the pitch wire 131W or the yaw wire 132W is pushed and the other end is pulled, thereby performing a pitch motion or a yaw motion of the end tool 120 connected thereto.

[0288] FIG. 49 is a drawing showing a sixth modification of the pitch / yaw drive joint 5111 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A etc. (JU).

[0289] Referring to FIG. 49, in the sixth modification of the pitch / yaw drive joint of the surgical instrument, as the pitch / yaw drive joint 1111JU of the operation unit 110, a combined joint of a knuckle joint member and a universal joint is applied. That is, in the operation unit 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A, a pitch / yaw drive joint 5111 (FIG. 19A) for performing a pitch / yaw operation of the operation unit is configured using a flexure joint member. In comparison, in this modification, a pitch / yaw drive joint 1111JU for performing pitch and yaw operations is configured by applying both the knuckle joint member 1111J and the universal joint 1111U, which is a feature.

[0290] At this time, the pitch / yaw drive joint 1111JU rotates up and down about the Y axis and becomes the rotation center of the pitch motion. Also, the pitch / yaw drive joint 1111JU rotates left and right about the Z axis and becomes the rotation center of the yaw motion.

[0291] On one side, both ends of the pitch wire 131W and the yaw wire 132W are respectively connected to one end inside the pitch / yaw drive joint 1111JU. Therefore, when the pitch / yaw drive handle 1112 rotates, the pitch / yaw drive joint 1111JU connected thereto rotates. While the pitch / yaw drive joint 1111JU rotates, by pushing one end of either the pitch wire 131W or the yaw wire 132W and pulling the other end, the pitch movement or yaw movement of the end tool 120 connected thereto is performed.

[0292] <Modification of the rolling operation of the surgical instrument> FIG. 50 is a perspective view of a surgical instrument with a roll function added to the surgical instrument illustrated in FIG. 19A and the like, and FIGS. 51A to 51E are perspective views showing how the surgical instrument of FIG. 50 performs a roll operation.

[0293] Referring to FIG. 50, the surgical instrument 500R according to this modification is characterized by further including a roll operation unit 550 for a roll operation. That is, it further includes a ball joint-shaped roll operation unit 550 that covers and wraps the pitch / yaw drive joint 5111 (FIG. 19A) of the operation unit 510 (FIG. 19A) of the surgical instrument illustrated in FIG. 19A and the like, and is made to perform a roll operation as the surgical instrument 500R. Here, the roll operation means that when the roll operation unit 550 is rotated, the relative angle between the central axis of the connecting portion 540 and the central axis of the end tool 520 is maintained as it is, and the end tool 520 and the connecting portion 540 rotate around their respective central axes.

[0294] That is, as shown in FIGS. 51A to 51E, when the roll operation unit 550 is rotated while the other parts of the operation unit 510 are fixed, the bending angle of the joint member 525 is maintained, and the first joint 521, the second joint 522 connected thereto, and the joint base 523 connected thereto will all rotate due to the rotation of the roll operation unit 550. And when the first joint 521 and the second joint 522 rotate, the relative positions of the first joint 521 and the second joint 522 are kept constant. That is, the joints 521 and 522 of the end tool 520 rotate about the central axis of the joint base 523 while maintaining their opened angles. More specifically, it is as follows.

[0295] The end tool 520 rotates in the pitch direction and the yaw direction by the rotation of the pitch / yaw joint of the operation unit. That is, due to the relative rotation in the pitch direction and the yaw direction with respect to the connecting part of the operation unit, the pitch / yaw drive joint of the operation unit rotates, and thereby, finally, the end tool 520 is also bent in the pitch direction and the yaw direction relative to the connecting part.

[0296] At this time, the determination of the pitch bending angle of the end tool 520 is the difference between the relative tension and compression of two pitch wires located above and below on the cross-section on the connecting part side of the pitch / yaw drive joint of the operation unit. Similarly, the determination of the yaw bending angle of the end tool 520 is the difference between the relative tension and compression of two yaw wires located on the left and right on the cross-section on the connecting part side of the pitch / yaw drive joint of the operation unit.

