Surgical instruments

Abstract

The present invention relates to an end tool of a surgical instrument, and more particularly to an end tool of a surgical instrument that is attached to a robotic arm or can be operated manually for use in laparoscopic surgery or various other surgeries, and that compensates for the movement of the jaw wire that occurs during pitch movement, thereby allowing pitch movement and yaw movement / actuation movement to be performed smoothly and independently.

Description

Technical Field

[0001] The present invention relates to surgical instruments, and more particularly to surgical instruments that are attached to a robotic arm or manually operable for use in laparoscopic surgery or various surgeries.

Background Art

[0002] Medically, surgery refers to cutting, incising, or manipulating the skin, mucosa, and other tissues using medical devices to treat diseases. In particular, open surgeries such as incising and opening the skin at the surgical site and treating, shaping, or removing the internal organs cause problems such as bleeding, side effects, patient pain, and scars. Therefore, recently, surgeries performed by forming a predetermined hole in the skin and inserting only medical devices such as laparoscopes, surgical instruments, and microscopes for microsurgery or surgeries using robots have been in the spotlight as alternatives. [[ID=I4]]

[0003] Here, a surgical robot refers to a robot having a function that replaces the surgical actions performed by a surgeon. Such a surgical robot has the advantages of being able to perform more accurate and precise operations than humans and enabling remote surgery.

[0004] Currently, surgical robots being developed around the world include bone surgical robots, laparoscopic surgical robots, stereotactic surgical robots, etc. Here, a laparoscopic surgical robot is a robot that performs minimally invasive surgery using a laparoscope and small surgical tools.

[0005] Laparoscopic surgery is a surgical technique at the forefront that involves making one or more small holes in the abdomen and inserting a laparoscope, which is an endoscope for looking inside the abdomen, and then performing surgery. It is a field expected to have great development in the future. Recent laparoscopes are equipped with computer chips and can obtain clearer and magnified images than those seen with the naked eye. Moreover, any surgery can be performed by using specially designed laparoscopic surgical instruments while viewing the screen through a monitor, and it has advanced greatly.

[0006] Furthermore, while laparoscopic surgery covers almost the same area as open surgery, it has fewer complications, allows treatment to begin much sooner after the procedure, and is superior in maintaining the patient's physical strength and immune function. For these reasons, in the United States and Europe, laparoscopic surgery is gradually becoming recognized as the standard surgical procedure for colorectal cancer and other conditions.

[0007] On the other hand, surgical robots generally consist of a master robot and a slave robot. When the surgeon operates a control lever (e.g., a handle) on the master robot, it is coupled to the robotic arm of the slave robot, or the surgical tool held by the robotic arm is manipulated to perform the surgery. [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] The present invention aims to provide a multi-joint surgical device that can be attached to a robotic arm or manually operated for use in laparoscopic surgery or various other surgeries, in which the movement of the jaw wires that occurs during pitching motion is compensated for, thereby enabling pitching motion and yaw / actuation motion to be performed smoothly and independently. [Means for solving the problem]

[0009] One embodiment of the present invention is a surgical instrument comprising one or more jaws, an end tool including an end tool jaw pulley coupled to the jaws and formed to be rotatable together with the jaws about a first axis, and formed to be capable of at least pitch rotation and yaw rotation, a jaw wire coupled to the end tool jaw pulley and moving in accordance with the rotation of the end tool jaw pulley, a coupling portion formed extending in one direction through which the jaw wire passes and to which the end tool is coupled at one end, and a drive unit coupled to the other end of the coupling portion and controlling the pitch rotation and yaw rotation of the end tool, wherein the drive unit includes a drive unit jaw pulley formed to be rotatable about a second axis and coupled to the jaw wire, and a drive unit pitch pulley positioned adjacent to the drive unit jaw pulley and formed to be rotatable about a third axis different from the second axis, and the drive unit jaw pulley rotates when the drive unit pitch pulley rotates for the pitch rotation of the end tool.

[0010] In one embodiment of the present invention, the relative position between the drive unit pitch pulley and the drive unit jaw pulley is kept constant.

[0011] In one embodiment of the present invention, when the drive unit pitch pulley rotates around the third axis, the drive unit jaw pulley rotates around the second axis, and the length of the jaw wire in the drive unit is changed.

[0012] In one embodiment of the present invention, the length of the jaw wire in the end tool is also changed by changing the length of the jaw wire in the drive unit due to the rotation of the jaw pulley of the drive unit.

[0013] In one embodiment of the present invention, even if the length of the jaw wire in the drive unit is changed by the rotation of the drive unit jaw pulley, the total length of the jaw wire is kept constant.

[0014] In one embodiment of the present invention, the jaw includes a first jaw and a second jaw formed to face the first jaw; the end tool jaw pulley includes a first jaw pulley coupled to the first jaw and formed to be rotatable about a first axis, and a second jaw pulley coupled to the second jaw and formed to be rotatable about an axis substantially identical to or parallel to the first axis and formed to face the first jaw pulley; the jaw wire includes a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley; the drive unit jaw pulley includes a drive unit first jaw pulley coupled to the first jaw wire to move the first jaw wire and a drive unit second jaw pulley coupled to the second jaw wire to move the second jaw wire.

[0015] In one embodiment of 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 about a fourth axis that makes a predetermined angle with the first axis; a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis substantially identical to or parallel to the fourth axis; a first jaw pitch extra pulley positioned between the first jaw pulley and the pair of first jaw pitch main pulleys and rotatable about a fifth axis; and a second jaw pitch extra pulley positioned between the second jaw pulley and the pair of second jaw pitch main pulleys and rotatable about a sixth axis, wherein the first jaw wire is wound around at least a portion of the pair of first jaw pitch main pulleys, and the second jaw wire is wound around at least a portion of the pair of second jaw pitch main pulleys.

[0016] In one embodiment of the present invention, of the two first jaw wires of the end tool that advance from the proximal to distal end and are connected to the first jaw pulley, one of the first jaw wires is wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction, and the first jaw wire of the other rod is wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction.

[0017] In one embodiment of the present invention, with reference to a plane perpendicular to the first axis and passing between the first jaw pulley and the second jaw pulley, one of the first jaw wires of the two lines of first jaw wires connected to the first jaw pulley contacts the upper side of the first jaw pitch main pulley, and the other line of first jaw wire contacts the lower side of the first jaw pitch main pulley.

[0018] In one embodiment of the present invention, the first jaw wire advances from the proximal to the distal end of the end tool and sequentially contacts the first jaw pitch main pulley and the first jaw pitch extra pulley.

[0019] In one embodiment of the present invention, with reference to a plane perpendicular to the first axis and passing between the first jaw pulley and the second jaw pulley, one of the first jaw wires of the two first jaw wires connected to the first jaw pulley sequentially contacts the lower side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley, and the other first jaw wire of the two first jaw wires connected to the first jaw pulley sequentially contacts the upper side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley.

[0020] An embodiment of the present invention further includes a first jaw auxiliary pulley formed between the first jaw pulley and the first jaw pitch extra pulley, and a second jaw auxiliary pulley formed between the second jaw pulley and the second jaw pitch extra pulley.

[0021] In one embodiment of the present invention, the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley is increased by the first jaw auxiliary pulley.

[0022] One embodiment of the present invention further includes one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and rotatable about an axis substantially parallel to the fourth axis, and one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable about an axis substantially parallel to the fourth axis.

[0023] In one embodiment of the present invention, the first jaw pitch sub-pulley or the second jaw pitch sub-pulley is characterized by including only one pulley.

[0024] One embodiment of the present invention further includes an end tool hub formed so as to accommodate at least a portion of the first jaw and the second jaw inside, and a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub.

[0025] In one embodiment of the present invention, the first jaw and the second jaw rotate around the first axis to perform a yaw motion, and the end tool hub rotates around the fourth axis to perform a pitch motion.

[0026] In one embodiment of the present invention, it further includes an end tool pitch pulley formed at a proximal end portion of the end tool hub, and a pitch wire coupled to the end tool pitch pulley to rotate the end tool pitch pulley.

[0027] In one embodiment of the present invention, when the end tool pitch pulley is rotated by the pitch wire, while the entire end tool hub rotates together with the end tool pitch pulley, the length of the first joist wire wound around the first joist pitch main pulley and the second joist pitch main pulley changes.

[0028] In one embodiment of the present invention, when the end tool pitch pulley is rotated by the pitch wire, in order to compensate for the amount of change in the length of the first joist wire wound around the first joist pitch main pulley and the second joist pitch main pulley, the first joist wire is moved by an external force to a certain extent.

[0029] In one embodiment of the present invention, the first joist pitch extra pulley or the second joist pitch extra pulley is integrally formed with the end tool hub.

[0030] In one embodiment of the present invention, the fifth axis and the sixth axis are substantially parallel to the fourth axis.

[0031] In one embodiment of the present invention, the fifth axis and the sixth axis are formed to be inclined with respect to each of the first axis and the fourth axis.

[0032] In one embodiment of the present invention, the groove around which the first joist wire is wound on the first joist pulley and the groove around which the second joist wire is wound on the second joist pulley are formed to be spaced apart from each other by a certain extent.

[0033] In one embodiment of the present invention, the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley are formed to be adjacent to each other.

[0034] In one embodiment of the present invention, the first jaw pitch extra pulley or the second jaw pitch extra pulley is characterized in that it includes only one pulley.

[0035] In one embodiment of the present invention, when the drive unit pitch pulley of the drive unit rotates for pitch motion, the drive unit first jaw pulley and the drive unit second jaw pulley rotate together to compensate for the pitch motion.

[0036] In one embodiment of the present invention, an end tool hub is formed so as to accommodate at least a portion of the first jaw and the second jaw inside; a pitch hub is axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub; a first pin is inserted through the end tool hub and formed to extend along a first direction; a second pin is inserted through the end tool hub, formed parallel to the first pin, and formed on one side of the first pin; a 2.5 pin is inserted through the end tool hub, formed to extend along a second direction that makes a predetermined angle with the first direction, and formed on one side of the second pin; a third pin is inserted through the end tool hub and the pitch hub, formed parallel to the 2.5 pin, and formed on one side of the 2.5 pin; a fourth pin is inserted through the pitch hub, formed parallel to the third pin, and formed on one side of the third pin; and a first jaw assist is formed on one side of the first jaw pulley and formed so as to be rotatable around the second pin. The system includes a pulley, a second jaw auxiliary pulley formed on one side of the second jaw pulley and rotatable around the second pin, one or more first jaw pitch extra pulleys formed on one side of the first jaw auxiliary pulley and rotatable around the 2.5 pin, one or more second jaw pitch extra pulleys formed on one side of the second jaw auxiliary pulley and rotatable around the 2.5 pin, a pair of first jaw pitch main pulleys formed on one side of the first jaw pitch extra pulley and rotatable around the third pin, a pair of second jaw pitch main pulleys formed on one side of the second jaw pitch extra pulley and rotatable around the third pin, one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and rotatable around the fourth pin, and one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable around the fourth pin.

[0037] In one embodiment of the present invention, an end tool hub is formed so that at least a portion of the first jaw and the second jaw can be housed inside; a pitch hub is axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub; a first pin is inserted through the end tool hub and formed to extend along a first direction; a second pin is inserted through the end tool hub and formed to extend along a second direction that makes a predetermined angle with the first direction, and is formed on one side of the first pin; a third pin is inserted through the end tool hub and the pitch hub and formed to extend along a third direction that makes a predetermined angle with the first and second directions, and is formed on one side of the second pin; and a fourth pin is inserted through the pitch hub and formed parallel to the third pin, and is formed on one side of the third pin. The system includes a first jaw auxiliary pulley formed on one side of the first jaw pulley and rotatable around the second pin, a second jaw auxiliary pulley formed on one side of the second jaw pulley and rotatable around the second pin, a pair of first jaw pitch main pulleys formed on one side of the first jaw auxiliary pulley and rotatable around the third pin, a pair of second jaw pitch main pulleys formed on one side of the second jaw auxiliary pulley and rotatable around the third pin, one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and rotatable around the fourth pin, and one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatable around the fourth pin. [Effects of the Invention]

[0038] This invention compensates for the movement of the jaw wires that occurs during pitch motion, resulting in the effect of smooth and independent operation of pitch motion and yaw motion / actuation motion. [Brief explanation of the drawing]

[0039] [Figure 1]This is a conceptual diagram showing a surgical robot system equipped with surgical instruments according to one embodiment of the present invention. [Figure 2] Figure 1 is a block diagram showing the internal configuration of the surgical robot system. [Figure 3] Figure 1 is a perspective view showing the slave robot of the surgical robot system. [Figure 4] Figure 1 is a perspective view showing surgical instruments attached to a slave robot. [Figure 5] This is a perspective view showing an end tool of a surgical instrument according to a first embodiment of the present invention. [Figure 6] This is a perspective view showing an end tool of a surgical instrument according to a first embodiment of the present invention. [Figure 7] Figure 5 is a plan view of the end tool. [Figure 8] Figure 5 is a plan view of the end tool. [Figure 9] Figure 5 is a plan view of the end tool. [Figure 10] Figure 5 is a plan view of the end tool. [Figure 11] Figure 5 is a perspective view of the end tool. [Figure 12] Figure 5 is a perspective view of the end tool hub of the end tool. [Figure 13] Figure 5 is a perspective view showing the end tool of the surgical instrument rotated by -90°. [Figure 14] Figure 5 is a side view showing the end tool of the surgical instrument rotated by +90°. [Figure 15] Figure 5 is a perspective view showing the end tool of the surgical instrument rotated by +90° in yaw. [Figure 16] Figure 5 is a side view showing the end tool of the surgical instrument rotated by -90° in yaw. [Figure 17] Figure 4 is a perspective view of the drive unit of the surgical instrument. [Figure 18]Figure 17 is a plan view of the drive unit of the surgical instrument. [Figure 19] Figure 17 is a rear view of the drive unit of the surgical instrument. [Figure 20] Figure 17 is a side view of the drive unit of the surgical instrument. [Figure 21] Figure 17 is a diagram showing the disassembled configuration of the pulley and wire of the surgical instrument. [Figure 22] Figure 17 shows the neutral state of the surgical instrument. [Figure 23] Figure 17 shows the neutral state of the surgical instrument. [Figure 24] Figure 17 shows the case where pitch compensation is not performed in the surgical instrument. [Figure 25] Figure 17 shows the case where pitch compensation is not performed in the surgical instrument. [Figure 26A] Figure 17 shows the case where pitch compensation is not performed in the surgical instrument. [Figure 26B] Figure 17 shows the case where pitch compensation is not performed in the surgical instrument. [Figure 27] This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 17. [Figure 28] This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 17. [Figure 29A] This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 17. [Figure 29B] This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 17. [Figure 30] This figure shows the neutral state of a surgical instrument according to a comparative example of the present invention. [Figure 31] This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 30. [Figure 32]This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 30. [Figure 33] This figure shows the case where pitch compensation is performed in the surgical instrument shown in Figure 30. [Figure 34] This is a perspective view showing an end tool for a surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 35] This is a perspective view showing an end tool for a surgical instrument according to a first modification of the first embodiment of the present invention. [Figure 36] Figure 34 is a plan view of the end tool. [Figure 37] Figure 34 is a plan view of the end tool. [Figure 38] Figure 34 is a plan view of the end tool. [Figure 39] Figure 34 is a perspective view of the end tool. [Figure 40] Figure 34 is a perspective view of the end tool hub of the end tool. [Figure 41] This is a perspective view showing an end tool for a surgical instrument according to a second modification of the first embodiment of the present invention. [Figure 42] This is a perspective view showing an end tool for a surgical instrument according to a second modification of the first embodiment of the present invention. [Figure 43] Figure 41 is a plan view of the end tool. [Figure 44] This is a perspective view showing an end tool for a surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 45] This is a perspective view showing an end tool for a surgical instrument according to a third modification of the first embodiment of the present invention. [Figure 46] Figure 44 is a joined perspective view showing the second jaw of the end tool. [Figure 47] Figure 44 is an exploded perspective view showing the second jaw of the end tool. [Figure 48] Figure 44 is a joined perspective view showing the first jaw of the end tool. [Figure 49]Figure 44 is an exploded perspective view showing the first jaw of the end tool. [Figure 50] Figure 44 is a perspective view showing the end tool hub of the end tool. [Figure 51] Figure 44 is a perspective view showing the end tool hub of the end tool. [Figure 52] Figure 44 is a plan view of the end tool. [Figure 53] Figure 44 is a side view of the end tool. [Figure 54] Figure 44 is a side view of the end tool. [Figure 55] This is a perspective view showing an end tool for a surgical instrument according to a fourth modification of the first embodiment of the present invention. [Figure 56] This is a perspective view showing an end tool for a surgical instrument according to a fourth modification of the first embodiment of the present invention. [Figure 57] Figure 55 is a plan view of the end tool. [Figure 58] Figure 55 is a plan view of the end tool. [Figure 59] Figure 55 is a side view of the end tool. [Figure 60] Figure 55 is a side view of the end tool. [Figure 61] Figure 55 is a side view of the end tool. [Figure 62] Figure 55 is a plan view of the end tool. [Figure 63] Figure 55 is a plan view of the end tool. [Figure 64] This is a perspective view showing an end tool for a surgical instrument according to a fifth modification of the first embodiment of the present invention. [Figure 65] This is a perspective view showing an end tool for a surgical instrument according to a fifth modification of the first embodiment of the present invention. [Figure 66] Figure 64 is a plan view of the end tool. [Figure 67] Figure 64 is a perspective view of the end tool hub of the end tool. [Figure 68]Figure 64 is a side view of the end tool. [Figure 69] Figure 64 is a perspective view showing the end tool of the surgical instrument rotated by -90°. [Figure 70] Figure 64 is a side view showing the end tool of the surgical instrument rotated by +90°. [Figure 71] Figure 64 is a perspective view showing the end tool of the surgical instrument rotated by +90° in yaw. [Figure 72] Figure 64 is a side view showing the end tool of the surgical instrument rotated by -90° in yaw. [Figure 73] This is a perspective view showing an end tool of a surgical instrument according to a second embodiment of the present invention. [Figure 74] This is a perspective view showing an end tool of a surgical instrument according to a second embodiment of the present invention. [Figure 75] Figure 73 is a plan view of the end tool. [Figure 76] Figure 73 is a plan view of the end tool. [Figure 77] Figure 73 is a plan view of the end tool. [Figure 78] Figure 73 is a plan view of the end tool. [Figure 79] Figure 73 is a side view of the end tool. [Figure 80] Figure 73 is a side view of the end tool. [Figure 81] Figure 73 is a side view of the end tool. [Figure 82] This is a perspective view showing an end tool for a surgical instrument according to a first modification of a second embodiment of the present invention. [Figure 83] This is a perspective view showing an end tool for a surgical instrument according to a first modification of a second embodiment of the present invention. [Figure 84] Figure 82 is a plan view of the end tool. [Figure 85] Figure 82 is a plan view of the end tool. [Figure 86] Figure 82 is a side view of the end tool. [Figure 87] Figure 82 is a plan view of the end tool. [Figure 88] Figure 82 is a plan view of the end tool. [Figure 89] Figure 82 is a plan view of the end tool. [Figure 90] Figure 82 is a plan view of the end tool. [Figure 91] This is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 92] This is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 93] This is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 94] This is a perspective view showing an end tool of a surgical instrument according to a third embodiment of the present invention. [Figure 95] Figure 91 is a plan view of the end tool. [Figure 96] Figure 91 is a plan view of the end tool. [Figure 97] Figure 91 is a side view of the end tool. [Figure 98] