Surgical instruments, end tools and electrocautery surgical instruments

Abstract

The present invention relates to electrocautery surgical instruments, and in particular to electrocautery surgical instruments that can be mounted on a robotic arm or manually operated for use in laparoscopic or various surgical procedures.

Description

[Technical Field]

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

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

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

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

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

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

[0007] According to an embodiment of the present invention, an end tool of a surgical instrument includes a first jaw and a second jaw that are rotatable independently of each other, a first jaw pulley connected to the first jaw and rotatable about a first rotation axis, a second jaw pulley connected to the second jaw and rotatable about the first rotation axis and formed to be spaced apart from the first jaw pulley by a certain distance, a blade assembly including a blade that moves between a proximal portion and a distal portion of the first jaw, at least a portion of which is formed between the first jaw pulley and the second jaw pulley, and a braid wire that contacts at least a portion of the blade assembly and transmits a driving force required to move the blade to the blade.

[0008] In the present invention, the braid assembly includes a guide tube that accommodates at least a portion of the braid wire therein and is formed to be bent to a certain extent.

[0009] In the present invention, the braid wire is connected to the braid by passing through the inside of the guide tube.

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

[0011] In the present invention, the braid wire is formed so as to be movable along the guide tube within the guide tube.

[0012] In the present invention, the jaw assembly further includes a first link having one end connected to the first jaw and the other end connected to the first jaw pulley to connect the first jaw and the first jaw pulley, and a second link having one end connected to the second jaw and the other end connected to the second jaw pulley to connect the second jaw and the second jaw pulley.

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

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

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

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

[0017] The present invention is characterized in that the device further includes an actuation rotation shaft that is inserted through the first link and the second jaw, and the second jaw is formed to be rotatable around the actuation rotation shaft relative to the first link.

[0018] The present invention is characterized in that the second link converts the rotational movement of the second jaw pulley about the first rotation axis into rotational movement of the second jaw about the actuation rotation axis.

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

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

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

[0022] The present invention is characterized in that the end tool hub further includes a first jaw pulley coupling portion and a second jaw pulley coupling portion formed to face each other, and a guide portion connecting the first jaw pulley coupling portion and the second jaw pulley coupling portion, wherein the first jaw pulley is disposed adjacent to the first jaw pulley coupling portion of the end tool hub, and the second jaw pulley is disposed adjacent to the second jaw pulley coupling portion of the end tool hub, and at least a portion of the blade assembly is formed between the first jaw pulley and the second jaw pulley.

[0023] In the present invention, the guide tube is formed to pass through the end tool hub and extend toward the first jaw or the second jaw.

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

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

[0026] In the present invention, the end tool includes a pair of first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable around a third rotation axis that forms a predetermined angle with the first rotation axis, and a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable around the third rotation axis.

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

[0028] In the present invention, the end tool further includes a first jaw wire at least partially wound around the first jaw pulley and the pair of end tool first jaw pitch main pulleys, and a second jaw wire at least partially wound around the second jaw pulley and the pair of end tool second jaw pitch main pulleys.

[0029] The present invention is characterized in that the braid moves between the proximal and distal portions of the end tool by the braid wire.

[0030] According to an embodiment of the present invention, an end tool of a surgical instrument includes a first jaw and a second jaw that are rotatable independently of each other, a first jaw pulley connected to the first jaw and rotatable about a first rotation axis, a second jaw pulley connected to the second jaw and rotatable about an axis that is substantially the same as or parallel to the first rotation axis, an end tool hub having one end through which the first rotation axis is inserted and the other end through which a third rotation axis different from the first rotation axis is inserted, and in which at least a portion of the first jaw pulley and the second jaw pulley are housed, a blade at least a portion of which is housed inside the first jaw or the second jaw and is formed to be movable between a proximal portion and a distal portion of the first jaw or the second jaw, a guide tube formed to extend through the end tool hub toward the blade, and a braid wire one end of which is connected to the blade, which transmits a driving force required to move the blade to the blade, and at least a portion of which is disposed within the guide tube.

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

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

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

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

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

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

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

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

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

[0040] In the present invention, the rotary knives further include a first jaw wire at least partially wound around the first jaw pulley, and a second jaw wire at least partially wound around the second jaw pulley.

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

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

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

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

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

[0046] The present invention is characterized in that tissue is cauterized while a current flows through the first electrode and the second electrode.

[0047] In the present invention, when the cauterization is completed, the blade wire moves, and the blade moves accordingly from the proximal side to the distal side of the first jaw, cutting the tissue.

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

[0049] In the present invention, the guide tube is characterized in that it accommodates at least a portion of the braid wire therein and is formed so as to be bent to a certain extent.

[0050] According to an embodiment of the present invention, an end tool of a surgical instrument includes a first jaw and a second jaw that are rotatable independently of each other, a first jaw pulley coupled to the first jaw and rotatable about a first rotation axis, a first link having one end coupled to the first jaw and the other end coupled to the first jaw pulley, connecting the first jaw and the first jaw pulley, a first jaw wire at least partially wound around the first jaw pulley, a second jaw pulley coupled to the second jaw and rotatable about the first rotation axis, a second link having one end coupled to the second jaw and the other end coupled to the second jaw pulley, connecting the second jaw and the second jaw pulley, a second jaw wire at least partially wound around the second jaw pulley, and a second jaw wire formed on one side of the first jaw pulley and forming a predetermined angle with the first rotation axis. the end tool includes a pair of first jaw pitch main pulleys rotatable about a third rotation axis; a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis substantially the same as or parallel to the third rotation axis; an end tool hub having one end through which the first rotation axis is inserted and the other end through which the third rotation axis is inserted and in which at least a portion of the first jaw pulley and the second jaw pulley are housed; a guide tube disposed through the end tool hub and formed to be bendable to some extent; a braid wire at least a portion of which is inserted through the guide tube; and a blade connected to the braid wire, at least a portion of which is housed in the first jaw or the second jaw, and which moves between a proximal portion and a distal portion of the first jaw or the second jaw in response to movement of the braid wire.

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

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

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

[0054] In the present invention, an actuation rotation axis that serves as a central axis of rotation of the second jaw relative to the first jaw or the first link is further included.

[0055] The present invention is characterized in that the second link converts the rotational movement of the second jaw pulley about the first rotation axis into rotational movement of the second jaw about the actuation rotation axis.

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

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

[0058] In the present invention, the first rotation axis and the actuation rotation axis are formed by the first link and the second link at a certain distance from each other.

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

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

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

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

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

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

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

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

[0067] In the present invention, the yawing movement of the end tool is performed by rotating the first jaw pulley and the second jaw pulley in the same direction around the first rotation axis.

[0068] In the present invention, the actuation operation of the end tool is performed by rotating the second jaw pulley relatively to the first jaw pulley about the first rotation axis.

[0069] According to an embodiment of the present invention, there is provided an end tool including a first jaw and a second jaw rotatably formed, and rotatable in two or more directions; an operating unit that controls the rotation of the end tool in the two or more directions; a first jaw wire connected to the operating unit and transmitting the rotation of the operating unit to the first jaw; a power transmission unit including a second jaw wire connected to the operating unit and transmitting the rotation of the operating unit to the second jaw; and a connecting unit extending in a first direction (X axis), having one end connected to the end tool and the other end connected to the operating unit, connecting the operating unit and the end tool. The end tool includes a second electrode formed to face the first jaw, a first jaw pulley coupled to the first jaw and formed to be rotatable around a first rotation axis, a second jaw pulley coupled to the second jaw and formed to be rotatable around an axis substantially the same as or parallel to the first rotation axis, a blade assembly including a blade that moves between a proximal portion and a distal portion of the end tool and is disposed adjacent to the first jaw pulley or the second jaw pulley, and a braid wire that is at least partially in contact with the blade assembly and transmits a driving force required to move the blade to the blade.

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

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

[0072] The present invention is characterized in that the forming direction of the end tool at one end of the connecting portion and the forming direction of the operating portion at the other end of the connecting portion are the same direction based on the extension axis (X-axis) of the connecting portion.

[0073] In the present invention, the operation portion is formed to extend in a direction away from a user who holds the electrocautery surgical instrument.

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

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

[0076] In the present invention, the bending portion is characterized in that the cross section is formed in an approximately semicircular shape, and is formed so that the forming direction of the operating portion at the end of the bending portion is substantially equal to the forming direction of the end tool at the point where the connecting portion and the end tool are connected.

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

[0078] In the present invention, the end tool jaw auxiliary pulley is formed on one side of the first jaw pulley and the second jaw pulley and is rotatable about a second rotation axis.

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

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

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

[0082] In the present invention, the braid assembly includes a guide tube that accommodates at least a portion of the braid wire therein and is configured to be bendable to some extent.

[0083] In the present invention, the braid wire is connected to the braid by passing through the inside of the guide tube.

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

[0085] In the present invention, the braid wire is formed so as to be movable along the guide tube within the guide tube.

[0086] In the present invention, the jaw assembly further includes a first link having one end connected to the first jaw and the other end connected to the first jaw pulley to connect the first jaw and the first jaw pulley, and a second link having one end connected to the second jaw and the other end connected to the second jaw pulley to connect the second jaw and the second jaw pulley.

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

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

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

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

[0091] The present invention is characterized in that tissue is cauterized while a current flows through the first electrode and the second electrode.

[0092] In the present invention, when the cauterization is completed, the blade wire moves, thereby cutting the tissue while moving the blade between the proximal and distal portions of the first jaw.

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

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

[0095] According to an embodiment of the present invention, the method includes the steps of placing tissue between a first jaw and a second jaw of an end tool of an electrocautery surgical instrument; rotating a second jaw pulley connected to the second jaw relatively to a first jaw pulley connected to the first jaw about a first rotation axis to close the second jaw relative to the first jaw; applying a current to a first electrode connected to the first jaw and a second electrode connected to the second jaw to cauterize the tissue between the first jaw and the second jaw; and cutting the tissue while a blade of a blade assembly, at least a portion of which is disposed between the first jaw pulley and the second jaw pulley, is moved from a proximal portion to a distal portion of the first jaw by a blade wire.

[0096] In the present invention, the blade assembly further includes a guide tube that accommodates at least a portion of the braid wire therein and is formed to be bendable to some extent, and the step of cutting the tissue includes a step of moving the braid wire in the guide tube from the proximal portion to the distal portion of the first jaw, and a step of moving the blade coupled to the braid wire from the proximal portion to the distal portion of the first jaw.

[0097] In the present invention, the braid wire is connected to the braid by passing through the inside of the guide tube.

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

[0099] In the present invention, in the step of cutting the tissue, the braid wire moves along the guide tube within the guide tube.

[0100] In the present invention, the jaw assembly further includes a first link having one end connected to the first jaw and the other end connected to the first jaw pulley to connect the first jaw and the first jaw pulley, and a second link having one end connected to the second jaw and the other end connected to the second jaw pulley to connect the second jaw and the second jaw pulley.

[0101] In the present invention, the first jaw pulley and the second jaw pulley are spaced apart from each other to a certain extent, and the blade assembly is formed between the first jaw pulley and the second jaw pulley.

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

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

[0104] Other aspects, features, and advantages beyond those described above will become apparent from the following drawings, claims, and detailed description of the invention. [Effects of the Invention]

[0105] With this invention, the direction in which the surgeon operates the operating unit and the direction in which the end tool is operated are intuitively the same, thereby improving convenience for the surgeon and achieving the effects of improving the accuracy, reliability, speed, etc. of the surgery. [Brief explanation of the drawings]

[0106] [Figure 1] Figure 1(a) is a conceptual diagram showing the pitch movement of a conventional surgical instrument, Figure 1(b) is a conceptual diagram showing the yaw movement; Figure 1(c) is a conceptual diagram showing the pitch movement of another conventional surgical instrument, Figure 1(d) is a conceptual diagram showing the yaw movement; Figure 1(e) is a conceptual diagram showing the pitch movement of a surgical instrument according to the present invention, and Figure 1(f) is a conceptual diagram showing the yaw movement. [Figure 2] FIG. 2 is a perspective view showing an electrocautery surgical instrument according to a first embodiment of the present invention. [Figure 3] 3 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 4] 4 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 5] 5 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 6] 6 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 7] 7 is a plan view of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 8] 8 is a plan view of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 9]9 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 10] 10 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 11] 11 is a cutaway perspective view of the end tool hub of FIG. 9. FIG. [Figure 12] 12 is a side view of the endotool hub and link of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 13] 13 is a plan view of an end tool hub and link of an end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 14] 14 is an exploded perspective view showing the jaw-link-jaw pulley of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 15] 15 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 16] 16 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 17] 17 is a perspective view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 18] 18 is a perspective view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 19] 19 is a perspective view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 20] 20 is a perspective view showing an operating portion of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 21] 21 is a perspective view showing an operating portion of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 22] FIG. 22 is a simplified diagram showing only the configuration of pulleys and wires that form the joints of the electrocautery surgical instrument shown in FIG. [Figure 23] 23 is a perspective view illustrating the yaw movement of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 24] FIG. 24 is a diagram illustrating the configuration of pulleys and wires associated with the actuation and yaw motions of the electrocautery surgical instrument shown in FIG. 2, with the first and second jaws resolved. [Figure 25] FIG. 25 is a diagram illustrating the configuration of pulleys and wires associated with the actuation and yaw motions of the electrocautery surgical instrument shown in FIG. 2, with the first and second jaws resolved. [Figure 26] 26 is a perspective view illustrating the pitching action of the electrocautery surgical instrument of FIG. 2. FIG. [Figure 27] FIG. 27 is a diagram illustrating the configuration of pulleys and wires associated with the pitch motion of the electrocautery surgical instrument shown in FIG. 2, with the first jaw and the second jaw disassembled. [Figure 28] FIG. 28 is a diagram illustrating the configuration of pulleys and wires associated with the pitch motion of the electrocautery surgical instrument shown in FIG. 2, with the first jaw and the second jaw disassembled. [Figure 29] FIG. 29 is a diagram showing a process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 2 after a yaw rotation of −90°. [Figure 30] FIG. 30 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 2 after a yaw rotation of −90°. [Figure 31] FIG. 31 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 2 after a +90° yaw rotation. [Figure 32] FIG. 32 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 2 after a +90° yaw rotation. [Figure 33] FIG. 33 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by +90° in a yaw direction. [Figure 34] FIG. 34 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by +90° in a yaw direction. [Figure 35] FIG. 35 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been pitch-rotated by −90°. [Figure 36] FIG. 36 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been pitch-rotated by +90°. [Figure 37] 37 is a cutaway perspective view of an endotool of the electrocautery surgical instrument of FIG. 35; [Figure 38] FIG. 38 is a diagram showing a process in which the end tool of the electrocautery surgical instrument of FIG. 2 performs a cutting operation after being pitch-rotated by −90°. [Figure 39] FIG. 39 is a diagram showing a process in which the end tool of the electrocautery surgical instrument of FIG. 2 performs a cutting operation after being pitch-rotated by −90°. [Figure 40] FIG. 40 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 has been rotated in pitch and yaw directions. [Figure 41] FIG. 41 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 performs a cutting operation after pitch rotation of −90° and yaw rotation of +90° at the same time. [Figure 42] FIG. 42 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 performs a cutting operation after pitch rotation of −90° and yaw rotation of +90° at the same time. [Figure 43] FIG. 43 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 2 performs a cutting operation after pitch rotation of −90° and yaw rotation of +90° at the same time. [Figure 44] FIG. 44 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the first embodiment of the present invention. [Figure 45]FIG. 45 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the first embodiment of the present invention. [Figure 46] FIG. 46 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the first embodiment of the present invention. [Figure 47] FIG. 47 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the first embodiment of the present invention. [Figure 48] 48 is an exploded perspective view of the jaw-link-jaw pulley of the endotool of the electrocautery surgical instrument of FIG. 44; FIG. [Figure 49] 49A and 49B are views showing the process in which the end tool of the electrocautery surgical instrument of FIG. 44 performs a cutting operation. [Figure 50] FIG. 50 is a diagram showing the process in which the end tool of the electrocautery surgical instrument of FIG. 44 performs a cutting operation. [Figure 51] FIG. 51 is a diagram showing an end tool of an electrocautery surgical instrument according to a second modification of the first embodiment of the present invention. [Figure 52] FIG. 52 is a diagram showing an end tool of an electrocautery surgical instrument according to a second modification of the first embodiment of the present invention. [Figure 53] 53 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 51. FIG. [Figure 54] 54 is a cutaway perspective view of the end tool hub of FIG. 53. FIG. [Figure 55] 55 is a cutaway perspective view of the end tool hub of FIG. 53. FIG. [Figure 56] 56 is a perspective view of the end tool hub of FIG. 53; [Figure 57] 57 is a perspective view of the end tool hub of FIG. 53. FIG. [Figure 58] FIG. 58 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modified example of the first embodiment of the present invention. [Figure 59]FIG. 59 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modified example of the first embodiment of the present invention. [Figure 60] 60 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 58; [Figure 61] 61 is a cutaway perspective view of the end tool hub of FIG. 60. FIG. [Figure 62] FIG. 62 is a perspective view showing an electrocautery surgical instrument according to a second embodiment of the present invention. [Figure 63] 63 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 64] 64 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 65] 65 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 66] 66 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 67] 67 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 68] 68 is a perspective view of an end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 69] 69 is a plan view of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 70] 70 is a plan view of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 71] 71 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 62; FIG. [Figure 72] 72 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 62; [Figure 73] 73 is a cutaway perspective view of the end tool hub of FIG. 71; [Figure 74] 74 is an exploded perspective view of the jaw-link-jaw pulley of the endotool of the electrocautery surgical instrument of FIG. 62; FIG. [Figure 75] 75 is a perspective view of a second jaw pulley of an end tool of the electrocautery surgical instrument of FIG. 62; FIG. [Figure 76] 76 is a perspective view of a second jaw pulley of an end tool of the electrocautery surgical instrument of FIG. 62; FIG. [Figure 77] 77 is a perspective view of a second jaw pulley of an end tool of the electrocautery surgical instrument of FIG. 62; FIG. [Figure 78] 78 is a perspective view of a second jaw pulley of an end tool of the electrocautery surgical instrument of FIG. 62; FIG. [Figure 79] 79 is a plan view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 80] 80 is a plan view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 81] FIG. 81 is a diagram showing the jaw opening and closing process of the first embodiment of the present invention shown in FIG. 2 etc. [Figure 82] FIG. 82 is a diagram showing the jaw opening and closing process of the second embodiment of the present invention. [Figure 83] FIG. 83 is a diagram showing the case where the pin-slot type structure of the second embodiment of the present invention is configured in a general pulley instead of a multi-layer pulley. [Figure 84] 84 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 85] 85 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 86] 86 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 87]87 is a perspective view showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 88] 88 is a perspective view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 89] 89 is a perspective view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 90] 90 is a perspective view illustrating the cutting action of the endotool of the electrocautery surgical instrument of FIG. 62. FIG. [Figure 91] FIG. 91 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 62 after yaw rotation of −90°. [Figure 92] FIG. 92 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 62 after yaw rotation of −90°. [Figure 93] FIG. 93 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 62 after a +90° yaw rotation. [Figure 94] FIG. 94 is a diagram showing the process of opening and closing the end tool of the electrocautery surgical instrument of FIG. 62 after a +90° yaw rotation. [Figure 95] FIG. 95 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 62 rotated by +90° in yaw. [Figure 96] FIG. 96 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 62 rotated by +90° in yaw. [Figure 97] FIG. 97 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 62 has been pitch-rotated by −90°. [Figure 98] FIG. 98 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 62 has been pitch-rotated by +90°. [Figure 99]99 is a cutaway perspective view of an endotool of the electrocautery surgical instrument of FIG. 97; [Figure 100] FIG. 100 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 62 rotated by a pitch of −90°. [Figure 101] FIG. 101 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 62 rotated by a pitch of −90°. [Figure 102] FIG. 102 is a diagram showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 62 rotated by a pitch of −90°. [Figure 103] FIG. 103 is a plan view showing a state in which the end tool of the electrocautery surgical instrument of FIG. 62 has been rotated in pitch and yaw directions. [Figure 104] FIG. 104 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 62 performs a cutting operation after pitch rotation of −90° and yaw rotation of +90° at the same time. [Figure 105] FIG. 105 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 62 performs a cutting operation after pitch rotation of −90° and yaw rotation of +90° at the same time. [Figure 106] FIG. 106 is a diagram showing a state in which the end tool of the electrocautery surgical instrument of FIG. 62 performs a cutting operation after pitch rotation of −90° and yaw rotation of +90° at the same time. [Figure 107] FIG. 107 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the second embodiment of the present invention. [Figure 108] FIG. 108 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the second embodiment of the present invention. [Figure 109] FIG. 109 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the second embodiment of the present invention. [Figure 110]FIG. 110 is a diagram showing an end tool of an electrocautery surgical instrument according to a first modified example of the second embodiment of the present invention. [Figure 111] FIG. 111 is a diagram showing the process in which the end tool of the electrocautery surgical instrument of FIG. 107 performs a cutting operation. [Figure 112] FIG. 112 is a diagram showing the process in which the end tool of the electrocautery surgical instrument of FIG. 107 performs a cutting operation. [Figure 113] FIG. 113 is a diagram showing the process in which the end tool of the electrocautery surgical instrument of FIG. 107 performs a cutting operation. [Figure 114] FIG. 114 shows an end tool of the electrocautery surgical instrument of FIG. [Figure 115] FIG. 115 is a view showing an end tool of an electrocautery surgical instrument according to a second modification of the second embodiment of the present invention. [Figure 116] FIG. 116 is a view showing an end tool of an electrocautery surgical instrument according to a second modification of the second embodiment of the present invention. [Figure 117] 117 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 115; FIG. [Figure 118] 118 is a cutaway perspective view of the end tool hub of FIG. 117; [Figure 119] FIG. 119 is a cutaway perspective view of the end tool hub of FIG. 117; [Figure 120] 120 is a perspective view of the end tool hub of FIG. 117; [Figure 121] 121 is a perspective view of the end tool hub of FIG. 117; [Figure 122] FIG. 122 is a view showing an end tool of an electrocautery surgical instrument according to a third modified example of the second embodiment of the present invention. [Figure 123] FIG. 123 is a diagram showing an end tool of an electrocautery surgical instrument according to a third modified example of the second embodiment of the present invention. [Figure 124]124 is a perspective view of an end tool hub of an end tool of the electrocautery surgical instrument of FIG. 122. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0107] The present invention can be modified in various ways and can have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail. However, it should be understood that this is not intended to limit the present invention to the specific embodiments, and includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may interfere with the gist of the present invention, the detailed description will be omitted.

[0108] Terms such as "first" and "second" may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0109] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. The singular expressions include the plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0110] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0111] Furthermore, in describing various embodiments of the present invention, it should be understood that each embodiment does not need to be interpreted or implemented independently, and that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments that are described separately.

[0112] One feature of the electrocautery surgical instrument of the present invention is that when the operating unit is rotated in one direction for at least one of pitch, yaw, and actuation operations, the end tool intuitively rotates in the same direction as the operating direction of the operating unit.

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

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

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

[0116] Referring to FIG. 1c, some conventional surgical instruments are formed in a mirror-symmetrical shape. When performing a pitch movement, the end tool 120b is formed in front of the end tool's rotation center 121b, and the operating unit 110b is formed behind the operating unit's rotation center 111b. When the operating unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating unit and the end tool, the rotation direction in which the user rotates the operating unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there are problems such as confusion about the operation direction for the user and non-intuitive joint movements, which can lead to mistakes. Referring to FIG. 1d, when performing a yaw operation, the end tool 120b is formed forward of the rotation center 121b of the end tool, and the operating unit 110b is formed rearward of the rotation center 111b of the operating unit. When the operating unit 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating unit 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating unit and the end tool, the rotation direction in which the user rotates the operating unit 110b and the corresponding rotation direction of the end tool 120b are opposite to each other. As a result, there are problems such as confusion for the user about the operation direction, unintuitive joint operation, and potential mistakes. Thus, when a user performs pitch or yaw operation on a conventional surgical instrument, the user's operation direction and the movement direction of the end tool do not match in either the rotational direction or the left-right direction. This is because the joint configuration of the endo-tool and the operating part differ from each other in the joint configuration of conventional surgical instruments: the endo-tool is formed forward of its center of rotation, while the operating part is formed rearward of its center of rotation.To solve this problem, a surgical instrument according to an embodiment of the present invention shown in Figures 1e and 1f has a feature in which an endotool 120c is formed forward of a rotation center 121c of the endotool, and an operating unit 110c is also formed forward of a rotation center 111c of the operating unit, so that the operations of the operating unit 110c and the endotool 120c intuitively match. Expressing this characteristic in another way, unlike existing examples in which the operating unit is configured to move closer to the user relative to its own joint (i.e., away from the endotool), as shown in Figures 1a, 1b, 1c, and 1d, the surgical instrument according to an embodiment of the present invention shown in Figures 1e and 1f is configured so that at least a portion of the operating unit moves closer to the endotool (than its own joint) relative to its own joint at a certain moment during the operation process.

[0117] In other words, in the case of conventional surgical instruments such as those shown in Figures 1a, 1b, 1c, and 1d, the endotool is located forward of its center of rotation, while the operating unit is formed rearward of its center of rotation. Therefore, the operation of the operating unit, which moves rearward while the front is fixed, moves the endotool, which moves forward while the rear is fixed. This results in a structure that is not intuitively consistent. This can lead to inconsistencies between the operation of the operating unit and the operation of the endotool, in terms of left-right direction or rotational direction, which can confuse the user and make it difficult to operate the operating unit intuitively and quickly, potentially leading to errors. In contrast, in the surgical instrument according to one embodiment of the present invention, both the endotool and the operating unit move relative to a center of rotation formed at the rear, so that their operations are intuitively consistent with each other. In other words, just as the moving part of the endotool moves relative to a center of rotation formed at the rear, the moving part of the operating unit also moves relative to a corresponding center of rotation formed at the rear, so that their operations are intuitively consistent with each other. This allows the user to intuitively and quickly steer the end tool direction, which has the advantage of significantly reducing the possibility of mistakes. The specific mechanism that enables this function will be described below.

[0118] <First embodiment of electrocautery surgical instrument>

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

[0120] First, referring to FIGS. 2 and 3, an electrocautery surgical instrument 10 according to a first embodiment of the present invention includes an end tool 100, an operating section 200, a power transmission section 300, and a connection section 400.

[0121] Here, the connection portion 400 is formed in the shape of a hollow shaft and can accommodate one or more wires and electrical cables therein. The operating portion 200 is coupled to one end of the connection portion 400, and the end tool 100 is coupled to the other end of the connection portion 400, and the connection portion 400 can serve to connect the operating portion 200 and the end tool 100. Here, the connection portion 400 of the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that it includes a straight portion 401 and a bent portion 402, and the straight portion 401 is formed on the side that couples with the end tool 100, and the bent portion 402 is formed on the side that couples with the operating portion 200. As such, the end of the connection portion 400 on the operating portion 200 side is bent, so that the pitch operation portion 201, the yaw operation portion 202, and the actuation operation portion 203 are formed on an extension line of the end tool 100 or adjacent to the extension line. Expressed from another perspective, this can also be described as at least a portion of the pitch operation unit 201 and the yaw operation unit 202 being housed in a recess formed by the bent portion 402. Such a shape of the bent portion 402 allows the shapes and operations of the operation unit 200 and the end tool 100 to more intuitively match.

[0122] Meanwhile, the plane on which the bent portion 402 is formed may be the pitch plane, i.e., substantially the same plane as the XZ plane in Fig. 2. In this way, by forming the bent portion 402 on substantially the same plane as the XZ plane, interference between the operating units can be reduced. Of course, for intuitive operation of the end tool and the operating unit, configurations other than the XZ plane may be possible.

[0123] Meanwhile, a connector 410 may be formed at the bent portion 402. The connector 410 may be connected to an external power source (not shown), and may be connected to the jaw 103 via electric wires 411 and 412, so that electrical energy supplied from the external power source (not shown) may be transmitted to the jaw 103. Here, the connector 410 may be a bipolar type having two electrodes, or may be a monopolar type having one electrode.

[0124] The operating unit 200 is formed at one end of the connecting unit 400 and is provided with an interface that can be directly operated by a surgeon, for example, in the shape of forceps, a stick, a lever, etc. When the surgeon operates this, the endotool 100, which is connected to the interface and inserted into the body of the surgical patient, performs a predetermined operation, thereby performing surgery. Here, Fig. 2 shows that the operating unit 200 is formed in the shape of a handle that can be rotated while being held with the fingers, but the concept of the present invention is not limited to this, and it can be said that various types of operating units that can be connected to the endotool 100 and operate the endotool 100 are possible.

[0125] The endotool 100 is formed at the other end of the connecting portion 400 and is inserted into the surgical site to perform the operations required for surgery. As an example of such an endotool 100, a pair of jaws 103 for performing a gripping operation, as shown in FIG. 2, can be used. However, the concept of the present invention is not limited thereto, and various surgical devices can be used as the endotool 100. For example, a one-arm cauterization device can also be used as the endotool. Such an endotool 100 is connected to the operating unit 200 by the power transmission unit 300, and the driving force of the operating unit 200 is transmitted via the power transmission unit 300 to perform the operations required for surgery, such as gripping, cutting, and suturing.

[0126] Here, the end tool 100 of the electrocautery surgical instrument 10 according to the first embodiment of the present invention is formed to be rotatable in at least one direction. For example, the end tool 100 can be formed to perform a pitch movement around the Y axis of FIG. 2, as well as a yaw movement and an actuation movement around the Z axis of FIG. 2.

[0127] Here, the pitch, yaw, and actuation movements used in the present invention are defined as follows.

[0128] First, the pitch movement refers to the movement of the end tool 100 rotating up and down relative to the extension direction of the connection part 400 (the X-axis direction in FIG. 2), that is, the movement of rotating around the Y-axis in FIG. 2. In other words, it refers to the movement of the end tool 100 formed extending from the connection part 400 in the extension direction of the connection part 400 (the X-axis direction in FIG. 2) rotating up and down relative to the connection part 400 around the Y-axis.

[0129] Next, yaw movement refers to the movement of the end tool 100 rotating left and right with respect to the extension direction of the connection part 400 (X-axis direction in FIG. 2), i.e., the movement of rotating around the Z-axis in FIG. 2. In other words, it refers to the movement of the end tool 100 formed extending from the connection part 400 in the extension direction of the connection part 400 (X-axis direction in FIG. 2) rotating left and right around the Z-axis with respect to the connection part 400. In other words, it refers to the movement of two jaws 103 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0130] Meanwhile, the actuation movement refers to the movement in which the end tool 100 rotates around the same rotation axis as the yaw movement, but the two jaws 103 rotate in opposite directions to each other, causing the jaws to contract or open. That is, it refers to the movement in which the two jaws 103 formed on the end tool 100 rotate in opposite directions to each other around the Z axis.

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

[0132] The endotool 100, the operating section 200, the power transmission section 300, and the like of the electrocautery surgical instrument 10 shown in FIG. 2 will be described later.

[0133] (Intuitive Drive)

[0134] The following describes the intuitive operation of the electrocautery surgical instrument 10 of the present invention.

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

[0136] One feature of the electrocautery surgical instrument 10 according to the first embodiment of the present invention is that when the operating unit 200 is rotated in one direction relative to the connecting unit 400, the end tool 100 rotates in the intuitively same direction as the operating direction of the operating unit 200. In other words, when the first handle 204 of the operating unit 200 is rotated in one direction, the end tool 100 also rotates in the intuitively same direction as the one direction, performing a pitch or yaw movement. Here, "intuitively the same direction" can be further explained as the direction of movement of the user's finger holding the operating unit 200 and the direction of movement of the distal end of the end tool 100 being substantially the same. Of course, the "same direction" does not have to be a completely identical direction in three-dimensional coordinates. For example, it can be understood that when the user's finger moves leftward, the distal end of the end tool 100 also moves leftward, and when the user's finger moves down, the distal end of the end tool 100 also moves down.

[0137] For this reason, one feature of the electrocautery surgical instrument 10 according to the first embodiment of the present invention is that the operating unit 200 and the endotool 100 are formed in the same direction relative to a plane perpendicular to the extension axis (X-axis) of the connecting unit 400. That is, when viewed relative to the YZ plane in FIG. 2 , the operating unit 200 is formed extending in the +X-axis direction, and the endotool 100 is also formed extending in the +X-axis direction. In other words, the direction in which the endotool 100 is formed at one end of the connecting unit 400 and the direction in which the operating unit 200 is formed at the other end of the connecting unit 400 are the same relative to the YZ plane. In other words, the operating unit 200 is formed in a direction away from the torso of the user holding it, i.e., in the direction in which the endotool 100 is formed. That is, the first handle 204, the first actuation operation unit 251, the second actuation operation unit 256, etc. that the user grasps and moves for actuation, yaw, and pitch movements are formed so that the moving parts for performing each movement extend in the +X-axis direction from the rotation center of each joint for that movement. This allows the operation unit 200 to be configured in the same way as the moving parts of the end tool 100 that are formed so that they extend in the +X-axis direction from the rotation center of each joint for that movement, and as described in Fig. 1, the operation direction of the user and the movement direction of the end tool coincide in both the rotational direction and the left-right direction, and as a result, the same intuitive operation can be performed.

[0138] In particular, with conventional surgical instruments, the direction in which the user operates the operating part and the actual operating direction of the end tool are different and do not intuitively match, which makes it difficult for the surgeon to operate intuitively, takes a long time to become skilled at moving the end tool in the desired direction, and in some cases, malfunctions can occur, potentially causing harm to the patient.

[0139] To solve this problem, the electrocautery surgical instrument 10 according to the first embodiment of the present invention is characterized in that the operation direction of the operating unit 200 and the actuation direction of the end tool 100 are intuitively the same direction. To achieve this, like the end tool 100, the operating unit 200 has a feature in which the parts that actually move for actuation, yaw, and pitch movements are formed to extend in the +X-axis direction from the rotation center of the joint corresponding to each movement.

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

[0141] (Power transmission section)

[0142] The power transmission section 300 of the electrocautery surgical instrument 10 of FIG. 2 will now be described in further detail.

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

[0144] Here, wire 301 and wire 305 form a pair and can serve as a first jaw wire. Wire 302 and wire 306 form a pair and can serve as a second jaw wire. Here, a component including wire 301 and wire 305, which are the first jaw wires, and wire 302 and wire 306, which are the second jaw wires, can be called a jaw wire. And wire 303 and wire 304 form a pair and can serve as a pitch wire.

[0145] Furthermore, the power transmission unit 300 of the electrocautery surgical instrument 10 according to one embodiment of the present invention may include fastening members 321, 322, 323, 324, 326, and 327 coupled to each end of each wire to connect the wire to the pulley. Here, each fastening member may have various shapes, such as a ball shape or a tube shape, as needed.

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

[0147] Furthermore, on the operating unit 200 side, the fastening member 324 can serve as a first jaw wire-operating unit fastening member, and the fastening member 327 can serve as a second jaw wire-operating unit fastening member. Although not shown in the drawings, the operating unit 200 side may further be provided with a pitch wire-operating unit fastening member and a blade wire-operating unit fastening member.

[0148] The connection relationship between the wire, the fastening member, and the pulleys will be described in detail below.

[0149] First, wire 301 and wire 305, which are the first jaw wires, may be one single wire. Fastening member 323, which is a first jaw wire-end tool fastening member, is sandwiched at the midpoint of the first jaw wire, which is a single wire, and this fastening member 323 is crimped and fixed, and then both strands of the first jaw wire with fastening member 323 at the center can be called wire 301 and wire 305, respectively.

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

[0151] Then, by connecting this fastening member 323 to the pulley 111, the wires 301 and 305 can be fixedly connected to the pulley 111. This allows the wires 301 and 305 to be pulled or loosened, allowing the pulley 111 to rotate.

[0152] Meanwhile, a first jaw wire-operating portion fastening member 324 may be coupled to the ends of the wires 301 and 305 opposite to where the fastening member 323 is fastened.

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

[0154] Similarly, wire 302 and wire 306, which are second jaw wires, are coupled to fastening member 326, which is a second jaw wire-end tool fastening member, and second jaw wire-operating unit fastening member 327, respectively. Fastening member 326 is coupled to pulley 121, and second jaw wire-operating unit fastening member 327 is coupled to pulley 220. As a result, when pulley 220 is rotated by a motor or by human power, wires 302 and 306 are pulled or loosened, allowing pulley 121 of end tool 100 to rotate.

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

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

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

[0158] At this time, at least a portion of the braid wire 307 may be housed in a guide tube 171, which will be described later. Therefore, when the guide tube 171 is bent in response to the pitch or yaw movement of the end tool 100, the braid wire 307 housed therein may also be bent together with the guide tube 171. Such a guide tube 171 will be described in more detail later.

[0159] Furthermore, the braid wire 307 is formed so as to be able to move linearly within the connecting portion 400 along the longitudinal direction of the connecting portion 400. One end of the braid wire 307 is coupled to the blade 175, so when the braid wire 307 moves linearly along the longitudinal direction of the connecting portion 400, the blade 175 connected thereto also moves linearly. In other words, when the braid wire 307 moves linearly along the longitudinal direction of the connecting portion 400, the blade 175 connected thereto moves toward the distal portion 104 or the proximal portion 105 of the end tool 100, thereby performing a cutting operation. This will be described in more detail later.

[0160] (end tool)

[0161] The endotool 100 of the electrocautery surgical instrument 10 of FIG. 2 is described in further detail below.

[0162] FIG. 2 is a perspective view of an electrocautery surgical instrument according to a first embodiment of the present invention, and FIGS. 3, 4, 5, and 6 are perspective views of an endotool of the electrocautery surgical instrument of FIG. 2. FIGS. 9 and 10 are perspective views of an endotool hub of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. 11 is a cutaway perspective view of the endotool hub of FIG. 9. FIG. 12 is a side view of the endotool hub and link of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. 13 is a plan view of the endotool hub and link of the endotool of the electrocautery surgical instrument of FIG. 2. FIG. 14 is an exploded perspective view of the jaw-link-jaw pulley of the endotool of the electrocautery surgical instrument of FIG. 2.

[0163] Here, Fig. 3 shows a state in which the end tool hub 160 and the pitch hub 150 are coupled, and Fig. 4 shows a state in which the end tool hub 160 is removed. Fig. 5 shows a state in which the first jaw 101 and the second jaw 102 are removed, and Fig. 6 shows a state in which the first jaw 101, the second jaw 102, the pulley 111, the pulley 121, etc. are removed. Meanwhile, Fig. 7 is a view mainly showing the wires, and Fig. 8 is a view mainly showing the pulleys.

[0164] 2 to 14, an end tool 100 according to a first embodiment of the present invention includes a pair of jaws for performing a gripping operation, namely, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component that collectively includes the first jaw 101 and the second jaw 102, can be referred to as a jaw 103.

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

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

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

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

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

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

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

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

[0173] The first rotation shaft 141, the second rotation shaft 142, the third rotation shaft 143, and the fourth rotation shaft 144 can be arranged in order from the distal end 104 toward the proximal end 105 of the end tool 100. As a result, in order from the distal end 104, the first rotation shaft 141 can be called the first pin, the second rotation shaft 142 the second pin, the third rotation shaft 143 the third pin, and the fourth rotation shaft 144 the fourth pin.

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

[0175] Here, each rotation axis may include two axes, a first sub-axis and a second sub-axis, or each rotation axis may be expressed as being formed by splitting it into two.

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

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

[0178] Although the drawings show each rotating shaft as being divided into two, the spirit of the present invention is not limited to this. That is, each rotating shaft may be bent midway to form an escape route for the guide tube 171.

[0179] Each of these rotating shafts 141, 142, 143, 144 may be fitted with one or more pulleys, which will be described in more detail below.

[0180] Meanwhile, the end tool 100 may further include an actuation rotation axis 145. In particular, the actuation rotation axis 145 may be provided at the joint between the first jaw 101 and the second jaw 102, and an actuation operation may be performed while the second jaw 102 rotates around the actuation rotation axis 145 while the first jaw 101 is fixed. Here, the actuation rotation axis 145 may be disposed closer to the distal portion 104 than the first rotation axis 141.

[0181] Here, one feature of the end tool 100 of the first embodiment of the present invention is that the first rotation axis 141, which is the yaw rotation axis, and the actuation rotation axis 145 are provided separately rather than as a single axis. That is, the first rotation axis 141, which is the rotation axis of the pulleys 111 and 112 that are jaw pulleys and is the rotation axis of the yaw operation, and the actuation rotation axis 145, which is the rotation axis of the second jaw 102 relative to the first jaw 101 and is the rotation axis of the actuation operation, are formed at a certain distance from each other, thereby ensuring a space in which the guide tube 171 and the braid wire 307 housed therein can be gently bent. The actuation rotation axis 145 will be described in more detail later.

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

[0183] Pulleys 111 and 121, which are end tool jaw pulleys, are formed to face each other and are rotatable independently of each other around a first rotation axis 141, which is the rotation axis of the end tool jaw pulleys. Pulleys 111 and 121 are formed to be spaced apart to a certain extent, and a blade assembly receiving portion can be formed therebetween. At least a portion of a blade assembly 170, which will be described later, can be disposed in this blade assembly receiving portion. In other words, the blade assembly 170, which includes a guide tube 171, is disposed between pulleys 111 and 121.

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

[0185] Meanwhile, the pulley 121 is connected to the second jaw 102 via the second link 190 described later, and when the pulley 121 rotates around the first rotation axis 141, the second jaw 102 connected thereto can rotate around the first rotation axis 141 or the actuation rotation axis 145.

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

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

[0188] Then, the yaw movement and actuation movement of the end tool 100 are performed in response to the rotation of the pulley 111 and the pulley 121. That is, when the pulley 111 and the pulley 121 rotate in the same direction around the first rotation axis 141, the first jaw 101 and the second jaw 102 rotate around the first rotation axis 141, thereby performing a yaw movement. On the other hand, when the pulley 121 rotates independently in a fixed direction around the first rotation axis 141, the second jaw 102 rotates around the actuation rotation axis 145 relative to the first jaw 101, thereby performing an actuation movement.

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

[0190] In detail, pulleys 112 and 122, which are end tool jaw auxiliary pulleys, may be further provided on one side of pulley 111 and pulley 121. That is, pulley 112, which is an auxiliary pulley, may be disposed between pulley 111 and pulley 113 / pulley 114. Also, pulley 122, which is an auxiliary pulley, may be disposed between pulley 121 and pulley 123 / pulley 124. Pulley 112 and pulley 122 may be formed to be rotatable independently of each other around second rotation shaft 142. Such auxiliary pulleys will be described in more detail later.

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

[0192] Pulleys 115 and 116 function as end tool first jaw pitch sub-pulleys, and pulleys 125 and 126 function as end tool second jaw pitch sub-pulleys, and these two components can also be collectively referred to as end tool jaw pitch sub-pulleys.

[0193] The components involved in the rotation of the pulley 111 will be described below.

[0194] Pulley 113 and pulley 114 function as end tool first jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 that is a first jaw wire is wound around pulley 113, and a wire 305 that is a first jaw wire is wound around pulley 114.

[0195] Pulley 115 and pulley 116 function as end tool first jaw pitch sub-pulleys. That is, they function as sub-rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 which is the first jaw wire is wound around pulley 115, and a wire 305 which is the first jaw wire is wound around pulley 116.

[0196] Pulleys 113 and 114 are disposed on one side of pulleys 111 and 112 so as to face each other. Pulleys 113 and 114 are configured to rotate independently of each other around a third rotation axis 143, which is the end tool pitch rotation axis. Pulleys 115 and 116 are disposed on one side of pulleys 113 and 114 so as to face each other. Pulleys 115 and 116 are configured to rotate independently of each other around a fourth rotation axis 144, which is the end tool pitch auxiliary rotation axis. Although the drawings show pulleys 113, 115, 114, and 116 as all rotatable around the Y-axis, the spirit of the present invention is not limited thereto, and the rotation axis of each pulley may be oriented in various directions as appropriate for the configuration.

[0197] Wire 301, which is the first jaw wire, is wound around pulley 115, pulley 113, and pulley 111 in sequence so that at least a portion of the wire contacts pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound around pulley 111, pulley 112, pulley 114, and pulley 116 in sequence so that at least a portion of the wire contacts pulley 115, pulley 113, and pulley 111.

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

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

[0200] Next, components related to the rotation of the pulley 121 will be described.

[0201] Pulley 123 and pulley 124 function as end tool second jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch operation of second jaw 102. Here, a wire 306 serving as the second jaw wire is wound around pulley 123, and a wire 302 serving as the second jaw wire is wound around pulley 124.

[0202] Pulley 125 and pulley 126 function as end tool second jaw pitch sub-pulleys. That is, they function as sub-rotating pulleys for the pitch operation of second jaw 102. Here, a wire 306 serving as the second jaw wire is wound around pulley 125, and a wire 302 serving as the second jaw wire is wound around pulley 126.

[0203] Pulleys 123 and 124 are disposed on one side of pulleys 121 and 122 so as to face each other. Pulleys 123 and 124 are formed to be rotatable independently of each other around a third rotation axis 143, which is the end tool pitch rotation axis. Pulleys 125 and 126 are disposed on one side of pulleys 123 and 124 so as to face each other. Pulleys 125 and 126 are formed to be rotatable independently of each other around a fourth rotation axis 144, which is the end tool pitch auxiliary rotation axis. Although the drawings show pulleys 123, 125, 124, and 126 as all being rotatable around the Y-axis direction, the spirit of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0204] Wire 306, which is the second jaw wire, is wound around pulley 125, pulley 123, and pulley 121 in order so that at least a portion of the wire contacts pulley 125, pulley 123, and pulley 121. Wire 302, which is connected to wire 306 by fastening member 326, is wound around pulley 121, pulley 122, pulley 124, and pulley 126 in order so that at least a portion of the wire contacts pulley 125, pulley 123, and pulley 121.

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

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

[0207] Pulleys 112 and 122, which act as auxiliary pulleys, will be described in more detail below.

[0208] Pulley 112 and pulley 122 can play a role in expanding the rotation angle of first jaw 101 and second jaw 102, respectively, by coming into contact with wire 305, which is the first jaw wire, and wire 302, which is the second jaw wire, and changing the placement paths of wire 305 and wire 302 to a certain extent.

[0209] That is, without the auxiliary pulleys, the first and second jaws could only rotate up to a right angle. However, in one embodiment of the present invention, by further providing auxiliary pulleys 112 and 122, the maximum rotation angle can be increased by θ as seen in FIG. 7 . This enables the two jaws of the end tool 100 to perform an actuation operation in which the two jaws must spread apart when the two jaws are yaw-rotated 90° in the L direction. This is because the second jaw 102 can rotate by an additional angle (θ) as in FIG. 7 . Similarly, actuation is possible even when the two jaws are yaw-rotated in the L direction. In other words, the pulleys 112 and 122 have the advantage of expanding the range of yaw rotation within which actuation is possible.

[0210] This will be explained in more detail as follows.

[0211] When the auxiliary pulley is not provided, the first jaw wire is fixedly connected to the end tool first jaw pulley, and the second jaw wire is fixedly connected to the end tool second jaw pulley, so the end tool first jaw pulley and the end tool second jaw pulley can only rotate up to 90°. In this case, if an actuation operation is performed with the first jaw and the second jaw positioned on the 90° line, the first jaw can spread, but the second jaw cannot rotate more than 90°. Therefore, there was a problem in that the actuation operation could not be performed smoothly when the first jaw and the second jaw were performing a yaw operation more than a certain angle.

[0212] To solve this problem, in the electrocautery surgical instrument 10 of the present invention, auxiliary pulleys 112 and 122 are further disposed on one side of pulley 111 and pulley 121. By disposing pulleys 112 and 122 in this manner, the arrangement paths of wire 305 (the first jaw wire) and wire 302 (the second jaw wire) are changed to a certain extent, thereby changing the tangential directions of wire 305 and wire 302, and thereby allowing fastening member 326 connecting wire 302 and pulley 121 to rotate up to line N in FIG. 7. That is, fastening member 326, which connects wire 302 and pulley 121, can rotate until it is positioned on the common inscribed line of pulleys 121 and 122. Similarly, fastening member 323, which connects wire 305 and pulley 111, can rotate until it is positioned on the common inscribed line of pulleys 111 and 112, thereby expanding the rotation range in the R direction.

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

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

[0215] In other words, wire 305 is located on the inscribed line between pulley 111 and pulley 112, and the rotation angle of pulley 111 is increased by pulley 112. Wire 302 is located on the inscribed line between pulley 121 and pulley 122, and the rotation angle of pulley 121 is increased by pulley 122.

[0216] According to the present invention, the rotation radius of the jaws 101 and 102 is increased, which has the effect of widening the yaw operation range in which normal opening and closing actuation operations can be performed.

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

[0218] On the other hand, when wire 301 is pulled in the direction of arrow 301 in FIG. 7 and wire 305 is simultaneously pulled in the direction of arrow 305 in FIG. 7 (i.e., when both strands of the first jaw wire are pulled), as shown in FIG. 6, wire 301 and wire 305 are wound around the lower part of pulley 113 and pulley 114, which can rotate around third rotation axis 143, which is the end tool pitch rotation axis. Therefore, pulley 111 to which wire 301 and wire 305 are fixedly connected and end tool hub 160 to which pulley 111 is connected rotate together counterclockwise around third rotation axis 143 as a whole, and as a result, end tool 100 performs a pitch motion while rotating downward. At this time, since the second jaw 102 and the wires 302 and 306 fixedly connected thereto are wound around the upper parts of the pulleys 123 and 124 which can rotate around the third rotation axis 143, the wires 302 and 306 loosen in the opposite direction to the wires 302 and 306, respectively.

[0219] Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 7 and wire 306 is simultaneously pulled in the direction of arrow 306 in Fig. 7, because wire 302 and wire 306 are wound around the upper parts of pulleys 123 and 124 that can rotate around third rotation axis 143, which is the end tool pitch rotation axis, as shown in Fig. 6, pulley 121 to which wire 302 and wire 306 are fixedly connected and end tool hub 160 to which pulley 121 is connected rotate together in the clockwise direction around third rotation axis 143, resulting in end tool 100 performing a pitch motion while rotating upward. At this time, first jaw 101 and wires 301 and 305 fixedly connected thereto are wound around the lower parts of pulleys 113 and 114 that can rotate around third rotation axis 143, so wires 302 and 306 move in the opposite direction to wires 301 and 305, respectively.

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

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

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

[0223] That is, the electrocautery surgical instrument 10 according to the first embodiment of the present invention includes a first pitch pulley portion 163a and a second pitch pulley portion 163b of the end tool 100, pulleys 231 and 232 of the operating unit 200, and wires 303 and 304 of the power transmission unit 300 for transmitting power for the pitch movement, which allows the driving force of the pitch movement of the operating unit 200 to be more completely transmitted to the end tool 100, thereby improving operational reliability.

[0224] (braid wire and guide tube)

[0225] The braid wire 307 and guide tube 171 of the present invention will be described in more detail below.

[0226] The guide tube 171 according to the present invention is formed to enclose the braid wire 307 at a predetermined section, and at this time, the braid wire 307 can move within the guide tube 171. In other words, when the braid wire 307 is inserted inside the guide tube 171, the braid wire 307 can move relative to the guide tube 171.

[0227] Here, the guide tube 171 prevents the braid wire 307 from bending in an unintended direction when the braid wire 307 is pushed or pulled, and serves to guide the path of the braid wire 307. Such a guide tube 171 allows for a smooth cutting operation.

[0228] Meanwhile, one end of the guide tube 171 may be fixedly coupled to a first coupling portion (not shown) in the end tool hub 160 or the first link 180 (described later). The other end of the guide tube 171 may be fixedly coupled to a second coupling portion (not shown) in the connecting portion 400. Since both ends of the guide tube 171 are fixedly coupled to predetermined points (the first coupling portion and the second coupling portion), the overall length of the guide tube 171 can be kept constant. Therefore, the length of the braid wire 307 inserted into the guide tube 171 can also be kept constant.

[0229] Meanwhile, the guide tube 171 according to the present invention is made of a flexible material and can be bent. Therefore, when the end tool 100 yaws about the first rotation axis 141 or pitches about the third rotation axis 143, the guide tube 171 can be bent while changing its shape accordingly. When the guide tube 171 is bent, the braid wire 307 inside it is also bent.

[0230] Here, the length of the guide tube 171 is constant, but as the end tool 100 rotates in pitch or yaw, the relative position and distance between the first coupling part (not shown) and the second coupling part (not shown) may change, and therefore a space is required for the guide tube 171 to move by the amount of this change in distance. To this end, a pitch slit 164 and a yaw slit 165 may be provided in the end tool hub 160 to form a space in which the guide tube 171 can move. The configuration of the end tool hub 160 will be described in detail later.

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

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

[0233] To reliably perform a cutting operation using the blade 175, it is most reliable to push or pull the blade 175 with the braid wire 307. Furthermore, in order for the braid wire 307 to push or pull the blade 175, a guide tube 171 capable of guiding the path of the braid wire 307 must be provided. If the guide tube 171 does not guide the path of the braid wire 307 (i.e., if the braid wire 307 is not fixed), cutting will not occur even when the braid wire 307 is pushed, and the middle portion of the braid wire 307 may be bent. Therefore, to reliably perform a cutting operation using the blade 175, the braid wire 307 and the guide tube 171 must be included.

[0234] Incidentally, in order to drive the cutting operation using the blade wire 307, it is necessary to cut while pushing the blade wire 307, and so a wire that is relatively hard (i.e., hard to bend) must be used as the blade wire 307 so that the blade wire 307 can receive the force at this time. However, a hard (i.e., hard to bend) wire has a small range of bending range and may be permanently deformed if a force exceeding a certain level is applied.

[0235] Another way to think about this is that for a stiff (i.e., hard to bend) wire, there is a minimum radius of curvature that it can bend or stretch without permanent deformation. In other words, if the wire or guide tube is bent below a certain radius of curvature, both the wire and the guide tube will be permanently deformed while remaining bent, making it impossible to cut while moving back and forth. Therefore, it is necessary to maintain the braid wire 307 so that it can be bent with a gentle curvature.

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

[0237] For this reason, one feature of the present invention is that it provides a first link 180 and a second link 190 that connect the jaw 103 to pulleys 111 and 112, which are jaw pulleys, and provides a certain amount of separation between the jaw 103 (i.e., actuation rotation axis 145) and the end tool hub 160 (i.e., first rotation axis 141, which is the yaw axis), thereby forming a space in which the braid wire 307 and the guide tube 171 can be gently bent. At the same time, the rotation of pulleys 111 and 112, which are jaw pulleys, is transmitted to the jaw 103 via the first link 180 and the second link 190.

[0238] In addition, the braid wire 307 and guide tube 171 must pass through the end tool hub 160 and be connected to the blade 175, and space is required within the end tool hub 160 to allow the braid wire 307 and guide tube 171 to bend. Therefore, 1) spaces are formed within the end tool hub 160 to allow the braid wire 307 / guide tube 171 to pass through and bend at the same time, i.e., pitch slits 164 and yaw slits 165, 2) each rotation axis must be divided into two, and 3) a pitch round portion 166 and a yaw round portion 167 are further formed to guide the bending of the braid wire 307 and guide tube 171.

[0239] From another perspective, when one end of the guide tube 171 is fixed within the connecting portion 400 and the other end moves while making pitch and yaw movements, the guide tube 171 bends in a direction that achieves the gentlest curvature (hereinafter referred to as the "maximum gentle curvature") according to the change in the distance between the two ends. Only by achieving the maximum gentle curvature in the natural state can the braid wire 307 move smoothly and permanent deformation not occur.

[0240] Therefore, to ensure the maximum gradual curvature, pitch slits 164 and yaw slits 165 can be formed on the path of the guide tube 171, and further pitch round portions 166 and yaw round portions 167 can be formed on the end tool hub 160. This allows the guide tube 171 to have a shape that is as similar as possible to the maximum gradual curvature (even if it is not the maximum gradual curvature).

[0241] Such an end tool hub 160 and jaw-link-jaw pulley connection structure will be described in more detail below.

[0242] (End Tool Hub)

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

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

[0245] First jaw pulley coupling portion 162a and second jaw pulley coupling portion 162b are connected by main body portion 161. In other words, first jaw pulley coupling portion 162a and second jaw pulley coupling portion 162b, which are parallel to each other, are coupled by main body portion 161 formed in a direction approximately perpendicular thereto, and first jaw pulley coupling portion 162a, second jaw pulley coupling portion 162b and main body portion 161 form an approximately U-shape, inside which pulleys 111 and 121 are housed.

[0246] From another perspective, this can also be expressed as the first jaw pulley connecting portion 162a and the second jaw pulley connecting portion 162b being formed to extend from the main body portion 161 in the X-axis direction.

[0247] Here, the pulley 111 serving as the first jaw pulley is disposed adjacent to the first jaw pulley coupling portion 162a of the end tool hub 160, and the pulley 121 serving as the second jaw pulley is disposed adjacent to the second jaw pulley coupling portion 162b of the end tool hub 160, so that a yaw slit 165 may be formed between the first jaw pulley coupling portion 162a and the second jaw pulley coupling portion 162b. At least a portion of the blade assembly 170, which will be described later, may be disposed within the yaw slit 165. From another perspective, this can also be expressed as at least a portion of the guide tube 171 of the blade assembly 170 being disposed between the first jaw pulley coupling portion 162a and the second jaw pulley coupling portion 162b. As described above, one feature of the present invention is that the blade assembly 170 including the guide tube 171 is disposed between the pulley 111, which is the first jaw pulley, and the pulley 121, which is the second jaw pulley, thereby enabling the end tool 100 to perform pitch and yaw movements as well as cutting operations using the blade 175. This will be described in more detail later.

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

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

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

[0251] From another perspective, the first rotation shaft 141 does not pass through the end tool hub 160 but is separated into upper and lower parts, and the yaw slit 165 can be formed in the vicinity of the first rotation shaft 141 on a plane perpendicular to the first rotation shaft 141. Therefore, the guide tube 171 can move (i.e., move left and right) within the yaw slit 165 while passing through the vicinity of the first rotation shaft 141.

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

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

[0254] Specifically, one end of the end tool hub 160 is formed in a disk shape like a pulley, and grooves around which wires are wound are formed on the outer circumferential surface to form the first pitch pulley portion 163a and the second pitch pulley portion 163b. The wires 303 and 304 are coupled to the first pitch pulley portion 163a and the second pitch pulley portion 163b, which function as end tool pitch pulleys, and the end tool hub 160 performs a pitch movement while rotating around the third rotation shaft 143.

[0255] On the other hand, although not shown in the figure, the pitch pulley may be formed as a separate member from the end tool hub 160 and coupled to the end tool hub 160 .

[0256] The first pitch pulley portion 163a and the second pitch pulley portion 163b are connected by the main body portion 161. That is, the first pitch pulley portion 163a and the second pitch pulley portion 163b, which are parallel to each other, are connected by the main body portion 161 formed in a direction approximately perpendicular thereto, and the first pitch pulley portion 163a, the second pitch pulley portion 163b, and the main body portion 161 form an approximately U-shape.

[0257] From another perspective, this can also be expressed as the first pitch pulley portion 163a and the second pitch pulley portion 163b being formed to extend from the main body portion 161 in the −X-axis direction.

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

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

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

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

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

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

[0264] As described above, the present invention is characterized in that the braid wire 307 and the guide tube 171 must pass through the end tool hub 160 and be connected to the blade 175, and further, space is required within the end tool hub 160 for the braid wire 307 and the guide tube 171 to bend. Therefore, 1) spaces for the braid wire 307 / guide tube 171 to pass through and bend at the same time, i.e., pitch slit 164 and yaw slit 165, are formed within the end tool hub 160, 2) the rotation axis is divided into two, and 3) a pitch round portion 166 and a yaw round portion 167 are further formed to guide the bending of the braid wire 307 / guide tube 171.

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

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

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

[0268] In detail, a protrusion 111a is formed on the first jaw pulley 111, a through hole (not shown) is formed on the first link 180, and the protrusion 111a of the first jaw pulley 111 can be fitted into the through hole (not shown) of the first link 180. Then, the first sub-shaft 141a of the first rotation shaft 141 can be inserted through the first jaw pulley 111 and the first link 180 in sequence. As a result, the first jaw pulley 111 and the first link 180 are connected at two points, and therefore the first jaw pulley 111 and the first link 180 are fixedly connected.

[0269] That is, the first link 180 does not rotate relative to the first jaw pulley 111, and when the first jaw pulley 111 rotates around the first rotation shaft 141, the first link 180 also rotates around the first rotation shaft 141 together with the first jaw pulley 111.

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

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

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

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

[0274] In detail, a protrusion 121a is formed on the second jaw pulley 121, and a through hole 190a is formed on the second link 190, so that the protrusion 121a of the second jaw pulley 121 can be fitted into the through hole 190a of the second link 190. Therefore, when the second jaw pulley 121 rotates, the second link 190 moves while rotating around the protrusion 121a.

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

[0276] In detail, a through hole 190b is formed in the second link 190, and a through hole 102a is also formed in the second jaw 102, and a pin-shaped fixing member 146 is inserted through the through hole 190b and the through hole 102a, thereby enabling the second link 190 and the second jaw 102 to be axially connected.

[0277] Then, the actuation rotating shaft 145 can be inserted through the second jaw 102, the first link 180, and the first jaw 101 in that order. Here, like the other rotating shafts, the actuation rotating shaft 145 can also be formed in two parts.

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

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

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

[0281] On the other hand, when the jaws 103 are closed as shown in Figure 16, if only the second jaw pulley 121 rotates in the direction of arrow A in Figure 15, the second link 190 connected to the second jaw pulley 121 moves in the direction of arrow B in Figure 15 by the second jaw pulley 121. Then, while the second link 190 moves in the direction of arrow B in Figure 15, it pulls the second jaw 102 connected to the second link 190 in the direction of arrow C in Figure 15, and therefore the second jaw 102 rotates in the direction of arrow C in Figure 15 around the actuation rotation axis 145, performing an actuation operation in which the jaws 103 open.

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

[0283] To put this another way, when a yaw operation is performed with the operating unit 200, the first jaw wire and the second jaw wire are pulled together, which causes the first jaw pulley 111 and the second jaw pulley 121 to rotate together, so that the second jaw 102 does not rotate relative to the first jaw 101.

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

[0285] (Cauterization and cutting related components)

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

[0287] Here, components related to driving the blade, such as the guide tube 171 and the blade 175, can be collectively referred to as the blade assembly 170. In one embodiment of the present invention, by disposing the blade assembly 170, including the guide tube 171 and the blade 175, between the pulley 111, which is the first jaw pulley, and the pulley 121, which is the second jaw pulley, it is possible to perform not only pitch and yaw movements of the end tool 100, but also cutting operations using the blade 175, which is one of the features of the present invention. This will be described in more detail.

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

[0289] Meanwhile, a first electrode 151 may be formed on a surface of the first jaw 101 facing the second jaw 102. A second electrode 152 may be formed on a surface of the second jaw 102 facing the first jaw 101.

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

[0291] Meanwhile, a spacer 153 may be formed between the first jaw 101 and the first electrode 151, and a spacer 154 may be formed between the second jaw 102 and the second electrode 152. The spacers 153 and 154 may include an insulating material such as ceramic. Alternatively, the first jaw 101 and the second jaw 102 themselves may be made of a non-conductor, so that the first electrode 151 and the second electrode 152 can be insulated from each other until they come into contact with each other without a separate insulator.

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

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

[0294] A region of the blade 175 may be formed with a sharpened edge for cutting tissue, and tissue positioned between the first jaw 101 and the second jaw 102 can be cut while at least a portion of the blade 175 moves between the distal portion 104 and the proximal portion 105 of the end tool 100.

[0295] Here, one feature of the endotool 100 of the electrocautery surgical instrument 10 according to one embodiment of the present invention is that it includes a guide tube 171 and a blade 175 disposed between the pulley 111 and the pulley 121. The provision of the guide tube 171 and the blade 175 allows the endtool 100 to perform both cauterization and cutting using a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation motions, which will be described in more detail below.

[0296] Various types of electrocautery surgical instruments have been developed. Among these, vessel resection devices known as advanced energy devices or vessel sealers have added sensing functionality compared to conventional bipolar cautery methods. They supply power of opposite polarity to two electrodes, which generates heat to denature blood vessels and stop bleeding, and then use a blade to cut the area where bleeding has stopped. The impedance of the tissue (or blood vessel) is measured while the current is flowing to determine whether cauterization is complete. Once cauterization is complete, the current supply is automatically stopped and the tissue is cut using the blade.

[0297] In the case of such bipolar vascular resection devices, a blade for cutting tissue after cauterization must be provided, and an instrument for linearly reciprocating the blade must be further provided on the end tool, so articulation movements such as pitch / yaw movements are often not possible.

[0298] On the other hand, there have been attempts to achieve joint movement in bipolar vascular resection devices using a bending joint connecting multiple segments, but in this case, there was a problem that the rotation angle was limited and it was difficult to accurately control the movement of the end tool.

[0299] On the other hand, in the case of a method of stopping bleeding and cutting using ultrasonic vibrations, it is impossible to provide a joint due to the physical characteristics of ultrasonic waves.

[0300] To solve this problem, the end tool 100 of the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized by including a guide tube 171 disposed between a pulley 111 and a pulley 121, and a blade 175 that moves between a first position and a second position in response to movement of a braid wire 307 disposed inside the guide tube 171. By including the guide tube 171 and the blade 175 in this manner, one feature of the end tool 100 is that it is a bipolar surgical instrument for cauterizing and cutting tissue, and even allows pitch / yaw / actuation movements using a pulley / wire system.

[0301] Fig. 15 is a diagram showing an open state of the end tool of the electrocautery surgical instrument of Fig. 2, Fig. 16 is a diagram showing a closed state of the end tool of the electrocautery surgical instrument of Fig. 2, Fig. 17 is a diagram showing a state in which the braid wire 307 and the blade 175 are located in a first position, Fig. 18 is a diagram showing a state in which the braid wire 307 and the blade 175 are located in a second position, and Fig. 19 is a diagram showing a state in which the braid wire 307 and the blade 175 are located in a third position.

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

[0303] 17 can be defined as a state in which the blade 175 is maximally retracted toward the proximal portion 105 of the end tool 100. Alternatively, it can be defined as a state in which the blade 175 is positioned adjacent to the pulley 111 / pulley 112.

[0304] 19 can be defined as a state in which the blade 175 is maximally extended toward the distal portion 104 of the end tool 100. Alternatively, the third position can be defined as a state in which the blade 175 is maximally separated from the pulley 111 / pulley 112.

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

[0306] 17, with the braid wire 307 and the braid 175 positioned at the first position, currents of different polarities are passed through the first electrode 151 and the second electrode 152 to cauterize the tissue between the first jaw 101 and the second jaw 102. At this time, a generator (not shown) that supplies power to the electrodes can itself monitor at least some of the current, voltage, resistance, impedance, and temperature, and can stop supplying power when cauterization is complete.

[0307] When the cauterization is completed in this manner, the blade wire 307 moves sequentially in the direction of arrow A1 in Figure 18 and the direction of arrow A2 in Figure 19, and the blade 175 connected to the blade wire 307 moves from a first position in the proximal portion 105 of the end tool 100 toward a third position in the distal portion 104 of the end tool 100, sequentially reaching the positions in Figures 18 and 19.

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

[0309] However, the linear movement of the blade 175 here does not mean only a perfectly straight line, but rather a movement that is sufficient to cut tissue when viewed as a whole, even if it is not a perfectly straight line, such as when the middle part of the straight line is bent at a predetermined angle, or there is a section with a gentle curvature in a certain section.

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

[0311] According to the present invention, it is possible to obtain an effect that a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation motion can be used to perform cauterization and cutting.

[0312] (Operation unit)

[0313] Figures 20 and 21 are perspective views showing the operating section of the surgical instrument of Figure 2. Figure 22 is a simplified diagram showing only the configuration of pulleys and wires that form the joints of the electrocautery surgical instrument shown in Figure 2.

[0314] 2 to 22, the operating unit 200 of the electrocautery surgical instrument 10 according to the first embodiment of the present invention includes a first handle 204 that can be held by the user, an actuation operating unit 203 that controls the actuation movement of the end tool 100, a yaw operating unit 202 that controls the yaw movement of the end tool 100, and a pitch operating unit 201 that controls the pitch movement of the end tool 100. Here, it can be understood that only the components related to the pitch / yaw / actuation movements of the electrocautery surgical instrument 10 are shown in FIGS. 20 and 21.

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

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

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

[0318] Furthermore, the operation unit 200 according to the first embodiment of the present invention can include rotation axes 241, 242, 243, 244, 245, and 246. Here, rotation axis 241 can function as an operation unit first jaw actuation rotation axis, and rotation axis 242 can function as an operation unit second jaw actuation rotation axis. Rotation axis 243 can function as an operation unit yaw main rotation axis, and rotation axis 244 can function as an operation unit yaw sub-rotation axis. Rotation axis 245 can function as an operation unit pitch sub-rotation axis, and rotation axis 246 can function as an operation unit pitch main rotation axis.

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

[0320] Each of these rotating shafts 241, 242, 243, 244, 245, and 246 can be fitted with one or more pulleys, which will be described in detail later.

[0321] Pulley 210 functions as an operating portion first jaw actuation pulley, and pulley 220 functions as an operating portion second jaw actuation pulley, and these components can also be commonly referred to as operating portion actuation pulleys.

[0322] Pulleys 211 and 212 function as an operating unit first jaw-yaw main pulley, and pulleys 221 and 222 function as an operating unit second jaw-yaw main pulley, and these components can also be commonly referred to as an operating unit yaw main pulley.

[0323] Pulleys 213 and 214 function as an operating unit first jaw-yaw sub-pulley, and pulleys 223 and 224 function as an operating unit second jaw-yaw sub-pulley, and these components can also be commonly referred to as operating unit yaw sub-pulleys.

[0324] Pulleys 215 and 216 function as operating unit first jaw pitch sub-pulleys, and pulleys 225 and 226 function as operating unit second jaw pitch sub-pulleys, and these components can also be commonly referred to as operating unit pitch sub-pulleys.

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

[0326] Pulleys 231 and 232 function as operation unit pitch wire main pulleys, and pulleys 233 and 234 function as operation unit pitch wire sub-pulleys.

[0327] The above components can be classified in terms of the operating parts for each movement (pitch / yaw / actuation) as follows:

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

[0329] The yaw operation unit 202 that controls the yaw movement of the end tool 100 can include pulleys 211, 212, 213, 214, 221, 222, 223, and 224. The yaw operation unit 202 can also include rotation shafts 243 and 244. The yaw operation unit 202 can further include a yaw frame 207.

[0330] The actuation operating unit 203 that controls the actuation movement of the end tool 100 may include a pulley 210, a pulley 220, a rotation shaft 241, and a rotation shaft 242. The actuation operating unit 203 may further include a first actuation operating unit 251 and a second actuation operating unit 256.

[0331] Each component of the operation unit 200 will be described in more detail below.

[0332] The first handle 204 is formed to be able to be held by a user's hand, and in particular, may be formed to be able to hold the first handle 204 with the palm of the user's hand. An actuation operation unit 203 and a yaw operation unit 202 are formed on the first handle 204, and a pitch operation unit 201 is formed on one side of the yaw operation unit 202. The other end of the pitch operation unit 201 is connected to the bent portion 402 of the connecting unit 400.

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

[0334] Here, the rotation axes 241 and 242, which are actuation rotation axes, may be formed to form a predetermined angle with the XY plane on which the coupling unit 400 is formed. For example, the rotation axes 241 and 242 may be formed in a direction parallel to the Z axis, and in this state, when the pitch operation unit 201 or the yaw operation unit 202 rotates, the coordinate system of the actuation operation unit 203 may change relatively. Of course, the spirit of the present invention is not limited thereto, and the rotation axes 241 and 242 may be formed in various directions to suit the structure of the hand of a user holding the actuation operation unit 203 according to ergonomic design.

[0335] Meanwhile, the pulley 210, the first actuation extension 252, and the first actuation gear 253 may be fixedly coupled to each other and configured to rotate together around the rotation shaft 241. Here, the pulley 210 may be configured as one pulley or as two pulleys fixedly coupled to each other.

[0336] Similarly, pulley 220, second actuation extension 257, and second actuation gear 258 may be fixedly coupled to each other and configured to rotate together around rotation axis 242. Here, pulley 220 may be configured as a single pulley, or may be configured as two pulleys fixedly coupled to each other.

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

[0338] Here, either the first actuation operation unit 251 or the second actuation operation unit 256 may be a dummy operation unit to which no wire is connected. The actuation operation in the present invention may be an operation in which the second jaw 102 rotates around the actuation rotation axis 145 while the first jaw 101 is stationary. Therefore, during the actuation operation, only the wire 302 / wire 306 connected to the second jaw 102 may move, and the wire 301 / wire 305 connected to the first jaw 101 may not move. Therefore, the wire 302 / wire 306, which is the second jaw wire connected to the second jaw 102, may be connected to either the first actuation operation unit 251 or the second actuation operation unit 256, and the wire 301 / wire 305, which is the first jaw wire connected to the first jaw 101, may not be connected to the actuation operation unit 203. In this case, the actuation operation portion on the other side to which the second jaw wire is not connected may be a dummy operation portion.

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

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

[0341] Meanwhile, in the figure, actuation operation unit 203 is shown to include first actuation operation unit 251 and second actuation operation unit 256, but this is one example of actuation operation unit 203 of the present invention, and actuation operation unit 203 may include only either first actuation operation unit 251 or second actuation operation unit 256. It can also be said that actuation operation unit 203 may be formed so as to rotate around another axis (for example, the Y axis) rather than being shaped like a strap that rotates around a rotation axis parallel to the Z axis.

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

[0343] Here, in the figure, yaw operation unit 202 is shown as including pulleys 211 and 212 and pulleys 221 and 222, with pulleys 211 and 212 and pulleys 221 and 222 being formed opposite each other and comprising two independently rotatable pulleys, but the spirit of the present invention is not limited to this. In other words, one or more pulleys having the same or different diameters may be provided depending on the configuration of yaw operation unit 202.

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

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

[0346] Meanwhile, pulleys 211 and 212 and pulleys 221 and 222 are coupled to a rotation shaft 243 so as to be rotatable about the rotation shaft 243. A first jaw wire, ie, wire 301 or wire 305, may be wound around pulley 211 or pulley 212, and a second jaw wire, ie, wire 302 or wire 306, may be wound around pulley 221 or pulley 222. In this case, pulleys 211 and 212 and pulleys 221 and 222 may be formed to face each other and may be configured as two pulleys that can rotate independently. Therefore, the wire to be wound and the wire to be taken up are wound around different pulleys, respectively, and can operate without interfering with each other.

[0347] Here, the wire 301 and the wire 305, which are the first jaw wires, may be fixedly coupled to the pulley 211 / pulley 212, respectively, by a fastening member 324. Specifically, the wire 305, which is the first jaw wire, may be fixedly coupled to the pulley 211 by the fastening member 324, and the wire 301, which is the first jaw wire, may be fixedly coupled to the pulley 212 by the fastening member 324.

[0348] Conversely, the wire 302 and the wire 306 which are the second jaw wires can be fixedly coupled to the pulley 220 of the actuation operating portion 203 via the pulley 221 / pulley 222.

[0349] The yaw frame 207 rigidly connects the first handle 204, the rotation axis 241, the rotation axis 242, and the rotation axis 243, allowing the first handle 204, the yaw operation unit 202, and the actuation operation unit 203 to yaw rotate integrally around the rotation axis 243.

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

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

[0352] Specifically, pitch frame 208 serves as a base frame of pitch operation unit 201, and one end of pitch frame 208 is rotatably coupled to rotation shaft 243. In other words, yaw frame 207 is formed so as to be rotatable around rotation shaft 243 relative to pitch frame 208.

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

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

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

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

[0357] In the end tool 100, a first pitch pulley portion 1163a and a second pitch pulley portion 1163b that serve as end tool pitch pulleys are formed on the end tool hub 160, and in the operation unit 200, pulleys 231 and 232 that serve as operation unit pitch pulleys are formed and fixedly coupled to the pitch frame 208. The pulleys are connected to each other by wires 303 and 304 that serve as pitch wires, so that the pitch operation of the end tool 100 can be more easily performed in response to the pitch operation of the operation unit 200. Here, wire 303 is fixedly coupled to the pitch frame 208 via pulleys 231 and 233, and wire 304 is fixedly coupled to the pitch frame 208 via pulleys 232 and 234. That is, the pitch rotation of the operating unit 200 causes the pitch frame 208 and the pulleys 231 and 232 to rotate together around the rotation axis 246, which in turn causes the wires 303 and 304 to move as well, and additional pitch rotation power can be transmitted in addition to the pitch movement of the end tool by the jaw wires, wires 301, 302, 305, and 306.

[0358] The respective connection relationships between the first handle 204 and the pitch operation unit 201, the yaw operation unit 202, and the actuation operation unit 203 can be summarized as follows: Rotational shafts 241, 242, 243, 244, 245, and 246 may be formed on the first handle 204. In this case, since rotational shafts 241 and 242 are formed directly on the first handle 204, the first handle 204 and the actuation operation unit 203 may be directly connected. On the other hand, since rotational shaft 243 is formed directly on the first handle 204, the first handle 204 and the yaw operation unit 202 may be directly connected. Meanwhile, since the pitch operation unit 201 is formed on one side of the yaw operation unit 202 so as to be connected to the yaw operation unit 202, the pitch operation unit 201 is not directly connected to the first handle 204, and the pitch operation unit 201 and the first handle 204 may be formed so as to be indirectly connected via the yaw operation unit 202.

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

[0360] One or more intermediate pulleys 235 that change or guide the path of the wire can be disposed in the middle of the connecting portion 400, particularly in the portion of the bent portion 402. At least a portion of the wire is wound around such intermediate pulley 235, and by guiding the path of the wire, the wire can be arranged along the bent shape of the bent portion 402.

[0361] Here, in the drawings, the connecting portion 400 is shown as having a bent portion 402 and being curved to have a predetermined curvature, but the spirit of the present invention is not limited thereto, and the connecting portion 400 may be formed straight or bent one or more times as needed, and even in such cases, it can be said that the pitch control portion 201 and the end tool 100 are formed on substantially the same or parallel axes. Furthermore, in FIG. 2, the pitch control portion 201 and the end tool 100 are shown as being formed on axes parallel to the X-axis, but the spirit of the present invention is not limited thereto, and the pitch control portion 201 and the end tool 100 may be formed on different axes.

[0362] (actuation, yaw, pitch)

[0363] The actuation operation, yaw operation, and pitch operation in this embodiment will be described below.

[0364] First, the actuation operation is as follows.

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

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

[0367] In this embodiment, for the actuation operation described above, the second handle is provided with the first actuation extension 252 and the second actuation extension 257, and can be gripped and operated with two fingers. However, the configuration of the actuation operation unit 203 for the actuation operation of opening and closing the two jaws of the end tool 100 relative to each other may be different from that described above, and other modified examples, such as a configuration in which one actuation rotating unit operates two actuation pulleys (pulley 210, pulley 220) in opposite directions to each other, are also possible.

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

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

[0370] At this time, the yaw frame 207 connects the first handle 204, the rotation shaft 241, the rotation shaft 242, and the rotation shaft 243, so that the first handle 204, the yaw operation unit 202, and the actuation operation unit 203 rotate together around the rotation shaft 243.

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

[0372] When the user rotates first handle 204 about rotation axis 246 while holding first handle 204, actuation operation unit 203, yaw operation unit 202, and pitch operation unit 201 perform pitch rotation about rotation axis 246. That is, when pulleys 211 and 212 of yaw operation unit 202, to which wires 301 and 305 are fixedly coupled, rotate about rotation axis 246, wires 301 and 305 wound around pulleys 217 and 218 move. Similarly, when pulley 220 of second actuation operation unit 256, to which wires 302 and 306 are fixedly coupled, rotates about rotation axis 246, wires 302 and 306 wound around pulleys 227 and 228 move. 5, wires 301 and 305 serving as first jaw wires move in the same direction, and wires 302 and 306 serving as second jaw wires move in the same direction, so that first jaw 101 and second jaw 102 can pitch rotate. The jaw wires, wires 301, 305, wire 302, and wire 306, are wound around pulleys 217, 218, 227, and 228, which are the operation unit pitch main pulleys. Such rotational force is then transmitted to end tool 100 via power transmission unit 300, and two jaws 103 of end tool 100 perform pitch movement.

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

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

[0375] Figure 22 is a simplified diagram illustrating only the configuration of pulleys and wires that constitute the joints of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in Figure 2. In Figure 22, an intermediate pulley for changing the path of the wire regardless of articulation is omitted.

[0376] Referring to FIG. 22, the operating portion 200 may include a pulley 210 , a pulley 211 , a pulley 212 , a pulley 213 , a pulley 214 , a pulley 215 , a pulley 216 , a pulley 217 , and a pulley 218 related to the rotational movement of the first jaw 101 .

[0377] The operating unit 200 may also include pulleys 220, 221, 222, 223, 224, 225, 226, 227, and 228 related to the rotational movement of the second jaw 122. (The arrangement and configuration of each pulley in the operating unit 200 is fundamentally the same as the arrangement and configuration of each pulley in the end tool 100, so some specific reference numerals will be omitted in the drawings.)

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

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

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

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

[0382] Wire 301 passes through pulleys 217, 215, and 213 of operating unit 200 in this order, and is wound around pulley 211, and then is coupled to pulley 212 by fastening member 324. On the other hand, wire 305 passes through pulleys 218, 216, and 214 of operating unit 200 in this order, and is coupled to pulley 211 by fastening member 324. Therefore, when pulley 211 rotates, wire 301 and wire 305 are wound around and unwound from pulley 211 accordingly, and first jaw 101 rotates.

[0383] Wire 306 passes through pulleys 227, 225, 223, and 221 of operating unit 200 in this order, and is wound around pulley 220, and then connected to pulley 220 by fastening member 327. On the other hand, wire 302 passes through pulleys 228, 226, 224, and 222 of operating unit 200 in this order, and is connected to pulley 220 by fastening member 327. Therefore, when pulley 220 rotates, wire 302 and wire 306 are wound around or unwound from pulley 220 accordingly, and second jaw 102 rotates.

[0384] (Conceptual diagram of pulleys and wires)

[0385] 24 and 25 are diagrams illustrating the configurations of pulleys and wires associated with the actuation and yaw motions of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in FIG. 2, with the first and second jaws respectively resolved. FIG. 24 is a diagram illustrating only the pulleys and wires associated with the second jaw, and FIG. 25 is a diagram illustrating only the pulleys and wires associated with the first jaw. Furthermore, FIG. 23 is a perspective view illustrating the yaw motion of the surgical instrument of FIG. 2. Note that components associated with the cutting motion have been omitted from FIG. 23.

[0386] First, the wire operation of the actuation operation will be described.

[0387] 24, when second actuation extension 257 rotates in the direction of arrow OPA2 around rotation axis 242, pulley 220 connected to second actuation extension 257 rotates, and wires 302 and 306 wound around pulley 220 move in the directions of W2a and W2b, respectively, resulting in second jaw 102 of end tool 100 rotating in the direction of arrow EPA2. Therefore, when the user operates first actuation extension 252 and second actuation extension 257 in directions that move them closer to each other, second jaw 102 of the end tool moves closer to first jaw 101.

[0388] At this time, the first jaw wires, wires 301 and 305, are not connected to the actuation operating unit 203, so even if the actuation operating unit 203 is activated, wires 301 and 305 do not move, and therefore the first jaw 101 does not rotate.

[0389] Next, the wire operation for yaw movement will be described.

[0390] First, the rotation shaft 243 is connected to the rotation shafts 241 and 242 by a yaw frame (see 207 in Figure 30), so the rotation shaft 243 rotates together with the rotation shafts 241 and 242 as a single unit.

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

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

[0393] 27 and 28 are diagrams illustrating the configuration of pulleys and wires associated with the pitch movement of the electrocautery surgical instrument 10 according to one embodiment of the present invention shown in FIG. 2, with the first and second jaws respectively disassembled. FIG. 27 illustrates only the pulleys and wires associated with the first jaw, and FIG. 28 illustrates only the pulleys and wires associated with the second jaw. As shown in FIG. 9 and other figures, there are two pulleys associated with the pitch movement, and both strands of each wire are wound along the same path, which is represented by a single line in FIGS. 27 and 28. FIG. 26 is a perspective view illustrating the pitch movement of the surgical instrument of FIG. 2. Note that components associated with the cutting movement are omitted from FIG. 26.

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

[0395] 28, when first handle 204 is rotated in the direction of arrow OPP2 around rotation axis 246, pulleys 220, 225, 227, etc., and wire 302 wound thereon, etc., rotate as a whole around rotation axis 246. At this time, wires 302 and 306, which are second jaw wires, move in the direction of arrow W2 because they are wound around the lower sides of pulleys 227 and 228, as shown in FIG. 22. As a result, second jaw 102 of end tool 100 rotates in the direction of arrow EPP2, as described with reference to FIG. 5.

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

[0397] As explained with reference to Figure 1, the actuation operation unit 203, yaw operation unit 202, and pitch operation unit 201 have their rotation axes located at the rear of each operation unit, and are configured in the same manner as the joint configuration of the end tool, allowing the user to intuitively perform consistent operations.

[0398] In particular, the electrocautery surgical instrument 10 according to one embodiment of the present invention is characterized in that a pulley is formed at each joint point (actuation joint, yaw joint, pitch joint), and a wire (first jaw wire or second jaw wire) is wound around this pulley, and rotation of the operating unit (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing the desired operation of the end tool 100. Furthermore, an auxiliary pulley can be formed on one side of each pulley, and these auxiliary pulleys can prevent the wire from being wound around one pulley multiple times, prevent the wires wound around the pulleys from contacting each other, and safely form paths for the wire being wound around the pulleys and the wire being wound up and unwound, thereby improving the safety and efficiency of wire power transmission.

[0399] On the other hand, as described above, the yaw operation unit 202 and the actuation operation unit 203 are formed directly on the first handle 204. Therefore, when the first handle 204 rotates around the rotation axis 246, the yaw operation unit 202 and the actuation operation unit 203 also rotate together with the first handle 204. As a result, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 is not fixed, but continues to change relatively in response to the rotation of the first handle 204. That is, in FIG. 2 and other figures, the yaw operation unit 202 and the actuation operation unit 203 are shown as being parallel to the Z axis. However, when the first handle 204 rotates, the yaw operation unit 202 and the actuation operation unit 203 are no longer parallel to the Z axis. That is, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 changes in response to the rotation of the first handle 204. However, for the sake of convenience, unless otherwise specified, the coordinate system of the yaw operation unit 202 and the actuation operation unit 203 has been described in this specification based on the state in which the first handle 204 is positioned perpendicular to the connecting unit 400, as shown in Figure 2.

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

[0401] Figures 29 and 30 are diagrams showing the process of opening and closing the end tool of the electrocautery surgical instrument of Figure 2 after a -90° yaw rotation, and Figures 31 and 32 are diagrams showing the process of opening and closing the end tool of the electrocautery surgical instrument of Figure 2 after a +90° yaw rotation.

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

[0403] 33 and 34 are diagrams showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by +90° in a yaw direction.

[0404] As shown in Figures 33 and 34, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured to be able to perform a normal cutting operation even when the jaw is rotated +90° in a yaw direction.

[0405] Figure 35 is a diagram showing a state in which the endotool of the electrocautery surgical instrument of Figure 2 has been rotated a -90° pitch, and Figure 36 is a diagram showing a state in which the endotool of the electrocautery surgical instrument of Figure 2 has been rotated a +90° pitch. Figure 37 is a cutaway perspective view of the endotool of the electrocautery surgical instrument of Figure 36. Figures 38 and 39 are diagrams showing the process of a cutting operation when the endotool of the electrocautery surgical instrument of Figure 2 has been rotated a -90° pitch.

[0406] As shown in Figures 35 to 39, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured to be able to perform a normal cutting operation even when the jaws are rotated by -90°.

[0407] On the other hand, Figure 40 is a diagram showing a state in which the jaw has pitch rotated -90° and simultaneously rotated +90° in a yaw direction, and Figures 41, 42, and 43 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 2, showing how the cutting operation is performed in a state in which the jaw has pitch rotated -90° and simultaneously rotated +90° in a yaw direction.

[0408] As shown in Figures 40 to 43, the end tool of the electrocautery surgical instrument according to the first embodiment of the present invention is configured so that normal cutting operations can be performed even when the jaws are pitch rotated by -90° and yaw rotated by +90° at the same time.

[0409] (First Modification of First Embodiment - Jaw Opening and Closing Vertical Direction)

[0410] The following describes an endotool 1100 of a surgical instrument according to a first modified example of the first embodiment of the present invention. The endotool 1100 of a surgical instrument according to the first modified example of the first embodiment of the present invention is characterized by a different opening and closing direction of the jaw 103 compared to the endotool 100 of a surgical instrument according to the first embodiment of the present invention (see 100 in FIG. 2, etc.). Such differences from the first embodiment will be described in detail later.

[0411] Figures 44, 45, 46, and 47 show an endotool of an electrocautery surgical instrument according to a first modified example of the first embodiment of the present invention, Figure 48 is an exploded perspective view of the endotool of Figure 44, and Figures 49 and 50 are views showing the process of the endotool of the electrocautery surgical instrument of Figure 44 performing a cutting operation. Here, Figure 47 shows a state in which the first jaw and second jaw are removed.

[0412] Referring to Figures 44 to 50, an end tool 1100 of a first variant of the first embodiment of the present invention includes a pair of jaws for performing a gripping operation, namely a first jaw 1101 and a second jaw 1102, where each of the first jaw 1101 and the second jaw 1102, or the components encompassing the first jaw 1101 and the second jaw 1102, can be referred to as jaw 1103.

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

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

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

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

[0417] The end tool hub 1160 has the rotating shaft 1141 and the rotating shaft 1142 inserted therethrough, and the pulley 1111 and the pulley 1121 axially coupled to the rotating shaft 1141, and at least a portion of the first jaw 1101 and the second jaw 1102 coupled thereto, may be housed inside the end tool hub 1160.

[0418] Meanwhile, a first pitch pulley portion 1163a and a second pitch pulley portion 1163b that function as end tool pitch pulleys may be formed at one end of the end tool hub 1160. A wire (see 303 in FIG. 6) and a wire (see 304 in FIG. 6) are coupled to the first pitch pulley portion 1163a and the second pitch pulley portion 1163b that function as end tool pitch pulleys, and the end tool hub 1160 performs a pitch movement while rotating around the rotation axis 1143.

[0419] The rotation shaft 1143 and the rotation shaft 1144 are inserted through the pitch hub 1150, and the rotation shaft 1143 enables the pitch hub 1150 to be axially coupled to the end tool hub 1160. Therefore, the end tool hub 1160 can be formed to be able to pitch rotate relative to the pitch hub 1150 around the rotation shaft 1143.

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

[0421] The electrocautery surgical instrument according to the first variant of the first embodiment of the present invention can include wire 301, wire 302, wire 303, wire 304, wire 305, wire 306, and blade wire 307, similar to the first embodiment of the present invention shown in Figure 13, etc.

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

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

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

[0425] 3 and other figures, the actuation rotation axis 145 and the yaw rotation axis 141 are formed parallel to each other, and these two axes may also be formed parallel to the Z axis. Therefore, the jaws 103 open and close on the XY plane perpendicular to the Z axis.

[0426] In contrast, in the end tool 1100 of the first modified example of the first embodiment of the present invention, the yaw rotation axis 1141 is formed parallel to the Z axis, while the actuation rotation axis 1145 is formed parallel to the Y axis. In other words, the actuation rotation axis 1145 and the yaw rotation axis 1141 are arranged perpendicular to each other. The jaw 1103 opens and closes on the XZ plane perpendicular to the Y axis.

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

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

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

[0430] That is, since the first link 1180 does not rotate relative to the first jaw pulley 1111 , when the first jaw pulley 1111 rotates around the first rotation shaft 1141 , the first link 1180 also rotates around the first rotation shaft 1141 together with the first jaw pulley 1111 .

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

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

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

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

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

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

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

[0438] Then, the actuation rotating shaft 1145 can be inserted through the second jaw 1102, the first link 1180, and the first jaw 1101 in that order. Here, like the other rotating shafts, the actuation rotating shaft 1145 can also be formed in two parts.

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

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

[0441] The yaw and actuation movements of the end tool 1100 are described below.

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

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

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

[0445] To put this another way, when a yaw operation is performed with the operating unit 200, the first jaw wire and the second jaw wire are pulled together, which causes the first jaw pulley 1111 and the second jaw pulley 1121 to rotate together, so that no rotation of the second jaw 1102 occurs relative to the first jaw 1101.

[0446] On the other hand, when an actuation operation is performed using the operating unit 200, only the second jaw wire is pulled, which causes only the second jaw pulley 1121 to rotate while the first jaw pulley 1111 remains fixed, and therefore the second link 1190 is pulled while the actuation rotation axis 1145 remains fixed, causing the second jaw 1102 to rotate around the actuation rotation axis 1145.

[0447] As described above, one feature of the end tool 1100 of the first modified example of the first embodiment of the present invention is that the actuation rotation axis 1145 and the yaw rotation axis 1141 are arranged perpendicular to each other. This also makes the opening and closing direction of the jaw 1103 and the arrangement direction of the blade 1175 vertical, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0448] (Second Modification of First Embodiment - Engraving)

[0449] The following describes an end tool 1200 of a surgical instrument according to a second modified example of the first embodiment of the present invention. The end tool 1200 of a surgical instrument according to the second modified example of the first embodiment of the present invention is characterized by a different configuration of an end tool hub 1260 that serves as an auxiliary pulley compared to the end tool 100 of a surgical instrument according to the first embodiment of the present invention (see FIG. 2, etc.). Such configurations that differ from the first embodiment will be described in detail later.

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

[0451] 51 to 57, an end tool 1200 according to a second modified example of the first embodiment of the present invention includes a pair of jaws, i.e., a first jaw 1201 and a second jaw 1202, for performing a gripping operation, where each of the first jaw 1201 and the second jaw 1202, or a component that encompasses the first jaw 1201 and the second jaw 1202, can be referred to as jaw 1203.

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

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

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

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

[0456] The pulley 1211 is connected to the first jaw 1201 via a first link 1280, and when the pulley 1211 rotates around the first rotation shaft 1241, the first jaw 1201 can also rotate around the first rotation shaft 1241 together.

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

[0458] Additionally, the end tool 1200 according to the second modification of the first embodiment of the present invention may include an end tool hub 1260 and a pitch hub 1250 .

[0459] A rotary shaft 1241, which will be described later, is inserted through the end tool hub 1260, and the pulleys 1211 and 1221 axially coupled to the rotary shaft 1241 and at least a portion of the first jaw 1201 and second jaw 1202 coupled thereto can be housed inside the end tool hub 1260. Here, one feature of one embodiment of the present invention is that a wire guide portion 1268 that serves as an auxiliary pulley is formed in the end tool hub 1260. That is, the end tool hub 1260 may be formed with a first wire guide portion 1268a and a second wire guide portion 1268b that guide the paths of the wires 305 and 302. Such a wire guide portion 1268 of the end tool hub 1260 can function as the auxiliary pulley (see 112, 122 in Figure 9) in the first embodiment to change the path of the wire, and the first wire guide portion 1268a and second wire guide portion 1268b of the end tool hub 1260, which function as auxiliary pulleys in this manner, will be described in more detail later.

[0460] Meanwhile, a first pitch pulley portion 1263a and a second pitch pulley portion 1263b that serve as end tool pitch pulleys may be formed at one end of the end tool hub 1260. A wire (see 303 in FIG. 6) and a wire (see 304 in FIG. 6) are coupled to the first pitch pulley portion 1263a and the second pitch pulley portion 1263b that serve as end tool pitch pulleys, and the end tool hub 1260 performs a pitch movement while rotating around the rotation axis 1243.

[0461] The rotation shaft 1243 and the rotation shaft 1244 are inserted through the pitch hub 1250, and the rotation shaft 1243 enables the pitch hub 1250 to be axially coupled to the end tool hub 1260 and the pulley 1231. Therefore, the end tool hub 1260 and the pulley 1231 can be formed to be able to pitch rotate relative to the pitch hub 1250 around the rotation shaft 1243.

[0462] Meanwhile, the end tool 1200 of a second modification of the first embodiment of the present invention may further include components such as a first electrode 1251, a second electrode 1252, a guide tube 1271, and a blade (see 175 in FIG. 6) for performing cautery and cutting operations. Here, components related to driving the blade, such as the guide tube 1271 and the blade (see 175 in FIG. 6), may be collectively referred to as a blade assembly (see 170 in FIG. 6). This modification of the present invention is characterized in that the blade assembly (see 170 in FIG. 6) including the blade (see 175 in FIG. 6) is disposed between a first jaw pulley, ie, a pulley 1211, and a second jaw pulley, ie, a pulley 1221, thereby enabling pitch and yaw movements of the end tool 1200 as well as cutting operations using the blade. The components for performing cautery and cutting operations in this embodiment are substantially the same as those described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0463] The electrocautery surgical instrument according to the second variant of the first embodiment of the present invention can include wire 301, wire 302, wire 303, wire 304, wire 305, wire 306, and blade wire 307, similar to the first embodiment of the present invention shown in Figure 13, etc.

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

[0465] The end tool hub 1260 of the second modified example of the first embodiment of the present invention will be described in more detail below, with particular emphasis on the wire guide portion 1268 of the end tool hub 1260 that serves as an auxiliary pulley.

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

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

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

[0469] From another perspective, this can also be expressed as the first jaw pulley connecting portion 1262a and the second jaw pulley connecting portion 1262b being formed to extend from the main body portion 1261 in the X-axis direction.

[0470] Here, the pulley 1211 serving as the first jaw pulley is disposed adjacent to the first jaw pulley coupling portion 1262a of the end tool hub 1260, and the pulley 1221 serving as the second jaw pulley is disposed adjacent to the second jaw pulley coupling portion 1262b of the end tool hub 1260, so that a yaw slit 1265 can be formed between the first jaw pulley coupling portion 1262a and the second jaw pulley coupling portion 1262b. At least a portion of the blade assembly 1270, which will be described later, can be disposed within the yaw slit 1265. From another perspective, this can also be expressed as at least a portion of the guide tube 1271 of the blade assembly 1270 being disposed between the first jaw pulley coupling portion 1262a and the second jaw pulley coupling portion 1262b. In this manner, one feature of the present invention is that by disposing the blade assembly 1270 including the guide tube 1271 between the first jaw pulley, pulley 1211, and the second jaw pulley, pulley 1221, it is possible to perform pitch and yaw movements of the end tool 1200 as well as cutting operations using the blade 1275.

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

[0472] In this case, as described above, the first rotating shaft 1241, which is the yaw rotating shaft, can be divided into two parts, the first sub-shaft 1241a and the second sub-shaft 1241b, and the guide tube 1271 can pass between the first sub-shaft 1241a and the second sub-shaft 1241b of the first rotating shaft 1241.

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

[0474] From another perspective, the first rotation shaft 1241 is separated into upper and lower parts without passing through the end tool hub 1260, and the yaw slit 1265 can be formed in the vicinity of the first rotation shaft 1241 on a plane perpendicular to the first rotation shaft 1241. Therefore, the guide tube 1271 can move (i.e., move left and right) within the yaw slit 1265 while passing through the vicinity of the first rotation shaft 1241.

[0475] Meanwhile, a yaw round portion 1267 may be further formed on the main body portion 1261. The yaw round portion 1267 may be rounded to have a predetermined curvature. Specifically, when viewed on a plane perpendicular to the first rotation axis 1241, which is the yaw rotation axis, the yaw round portion 1267 may be rounded to have a predetermined curvature. In this manner, the yaw round portion 1267 may play a role in guiding the path of the guide tube 1271 when the end tool 1200 performs yaw rotation.

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

[0477] Here, wire guide portion 1268 may be formed in a cylindrical shape with a substantially semicircular cross section. This semicircular portion can be disposed so as to protrude in the direction of pulley 1211 and pulley 1221. From another perspective, this can also be expressed as wire guide portion 1268 being formed to protrude toward the space formed by first jaw pulley coupling portion 1262a, second jaw pulley coupling portion 1262b, and main body portion 1261. From another perspective, this can also be expressed as the regions of wire guide portion 1268 adjacent to first jaw pulley coupling portion 1262a and second jaw pulley coupling portion 1262b being formed so that their cross sections are curved to have a predetermined curvature.

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

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

[0480] Here, a guide groove may be further formed in the portion of the wire guide portion 1268 that contacts the wire 305 and the wire 302 to better guide the paths of the wire 305 and the wire 302. The guide groove may be formed in the shape of a groove that is recessed to a certain extent from the protruding surface of the wire guide portion 1268.

[0481] Here, although the drawings show the guide grooves formed over the entire arcuate surface of the wire guide portion 1268, the spirit of the present invention is not limited thereto, and it can be said that the guide grooves can be formed over only a portion of the arcuate surface of the wire guide portion 1268, if necessary.

[0482] By forming a guide groove in the wire guide portion 1268 in this way, unnecessary friction with the wire can be reduced, and the durability of the wire can be improved.

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

[0484] Specifically, one end of the end tool hub 1260 is formed in a disk shape like a pulley, and grooves for winding wires are formed on the outer circumferential surface thereof to form a first pitch pulley portion 1263a and a second pitch pulley portion 1263b. The above-mentioned wires 303 and 304 are coupled to the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which function as end tool pitch pulleys, and this end tool hub 1260 performs a pitch movement while rotating around the third rotation shaft 1243.

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

[0486] The first pitch pulley portion 1263a and the second pitch pulley portion 1263b are connected by the main body portion 1261. That is, the first pitch pulley portion 1263a and the second pitch pulley portion 1263b, which are parallel to each other, are joined by the main body portion 1261 formed in a direction approximately perpendicular thereto, and the first pitch pulley portion 1263a, the second pitch pulley portion 1263b, and the main body portion 1261 form an approximately U-shape.

[0487] From another perspective, this can also be expressed as the first pitch pulley portion 1263a and the second pitch pulley portion 1263b being formed to extend from the main body portion 1261 in the X-axis direction.

[0488] Meanwhile, a through hole is formed in the first pitch pulley portion 1263a, so that the third rotating shaft 1243 can pass through the first pitch pulley portion 1263a. Also, a through hole is formed in the second pitch pulley portion 1263b, so that the third rotating shaft 1243 can pass through the second pitch pulley portion 1263b.

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

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

[0491] From another perspective, the third rotation shaft 1243 does not pass through the end tool hub 1260 but is separated into left and right sections, and the pitch slit 1264 can be formed in the vicinity of the third rotation shaft 1243 on a plane perpendicular to the third rotation shaft 1243. Therefore, the guide tube 1271 can move (i.e., move up and down) within the pitch slit 1264 while passing through the vicinity of the third rotation shaft 1243.

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

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

[0494] As described above, the present invention is characterized in that the braid wire 307 and the guide tube 1271 must pass through the end tool hub 1260 and be connected to the braid 1275, and further, space is required within the end tool hub 1260 for the braid wire 307 and the guide tube 1271 to bend. Therefore, 1) spaces for the braid wire 307 / guide tube 1271 to pass through and bend at the same time, i.e., pitch slit 1264 and yaw slit 1265, are formed within the end tool hub 1260, 2) the rotation axis is formed in two parts, and 3) a pitch round portion 1266 and a yaw round portion 1267 are further formed to guide the bending of the braid wire 307 / guide tube 1271.

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

[0496] The wire guide portion 1268 can play a role in increasing the rotation radius of each of the first jaw 1201 and the second jaw 1202 by coming into contact with the wires 305 and 302 and changing the placement paths of the wires 305 and 302 to a certain extent.

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

[0498] This enables operation in which the two jaws of the end tool 1200 must spread apart for actuation when the two jaws are rotated yaw-rotated by 90°. In other words, the configuration of the wire guide portion 1268 of the end tool hub 1260 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0499] Furthermore, by forming the wire guide portion 1268 on the end tool hub 1260 that already existed, without adding a separate structure such as an auxiliary pulley, the rotation range can be expanded without adding any additional parts or manufacturing processes.

[0500] In this way, there is no need to install a separate structure to expand the rotation angle, the number of parts is reduced, the manufacturing process is simplified, the length of the end tool is shortened by the size of the auxiliary pulley, and the length of the end tool when performing pitch movements is shortened, making it easier to perform surgical operations in narrow spaces.

[0501] This will be explained in more detail as follows.

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

[0503] That is, the fastening member 326 that connects the wire 302 and the pulley 1221 can rotate until it is positioned on the common inscribed line between the pulley 1221 and the wire guide portion 1268. Similarly, the fastening member (see 323 in FIG. 6) that connects the wire 305 and the pulley 1211 can rotate until it is positioned on the common inscribed line between the pulley 1211 and the wire guide portion 1268, and the rotation angle of the fastening member (see 323 in FIG. 6) can be increased.

[0504] From another perspective, wire 301 and wire 305 wound around pulley 1211 by wire guide unit 1268 are disposed on one side of a plane perpendicular to the Y axis and passing through the X axis. At the same time, wire 302 and wire 306 wound around pulley 1221 by wire guide unit 1268 are disposed on the other side of a plane perpendicular to the Y axis and passing through the X axis.

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

[0506] In other words, the wire 305 is located on the inscribed line between the pulley 1211 and the wire guide portion 1268, and the wire guide portion 1268 increases the rotation angle of the pulley 1211. In addition, the wire 302 is located on the inscribed line between the pulley 1221 and the wire guide portion 1268, and the wire guide portion 1268 increases the rotation angle of the pulley 1221.

[0507] Compared to the surgical instrument of the first embodiment, which has a separate auxiliary pulley, the length of the endotool of the surgical instrument of this modified example can be shortened by not having an auxiliary pulley but having a wire guide portion 1268 that can change the route of the wire on the inner wall of the endotool hub 1260. This shortened length of the endotool makes it easier for the surgeon to operate the instrument when performing surgery in a narrow surgical space inside the human body, and reduces side effects of surgery.

[0508] According to the present invention, the rotation radius of the first jaw pulley 1211 and the second jaw pulley 1221 is increased, which has the effect of widening the yaw operation range in which normal opening / closing actuation and cutting operations can be performed.

[0509] (Third Modification of the First Embodiment - Vertical Jaw Opening and Closing Direction, Engraving)

[0510] The following describes an endotool 1300 of a surgical instrument according to a third modified example of the first embodiment of the present invention. The endotool 1300 of a surgical instrument according to the third modified example of the first embodiment of the present invention is characterized by a difference in the opening and closing direction of the jaw 1303 compared to the endotool 100 of a surgical instrument according to the first embodiment of the present invention (see FIG. 2, etc.). Furthermore, the endotool 1300 of a surgical instrument according to the third modified example of the first embodiment of the present invention is characterized by a difference in the configuration of the endotool hub 1360 that serves as an auxiliary pulley compared to the endotool 100 of a surgical instrument according to the first embodiment of the present invention (see FIG. 2, etc.).

[0511] In other words, the endotool 1300 of the surgical instrument according to the third modified example of the first embodiment of the present invention can be seen as a combination of the features of the first modified example shown in Figure 44 etc. and the features of the second modified example shown in Figure 51 etc. Such configurations that differ from the first embodiment will be described in detail later.

[0512] Figures 58 and 59 are views showing an end tool of an electrocautery surgical instrument according to a third modified example of the first embodiment of the present invention, Figure 60 is a perspective view showing an end tool hub of the end tool of the electrocautery surgical instrument of Figure 58, and Figure 61 is a cutaway perspective view of the end tool hub of Figure 60.

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

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

[0515] 3 and other figures, the actuation rotation axis 145 and the yaw rotation axis 141 are formed parallel to each other, and these two axes may be formed parallel to the Z axis. Therefore, the jaw 103 opens and closes on the XY plane perpendicular to the Z axis.

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

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

[0518] The yaw and actuation movements of the end tool 1300 are described below.

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

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

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

[0522] To put this another way, when a yaw operation is performed with the operating unit 200, the first jaw wire and the second jaw wire are pulled together, which causes the first jaw pulley 1311 and the second jaw pulley 1321 to rotate together, so that the second jaw 1302 does not rotate relative to the first jaw 1301.

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

[0524] As described above, one feature of the end tool 1300 of the third modified example of the first embodiment of the present invention is that the actuation rotation axis 1345 and the yaw rotation axis 1341 are arranged perpendicular to each other. This also makes the opening and closing directions of the jaw 1303 and the arrangement direction of the blade 1375 vertical, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0525] The following provides a more detailed description of the end tool hub 1360 of the third variant of the first embodiment of the present invention, with particular emphasis on the first wire guide portion 1368a and the second wire guide portion 1368b of the end tool hub 1360, which serve as auxiliary pulleys.

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

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

[0528] The wire guide portion 1368 can play a role in increasing the rotation radius of each of the first jaw 1301 and the second jaw 1302 by coming into contact with the wires 305 and 302 and changing the placement paths of the wires 305 and 302 to a certain extent.

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

[0530] This enables an operation in which the two jaws of the end tool 1300 must spread apart for an actuation operation when the two jaws are rotated yaw by 90°. In other words, the configuration of the wire guide portion 1368 of the end tool hub 1360 has the characteristic of being able to widen the range of yaw rotation in which actuation operation is possible. In other words, the configuration of the wire guide portion 1368 of the end tool hub 1360 has the characteristic of being able to widen the range of yaw rotation in which actuation operation is possible.

[0531] Furthermore, by forming the wire guide portion 1368 on the end tool hub 1360 that already existed, without adding a separate structure such as an auxiliary pulley, it has the advantage of being able to expand the rotation range without adding any additional parts or manufacturing processes.

[0532] In this way, there is no need to install a separate structure to expand the rotation angle, the number of parts is reduced, the manufacturing process is simplified, the length of the end tool is shortened by the size of the auxiliary pulley, and the length of the end tool when performing pitch movements is shortened, making it easier to perform surgical operations in narrow spaces.

[0533] According to the present invention, the rotation radius of the first jaw pulley 1311 and the second jaw pulley 1321 is increased, which has the effect of widening the yaw operation range in which normal opening / closing actuation and cutting operations can be performed.

[0534] <Second embodiment of electrocautery surgical instrument>

[0535] The following describes a surgical instrument endotool 500 according to a second embodiment of the present invention. The surgical instrument endotool 500 according to the second embodiment of the present invention is characterized by a difference in the opening and closing direction of the jaw 503 compared to the surgical instrument endotool 100 according to the first embodiment of the present invention (see FIG. 2, etc.). Such differences from the first embodiment will be described in detail later.

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

[0537] Referring to Figures 62 to 90, an end tool 500 according to a second embodiment of the present invention includes a pair of jaws, i.e., a first jaw 501 and a second jaw 502, for performing a gripping operation, wherein each of the first jaw 501 and the second jaw 502, or a component encompassing the first jaw 501 and the second jaw 502, can be referred to as a jaw 503.

[0538] On the other hand, the end tool 500 includes a plurality of pulleys including a pulley 511 related to the rotational movement of the first jaw 501. In this embodiment, the pulleys related to the rotational movement of the first jaw 501 are substantially the same as the pulleys 111, 112, 113, 114, 115, and 116 described in FIG. 8 and other drawings of the first embodiment, and therefore detailed description thereof will be omitted here.

[0539] On the other hand, the end tool 500 includes a plurality of pulleys including a pulley 521 related to the rotational movement of the second jaw 502. The pulleys related to the rotational movement of the second jaw 502 in this embodiment are substantially the same as the pulleys 121, 122, 123, 124, 125, and 126 described in Fig. 8 and other drawings of the first embodiment, and therefore detailed description thereof will be omitted here.

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

[0541] Meanwhile, the end tool 500 may further include an actuation rotation axis 545. In detail, the actuation rotation axis 545 may be provided at a joint between the first jaw 501 and the second jaw 502, and an actuation operation may be performed while the second jaw 502 rotates around the actuation rotation axis 545 while the first jaw 501 is fixed. Here, the actuation rotation axis 545 may be disposed closer to the distal portion 504 than the first rotation axis 541.

[0542] Here, each rotating shaft may include two shafts, a first sub-shaft and a second sub-shaft. Alternatively, each rotating shaft may be expressed as being formed by dividing it into two. The rotating shaft in this embodiment has substantially the same configuration as the rotating shaft in the first embodiment, so a detailed description thereof will be omitted here.

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

[0544] The end tool hub 560 has the rotating shaft 541 and the rotating shaft 542 inserted therethrough, and the pulleys 511 and 521 axially coupled to the rotating shaft 541, and at least a portion of the first jaw 501 and the second jaw 502 coupled thereto, may be housed inside the end tool hub 560.

[0545] Meanwhile, a first pitch pulley portion 563a and a second pitch pulley portion 563b that serve as end tool pitch pulleys may be formed at one end of the end tool hub 560. The wires 303 and 304 are coupled to the first pitch pulley portion 563a and the second pitch pulley portion 563b that serve as end tool pitch pulleys, and the end tool hub 560 performs a pitch movement while rotating around the rotation axis 543.

[0546] The rotation shaft 543 and the rotation shaft 544 are inserted through the pitch hub 550, and the pitch hub 550 can be axially coupled to the end tool hub 560 by the rotation shaft 543. Therefore, the end tool hub 560 can be formed to be able to pitch rotate relative to the pitch hub 550 around the rotation shaft 543.

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

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

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

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

[0551] The jaw-link-pulley connection structure according to the second embodiment of the present invention will be described in more detail below.

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

[0553] Specifically, the second jaw pulley 521 may be formed as a type of multi-layer pulley. In other words, the second jaw pulley 521 may be formed in the form of two pulleys joined together, and may have two grooves formed on its outer circumferential surface.

[0554] Here, a first coupling portion 521a can be formed on one surface of the second jaw pulley 521, and a second coupling portion 521b can be formed on the other surface of the second jaw pulley 521. At this time, the positions of the first coupling portion 521a and the second coupling portion 521b are such that the wire 302 and the wire 306 overlap. In other words, the wire 302 and the wire 306 wound around the second jaw pulley 521 can be formed so that at least a portion of them overlap.

[0555] Expressed from another perspective, the first connecting portion 521a and the second connecting portion 521b can be arranged asymmetrically when viewed from the XY plane, and can be arranged so as to be biased toward one of the regions of the second jaw pulley 521.

[0556] From another perspective, first coupling portion 521a can be formed at a position where wire 302 is wound around the outer circumferential surface of second jaw pulley 521 by a central angle of 90° to 360°. Similarly, second coupling portion 521b can be formed at a position where wire 306 is wound around the outer circumferential surface of second jaw pulley 521 by a central angle of 90° to 360°.

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

[0558] This can be explained from another perspective as follows.

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

[0560] In addition, the second coupling portion 521b to which the second jaw wire L302 is coupled is formed on one side opposite to the other side to which the second jaw wire L302 is input, and by extending the length by which the second jaw wire L302 is wound around the second jaw pulley 521, the rotation angle of the second jaw pulley 521 can be increased.

[0561] The first coupling portion 521a and the second coupling portion 521b can increase the radius of rotation of the second jaw pulley 521. Increasing the length of the wire 302 / wire 306 wound around the second jaw pulley 521 in this manner can ensure a long stroke of the second link 590. This will be described in more detail later.

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

[0563] More specifically, a first jaw pulley 511 is formed at one end of the first link 580. A slot 580a may be formed at the other end of the first link 580 along the longitudinal direction. A guide pin 590b of a second link 590 (described later) may be fitted into this slot 580a. A through-hole 580b through which the actuation rotation shaft 545 is inserted and a coupling hole 580c to which the first jaw 501 is coupled may be formed at one side of the slot 580a.

[0564] Although not shown in the drawings, the first jaw pulley 511 and the first link 580 may be formed as separate members, and the first jaw pulley 511 and the first link 580 may be fixedly coupled to each other.

[0565] The first sub-shaft 541a of the first rotary shaft 541 may be inserted through the first jaw pulley 511 in sequence.

[0566] As such, the first jaw pulley 511 and the first link 580 are integrally formed or fixedly connected, so that the first link 580 does not rotate relative to the first jaw pulley 511, and when the first jaw pulley 511 rotates around the first rotation axis 541, the first link 580 also rotates around the first rotation axis 541 together with the first jaw pulley 511.

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

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

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

[0570] Meanwhile, a slot 502a may be formed along the longitudinal direction of the second jaw 502. A guide pin 590b of a second link 590, which will be described later, can be fitted into this slot 502a.

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

[0572] The second jaw pulley 521 and the second link 590 are axially connected at one point, and the second link 590 is rotatably connected to the second jaw pulley 521. In detail, the second jaw pulley 521 is formed with a protrusion 521c, and the protrusion 521c of the second jaw pulley 521 can be fitted into the through-hole 590a of the second link 590. Therefore, when the second jaw pulley 521 rotates, the second link 590 moves while rotating around the protrusion 521c.

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

[0574] Here, the second jaw 502 and the first link 580 are axially connected, and the second jaw 502 and the second link 590 are pin-slot connected, and when the second jaw pulley 521 rotates, the second link 590 connected thereto makes the second jaw 502 rotatable around the rotation axis 545, which is the actuation rotation axis.

[0575] In detail, a through hole 580b is formed in the first link 580, and a through hole 502b is also formed in the second jaw 502, and the actuation rotation shaft 545 is inserted through the second jaw 502 and the first link 580 in order to axially couple the first link 580 and the second jaw 502. Here, like the other rotation shafts, the actuation rotation shaft 545 can also be formed in two parts.

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

[0577] The yaw and actuation movements of the end tool 500 will be described below.

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

[0579] On the other hand, when the jaws 503 are closed as shown in Figure 80, if only the second jaw pulley 521 rotates in the direction of arrow A in Figure 79, the second link 590 connected to the second jaw pulley 521 moves in the direction of arrow B in Figure 79 by the second jaw pulley 521. Then, while the second link 590 moves in the direction of arrow B in Figure 79, it pulls the second jaw 502 connected to the second link 590 in the direction of arrow C in Figure 79, and therefore the second jaw 502 rotates in the direction of arrow C in Figure 79 around the actuation rotation axis 545, thereby performing an actuation operation in which the jaws 503 open.

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

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

[0582] On the other hand, when an actuation operation is performed using the operating unit 200, only the second jaw wire is pulled, which causes only the second jaw pulley 521 to rotate while the first jaw pulley 511 remains fixed, and therefore the second link 590 is pulled while the actuation rotation axis 545 remains fixed, causing the second jaw 502 to rotate around the actuation rotation axis 545.

[0583] Here, one feature of the end tool 500 according to the second embodiment of the present invention is that it employs a pin-slot type structure to ensure grip force during actuation.

[0584] In particular, in the pin-slot structure, the second link 590 must move a longer distance to rotate the second jaw 502 in the same direction (i.e., a long stroke of the second link 590 is required). In order for the second link 590 to move a longer distance, the second jaw pulley 521 must rotate more. From another perspective, if the second jaw pulley 521 is rotated more to rotate the second jaw 502 in the same direction, more force is applied to the second jaw 502 by the amount that the second jaw pulley 521 rotates more, and therefore the grip force during actuation can be amplified.

[0585] In order to rotate the second jaw pulley 521 more in this manner, the second jaw pulley 521 is formed into a multi-layer structure as described above, and the length of the wires 302 and 306 wound around the second jaw pulley 521 is further increased, thereby ensuring a long stroke of the second link 590.

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

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

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

[0589] As described above, the second jaw pulley 521 in the second embodiment rotates more than in the first embodiment, which increases the travel distance of the second link 590. Therefore, the second jaw pulley 521 rotates more to rotate the second jaw 502 by the same angle (θ1), so a greater force is applied to the second jaw 502.

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

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

[0592] In contrast, when a pin-slot type structure is applied to a multi-layer pulley as in the second embodiment of the present invention, as shown in Figure 91, etc., normal opening and closing operations, i.e., actuation operations, can be performed even when the jaw is yaw rotated +90° to -90°.

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

[0594] Figures 91 and 92 are diagrams showing the process of opening and closing the end tool of the electrocautery surgical instrument of Figure 62 after a yaw rotation of -90°, and Figures 93 and 94 are diagrams showing the process of opening and closing the end tool of the electrocautery surgical instrument of Figure 62 after a yaw rotation of +90°.

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

[0596] 95 and 96 are diagrams showing the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 62 rotated by +90° in yaw.

[0597] As shown in Figures 95 and 96, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is configured to be able to perform a normal cutting operation even when the jaw is rotated +90° in a yaw direction.

[0598] Figure 97 is a diagram showing a state in which the endotool of the electrocautery surgical instrument of Figure 62 has been rotated a pitch of -90°, and Figure 98 is a diagram showing a state in which the endotool of the electrocautery surgical instrument of Figure 62 has been rotated a pitch of +90°. Figure 99 is a cutaway perspective view of the endotool of the electrocautery surgical instrument of Figure 98. Figures 100, 101, and 102 are diagrams showing the process of a cutting operation when the endotool of the electrocautery surgical instrument of Figure 62 has been rotated a pitch of -90°.

[0599] As shown in Figures 97 to 102, the end tool of the electrocautery surgical instrument according to the second embodiment of the present invention is configured to be able to perform a normal cutting operation even when the jaws are rotated by -90°.

[0600] On the other hand, Figure 103 is a diagram showing a state in which the jaw has pitch rotated -90° and simultaneously rotated +90° in a yaw direction, and Figures 104, 105, and 106 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of Figure 62, showing how the cutting operation is performed in a state in which the jaw has pitch rotated -90° and simultaneously rotated +90° in a yaw direction.

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

[0602] (First Modification of Second Embodiment - Jaw Opening and Closing Vertical Direction)

[0603] The following describes an endotool 2100 of a surgical instrument according to a first modified example of the second embodiment of the present invention. The endotool 2100 of a surgical instrument according to the first modified example of the second embodiment of the present invention is characterized by a different opening and closing direction of the jaw 2103 compared to the endotool 500 of a surgical instrument according to the second embodiment of the present invention described above (see FIG. 62 etc.).

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

[0605] Figures 107, 108, 109, and 110 are figures showing the end tool of an electrocautery surgical instrument according to a first modified example of the second embodiment of the present invention, Figures 111, 112, and 113 are figures showing the process of the end tool of the electrocautery surgical instrument of Figure 107 performing a cutting operation, and Figure 114 is a figure showing the end tool of the electrocautery surgical instrument of Figure 107.

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

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

[0608] 62 and other figures, actuation rotation axis 545 and yaw rotation axis 541 are formed parallel to each other, and these two axes may be formed parallel to the Z axis. Therefore, jaw 503 opens and closes on the XY plane perpendicular to the Z axis.

[0609] In contrast, in the end tool 2100 of the first modified example of the second embodiment of the present invention, the yaw rotation axis 2141 is formed parallel to the Z axis, while the actuation rotation axis 2145 is formed parallel to the Y axis. In other words, the actuation rotation axis 2145 and the yaw rotation axis 2141 are arranged perpendicular to each other. The jaw 2103 opens and closes on the XZ plane perpendicular to the Y axis.

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

[0611] The yaw and actuation movements of the end tool 2100 are described below.

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

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

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

[0615] To put this another way, when a yaw operation is performed with the operating unit 200, the first jaw wire and the second jaw wire are pulled together, which causes the first jaw pulley 2111 and the second jaw pulley 2121 to rotate together, so that the second jaw 2102 does not rotate relative to the first jaw 2101.

[0616] On the other hand, when an actuation operation is performed with the operating unit 200, only the second jaw wire is pulled, which causes only the second jaw pulley 2121 to rotate while the first jaw pulley 2111 remains fixed, and therefore the second link 2190 is pulled while the actuation rotation axis 2145 remains fixed, causing the second jaw 2102 to rotate around the actuation rotation axis 2145.

[0617] As described above, one feature of the end tool 2100 of the first modified example of the second embodiment of the present invention is that the actuation rotation axis 2145 and the yaw rotation axis 2141 are arranged perpendicular to each other. This also makes the opening and closing direction of the jaw 2103 and the arrangement direction of the blade 2175 vertical, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0618] (Second Modification of Second Embodiment - Engraving)

[0619] The following describes an endotool 2200 of a surgical instrument according to a second modified example of the second embodiment of the present invention. The endotool 2200 of a surgical instrument according to the second modified example of the second embodiment of the present invention is characterized by a different configuration of the endotool hub 2260 that serves as an auxiliary pulley compared to the endotool 500 of a surgical instrument according to the second embodiment of the present invention described above (see FIG. 62 etc.).

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

[0621] Figures 115 and 116 are figures showing an end tool of an electrocautery surgical instrument according to a second variant of the second embodiment of the present invention, Figure 117 is an oblique view showing an end tool hub of the end tool of the electrocautery surgical instrument of Figure 115, Figures 118 and 119 are cutaway oblique views of the end tool hub of Figure 117, and Figures 120 and 121 are oblique views of the end tool hub of Figure 117.

[0622] The following provides a more detailed description of the end tool hub 2260 of the second variant of the second embodiment of the present invention, with particular emphasis on the first wire guide portion 2268a and the second wire guide portion 2268b of the end tool hub 2260, which serve as auxiliary pulleys.

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

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

[0625] The wire guide portion 2268 can play a role in increasing the rotation radius of each of the first jaw 2201 and the second jaw 2202 by coming into contact with the wires 305 and 302 and changing the placement paths of the wires 305 and 302 to a certain extent.

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

[0627] This enables an operation in which the two jaws of the end tool 2200 must spread apart for actuation when the two jaws are rotated yaw-rotated by 90°. In other words, the configuration of the wire guide portion 2268 of the end tool hub 2260 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0628] Furthermore, by forming the wire guide portion 2268 on the end tool hub 2260 that already existed, without adding a separate structure such as an auxiliary pulley, it has the characteristic of being able to expand the rotation range without adding any additional parts or manufacturing processes.

[0629] In this way, there is no need to install a separate structure to expand the rotation angle, the number of parts is reduced, the manufacturing process is simplified, the length of the end tool is shortened by the size of the auxiliary pulley, and the length of the end tool when performing pitch movements is shortened, making it easier to perform surgical operations in a small space.

[0630] According to the present invention, the rotation radius of the pulley 2211 serving as the first jaw pulley and the pulley 2221 serving as the second jaw pulley is increased, which has the effect of widening the yaw operation range in which normal opening / closing actuation and cutting operations can be performed.

[0631] (Third modified example of the second embodiment - vertical jaw opening and closing direction, engraving)

[0632] The following describes an endotool 2300 of a surgical instrument according to a third modified example of the second embodiment of the present invention. The endotool 2300 of a surgical instrument according to the third modified example of the second embodiment of the present invention is characterized by a difference in the opening and closing direction of the jaw 2303 compared to the endotool 500 of a surgical instrument according to the second embodiment of the present invention described above (see FIG. 62, etc.). Furthermore, the endotool 2300 of a surgical instrument according to the third modified example of the second embodiment of the present invention is characterized by a difference in the configuration of the endotool hub 2360 that serves as an auxiliary pulley compared to the endotool 500 of a surgical instrument according to the second embodiment of the present invention described above (see FIG. 62, etc.).

[0633] In other words, the endotool 2300 of the surgical instrument according to the third modified example of the second embodiment of the present invention can be seen as a combination of the features of the first modified example of the second embodiment shown in Fig. 107 etc. and the features of the second modified example of the second embodiment shown in Fig. 115 etc. Configurations that differ from the second embodiment in this way will be described in detail later.

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

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

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

[0637] 62 and other figures, actuation rotation axis 545 and yaw rotation axis 541 are formed parallel to each other, and these two axes may also be formed parallel to the Z axis. Therefore, jaw 503 opens and closes on the XY plane perpendicular to the Z axis.

[0638] In contrast, in an end tool 2300 according to a third modified example of the second embodiment of the present invention, the yaw rotation axis 2341 is formed parallel to the Z axis, while the actuation rotation axis 2345 is formed parallel to the Y axis. In other words, the actuation rotation axis 2345 and the yaw rotation axis 2341 are arranged perpendicular to each other. The jaw 2303 opens and closes on the XZ plane perpendicular to the Y axis.

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

[0640] The yaw and actuation movements of the end tool 2300 are described below.

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

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

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

[0644] To put this another way, when a yaw operation is performed with the operating unit 200, the first jaw wire and the second jaw wire are pulled together, which causes the first jaw pulley 2311 and the second jaw pulley 2321 to rotate together, so that the second jaw 2302 does not rotate relative to the first jaw 2301.

[0645] On the other hand, when an actuation operation is performed with the operating unit 200, only the second jaw wire is pulled, which causes only the second jaw pulley 2321 to rotate while the first jaw pulley 2311 remains fixed, and therefore the second link 2390 is pulled while the actuation rotation axis 2345 remains fixed, causing the second jaw 2302 to rotate around the actuation rotation axis 2345.

[0646] As described above, one feature of the end tool 2300 of the third modified example of the second embodiment of the present invention is that the actuation rotation axis 2345 and the yaw rotation axis 2341 are arranged perpendicular to each other. This makes the opening and closing directions of the jaw 2303 and the arrangement direction of the blade 2375 also vertical, allowing the user to operate the end tool in the same way as existing surgical instruments.

[0647] The following provides a more detailed description of the end tool hub 2360 of the third variant of the second embodiment of the present invention, with particular emphasis on the first wire guide portion 2368a and the second wire guide portion 2368b of the end tool hub 2360, which serve as auxiliary pulleys.

[0648] 122 to 124, an end tool hub 2360 includes a main body portion 2361, a first jaw pulley coupling portion 2362a, a second jaw pulley coupling portion 2362b, a first pitch pulley portion 2363a, a second pitch pulley portion 2363b, a pitch slit 2364, a yaw slit 2365, a pitch round portion 2366, a yaw round portion 2367, and a wire guide portion 2368. Here, the wire guide portion 2368 includes a first wire guide portion 2368a and a second wire guide portion 2368b. The specific configuration of each component is similar to that of the second modified example of the second embodiment shown in FIG. 115 etc., and therefore detailed description thereof will be omitted.

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

[0650] The wire guide portion 2368 can play a role in increasing the rotation radius of each of the first jaw 2301 and the second jaw 2302 by coming into contact with the wires 305 and 302 and changing the placement paths of the wires 305 and 302 to a certain extent.

[0651] In other words, if an auxiliary pulley is not provided, the first jaw pulley 2311 and the second jaw pulley 2321 can only rotate up to a right angle, but in the third modified example of the second embodiment of the present invention, by further providing a wire guide portion 2368 to the end tool hub 2360, the maximum rotation angle of each pulley can be increased.

[0652] This enables operation in which the two jaws of the end tool 2300 must spread apart for actuation when the two jaws are rotated yaw-rotated by 90°. In other words, the configuration of the wire guide portion 2368 of the end tool hub 2360 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0653] Furthermore, by forming the wire guide portion 2368 on the end tool hub 2360 that already existed, without adding a separate structure such as an auxiliary pulley, it has the characteristic of being able to expand the rotation range without adding any additional parts or manufacturing processes.

[0654] In this way, there is no need to install a separate structure to expand the rotation angle, the number of parts is reduced, the manufacturing process is simplified, the length of the end tool is shortened by the size of the auxiliary pulley, and the length of the end tool when performing pitch movements is shortened, making it easier to perform surgical operations in a small space.

[0655] According to the present invention, the rotation radius of the first jaw pulley 2311 and the second jaw pulley 2321 is increased, which has the effect of widening the yaw operation range in which normal opening / closing actuation and cutting operations can be performed.

[0656] Although the present invention has been described with reference to one embodiment shown in the drawings, it is understood that this is merely an example, and that various modifications and variations of the embodiment are possible by those skilled in the art. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. [Explanation of symbols]

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

Claims

1. In the end tools of surgical instruments, a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and capable of rotating about a first rotation axis to perform a yaw movement of the end tool; a second jaw pulley connected to the second jaw and capable of rotating about the first rotation axis to perform a yawing operation and an actuation operation of the end tool, the second jaw pulley facing the first jaw pulley and spaced apart from the first jaw pulley by a certain amount; a first link having one end connected to the first jaw and the other end connected to the first jaw pulley, connecting the first jaw and the first jaw pulley; a second link having one end connected to the second jaw and the other end connected to the second jaw pulley, connecting the second jaw and the second jaw pulley; An end tool of a surgical instrument comprising: a blade assembly including a blade that moves between the proximal and distal portions of the first jaw, at least a portion of which is formed in the spaced apart space between the first jaw pulley and the second jaw pulley; and a braid wire that contacts at least a portion of the blade assembly and transmits the driving force required to move the blade to the blade.

2. The blade assembly includes: The end tool of the surgical instrument according to claim 1 , further comprising a guide tube that accommodates at least a portion of the braid wire therein and is formed to be bent to a certain extent.

3. The end tool of the surgical instrument according to claim 2, wherein the braid wire passes through the inside of the guide tube and is connected to the braid.

4. The end tool of the surgical instrument according to claim 2, wherein when the guide tube is bent to a certain extent, the braid wire inside the guide tube is also bent together with the guide tube.

5. The end tool of the surgical instrument according to claim 2, wherein the braid wire is formed movable within the guide tube and along the guide tube.

6. 3. The end tool of the surgical instrument according to claim 2, wherein the first link is fixedly coupled to the first jaw and the first jaw pulley, respectively, and when the first jaw pulley rotates about the first rotation axis, the first link and the first jaw rotate integrally with the first jaw pulley about the first rotation axis.

7. The end tool of the surgical instrument according to claim 2 , wherein the guide tube is formed to penetrate the inside of the first link along the longitudinal direction of the first link and extend toward the blade side.

8. One end of the second link is connected to the second jaw pulley, and the second link is formed to be rotatable relative to the second jaw pulley, 3. The end tool of the surgical instrument according to claim 2, wherein the other end of the second link is connected to the second jaw, so that the second jaw is movable relative to the second link.

9. 9. The end tool of a surgical instrument according to claim 8, wherein when the second jaw pulley rotates, the second link connected to the second jaw pulley moves, and the movement of the second link causes the second jaw connected to the second link to rotate, thereby transmitting the rotation of the second jaw pulley to the second jaw.

10. an actuation rotation shaft inserted through the first link and the second jaw; The end tool of the surgical instrument according to claim 8, wherein the second jaw is formed rotatable about the actuation rotation axis relative to the first link.

11. 11. The end tool of a surgical instrument according to claim 10, wherein the second jaw pulley rotates relative to the first jaw pulley around the first rotation axis, thereby moving the second link axially connected to the second jaw pulley, and the movement of the second link causes the second jaw axially connected to the second link to rotate around the actuation rotation axis.

12. 11. The end tool of a surgical instrument according to claim 10, wherein when the second jaw pulley rotates, the second link connected to the second jaw pulley moves to apply a force to the second jaw, causing the second jaw to rotate around the actuation rotation axis.

13. The end tool of the surgical instrument according to claim 10, wherein the first rotation axis and the actuation rotation axis are formed substantially parallel to each other.

14. The end tool of the surgical instrument according to claim 10, wherein the first rotation axis and the actuation rotation axis are formed substantially perpendicular to each other.

15. an end tool hub including a first jaw pulley coupling portion and a second jaw pulley coupling portion formed to face each other, and a guide portion connecting the first jaw pulley coupling portion and the second jaw pulley coupling portion; the first jaw pulley is disposed adjacent to the first jaw pulley coupling portion of the end tool hub; the second jaw pulley is disposed adjacent to the second jaw pulley coupling portion of the end tool hub; 3. The end tool of a surgical instrument according to claim 2, wherein at least a portion of the blade assembly is formed between the first jaw pulley and the second jaw pulley.

16. 16. The end tool of the surgical instrument according to claim 15, wherein the guide tube passes through a yaw slit formed between the first jaw pulley coupling portion and the second jaw pulley coupling portion of the end tool hub along the longitudinal direction of the end tool hub and extends toward the first jaw or the second jaw.

17. 2. The end tool of the surgical instrument according to claim 1, wherein when the first jaw pulley and the second jaw pulley rotate in the same direction around the first rotation axis, a yaw motion is performed in which the first jaw and the second jaw rotate in the same direction.

18. 2. The end tool of the surgical instrument according to claim 1, wherein when the second jaw pulley rotates relative to the first jaw pulley about the first rotation axis, an actuation action is performed in which the second jaw rotates relative to the first jaw.

19. a pair of end tool first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable about a third rotation axis that forms a predetermined angle with the first rotation axis; 2. The end tool of claim 1, further comprising: a pair of end tool second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about the third rotation axis.

20. 20. The end tool of the surgical instrument according to claim 19, wherein the end tool is configured to be capable of yaw rotation about the first rotation axis and pitch rotation about the third rotation axis.

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

22. The surgical instrument endotool according to claim 1 , wherein the braid wire moves the braid between the proximal and distal portions of the endotool.

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