[0297] The pitch / yaw drive joint of the operation unit connects the connecting part and the operation unit handle and performs bending in the pitch direction and the yaw direction. At this time, the pitch / yaw drive joint is fixed on the cross-section to the connecting part, but the part at the operation unit side end of the pitch / yaw drive joint is not fixed to the operation unit and the cross-section and is configured to be rotatable, and in the angular state where the end tool 520 is bent, it can perform a roll function in which only the two joints can rotate. More specifically, as shown in the right drawing, when the operation part is refracted in the yaw direction relative to the connecting part, and as a result, finally, when the end tool 520 is also refracted in the same direction, the pitch / yaw drive joint of the operation part is fixed to the connecting part, but the end cross-section on the operation part side is not fixed and connected to the operation part handle and can rotate. Therefore, if the roll handle and the connecting part connected thereto are rotated around the central axis of the connecting part, the pitch / yaw drive joint connected here will rotate depending on the relative rotation between the connecting part and the operation part handle and will maintain its folded form. At that time, the four pitch wires and yaw wires located at the four-direction ends of the cross-section of the pitch / yaw drive joint will also rotate together. In this way, when the pitch / yaw drive joint rotates, each pitch wire and yaw wire located at the four-direction ends of the cross-section of the pitch / yaw drive joint will rotate together, move away from their original positions, and be able to rotate at the positions of other wires.

[0298] That is, in such a case, the yaw wires located in the left-right direction on the cross-section of the pitch / yaw drive joint will also move to the positions of the pitch wires located in the up-down direction through rotation, and the pitch wires initially located in the up-down direction will also move to the positions of the yaw wires located in the left-right direction through rotation. Therefore, if the pitch / yaw drive joint can rotate in this way, it makes no sense to distinguish the four wires into pitch wires and yaw wires. Four wires are located in the four directions on the cross-section, and any wire, if located in the left-right direction on the cross-section, will play the role of a yaw wire, and if located in the up-down direction, will play the role of a pitch wire.

[0299] Therefore, even if the pitch / yaw drive joint rotates together with the connecting part and the roll handle, if the relative pitch refraction or yaw refraction is determined by the connecting part and the operation part handle, the relative pitch refraction or yaw refraction between the connecting part and the end tool 520 will be maintained without being affected. At that time, the two knobs of the end tool 520 will rotate around the central axis determined by the parts at the two knob-side ends of the pitch / yaw drive joint of the end tool 520.

[0300] At that time, the actuation wire is positioned to pass through the center on the cross-section of the pitch / roll drive joint, is not fixed to the pitch / roll drive joint, and does not rotate together even when the pitch / roll drive joint rotates, and can perform the actuation operation independently.

[0301] At that time, the position of the roll handle is such that it can come to any position that enables or does not interfere with the rotation of the pitch / roll drive joints of the connecting part and the operating part while maintaining the relative bending angle between the connecting part and the operating part handle. That is, it can be fixed and positioned on the connecting part, can be fixed and positioned on the pitch / roll drive joint of the operating part, and can also be extended and fixed on the operating part side of the operating part pitch / roll drive joint.

[0302] On the other hand, at that time, as the pitch / roll drive joint of the operating part, various snakes, joints, ball joints, etc. that satisfy the above-mentioned conditions are possible, and detailed descriptions thereof are omitted.

[0303] In this specification, the present invention has been described mainly with respect to limited embodiments, but various embodiments are possible within the scope of the present invention. Also, although not described, equivalent means are also directly incorporated into the present invention. Therefore, the true scope of protection of the present invention is determined by the claims.

Industrial Applicability

[0304] The present invention can be used for manually operable surgical instruments for use in laparoscopic surgery or various other surgeries.

Claims

1. An end tool, a pitch / yaw operation unit that controls the pitch movement and yaw movement of the end tool, and an actuation operation unit that controls the actuation movement of the end tool, wherein the pitch / yaw operation unit is an operation unit formed by a bending joint member that bends in two or more directions, a power transmission unit that transmits the operation of the operation unit to the end tool, a connecting portion that extends in a first direction, with the end tool coupled to one end and the operation unit coupled to the other end, for connecting the operation unit and the end tool, the end tool performs a pitch movement in which an end in a direction away from the user of the end tool bends so as to rotate about a second direction, and a yaw movement in which the end bends so as to rotate about a third direction (Z-axis), the pitch / yaw operation unit includes pitch / yaw drive joints that bend in two or more directions, and a pitch / yaw drive handle that is connected to the pitch / yaw drive joints and is formed to be movable together with the pitch / yaw drive joints, wherein the pitch / yaw operation unit is formed to be spaced apart from an extension line of the connecting portion by a certain degree in the third direction. A surgical instrument characterized by this.

2. In one or more operating states in which the operation unit is rotated by a predetermined angle about the second direction for pitch operation, at least a part of the operation unit is formed closer to the end tool than a virtual central axis of the pitch / yaw drive joint in the third direction. The surgical instrument according to claim 1, characterized by this.

3. In the third direction, in at least one operating state of at least one of the pitch / yaw operation units, at least a part of the pitch / yaw drive handle is formed closer to the end tool than a virtual central axis of the pitch / yaw drive joint in the third direction. The surgical instrument according to claim 1, characterized by this.

4. The surgical instrument according to claim 1, characterized in that a forming direction of the end tool at one end of the connecting portion and a forming direction of the operation unit at the other end of the connecting portion are substantially the same direction.

5. The surgical instrument according to claim 1, characterized in that the operation unit is formed to extend in a direction away from a user who holds the surgical instrument.

6. The end of the operation part is formed on the end tool side such that the end of the finger of the user holding the operation part faces the end tool, according to the surgical instrument of claim 1.

7. The end tool includes a first jaw and a second jaw that are each rotatably formed, and an end tool joint member that bends in two or more directions to perform a pitch operation and / or a yaw operation of the first jaw and the second jaw. The operation part controls the operations of the two jaws of the end tool, according to the surgical instrument of claim 1.

8. The power transmission part a pitch wire connected to the operation part and transmitting the pitch movement of the operation part to the end tool, a yaw wire connected to the operation part and transmitting the yaw movement of the operation part to the end tool, and an activation wire connected to the operation part and transmitting the activation movement of the operation part to the end tool, and the operations of the pitch wire, the yaw wire, and the activation wire are each performed independently, according to the surgical instrument of claim 7.

9. The activation movement of the end tool is performed by the reciprocating linear movement of the activation wire, according to the surgical instrument of claim 8.

10. The first jaw and the second jaw connected thereto rotate by the reciprocating linear movement of the activation wire, according to the surgical instrument of claim 8.

11. One end of each of both ends of the pitch wire is respectively coupled to the end tool and extended to the operation part side, The activation wire is formed between the pitch wires at both ends, according to the surgical instrument of claim 8.

12. One end of each of both ends of the yaw wire is respectively coupled to the end tool and extended to the operation part side, The activation wire is formed between the yaw wires at both ends, according to the surgical instrument of claim 8.

13. One end of each of both ends of the pitch wire is respectively coupled to the end tool and extended to the operation part side, ​ One end of each of both ends of the yo-wire is respectively coupled to the end tool and extended toward the operation unit side. The surgical instrument according to claim 8, wherein a line connecting the pitch wires at both ends and a line connecting the yo-wires at both ends are formed to be perpendicular to each other.

14. Guide holes are respectively formed at one end of the first jaw and one end of the second jaw. An actuation guide pin is inserted through the guide holes of the first jaw and the second jaw. An actuation wire is coupled to the actuation guide pin. The surgical instrument according to claim 8, wherein when the actuation wire performs a translational movement, the actuation guide pin connected thereto performs a translational movement along the guide hole, and the actuation operations of the first jaw and the second jaw are performed.

15. The surgical instrument according to claim 7, wherein when the actuation operation unit rotates about the actuation drive shaft, the first jaw and the second jaw rotate in opposite directions to each other.

16. The end tool joint member connects the end tool and the connecting portion, and a plurality of grooves are formed on the outer peripheral surface. The plurality of grooves are arranged along the first direction, and one or more ribs for guiding the bending direction of the end tool joint member are formed in each groove. The surgical instrument according to claim 7, which is a bending type joint member.

17. The actuation operation unit includes an actuation drive shaft, a first actuation drive unit and a second actuation drive unit that are rotatably inserted into the actuation drive shaft about the actuation drive shaft, and guide holes are respectively formed at one ends thereof, an actuation guide pin inserted through the guide holes of the first actuation drive unit and the second actuation drive unit, an actuation wire is coupled to the actuation guide pin, The surgical instrument according to claim 8, wherein when the first actuation drive unit or the second actuation drive unit rotates, the actuation wire connected thereto performs a translational movement.

18. The actuation operation unit includes an actuation drive shaft, an actuation drive unit rotatably formed about the actuation drive shaft, and an actuation link connected to the actuation drive shaft and the actuation wire respectively, and configured such that when the actuation drive unit rotates, the actuation wire connected thereto performs a translational motion. The surgical instrument according to claim 8, characterized by including the same.

19. The pitch / yaw drive joint includes a flexure joint member having a plurality of grooves formed on an outer peripheral surface thereof, the plurality of grooves being arranged along the first direction, and one or more ribs for guiding a bending direction of the pitch / yaw operation unit being formed in each groove. The surgical instrument according to claim 1, characterized by including the same.

20. When the pitch / yaw operation unit is bent about the pitch / yaw drive joint, the end tool bends in the same direction as the pitch / yaw operation unit with reference to the pitch / yaw drive joint. The surgical instrument according to claim 1, characterized by this.

21. When the pitch / yaw operation unit rotates about the pitch / yaw drive shaft, the end tool rotates in the same direction as the pitch / yaw operation unit with reference to the pitch / yaw drive shaft. The surgical instrument according to claim 1, characterized by this.

22. further includes a roll operation unit formed by being connected to the operation unit, and when the roll operation unit is rotated, only the end tool rotates about its central axis while the relative angle between the central axis of the connection part and the central axis of the end tool is maintained as it is. The surgical instrument according to claim 1, characterized by this.

23. The power transmission unit includes a pitch wire connected to the operation unit and transmitting the pitch motion of the operation unit to the end tool, a yaw wire connected to the operation unit and transmitting the yaw motion of the operation unit to the end tool, and an actuation wire connected to the operation unit and transmitting the actuation motion of the operation unit to the end tool. The operation unit includes a pitch / yaw operation unit that controls the pitch movement and yaw movement of the end tool, and an activation operation unit that controls the two jaws of the end tool to rotate in opposite directions. The pitch / yaw operation unit and the activation operation unit are formed to be independently operable. When the pitch / yaw operation unit is bent, the rotation of the pitch / yaw operation unit is transmitted via the pitch wire or the yaw wire to the end tool joint member, and the first jaw and the second jaw connected thereto. The first jaw and the second jaw rotate in the same direction as the rotation direction of the pitch / yaw operation unit. When the activation operation unit rotates, the rotation of the activation operation unit is transmitted via the activation wire to the first jaw and the second jaw. The first jaw and the second jaw rotate in opposite directions. The surgical instrument according to claim 7, wherein the activation operation unit is formed to be separated from the pitch / yaw operation unit by a certain degree with reference to the extension line of the connecting portion.

24. The surgical instrument according to claim 1, wherein the activation operation unit is formed to be separated from the pitch / yaw operation unit by a certain degree with reference to the extension line of the connecting portion.

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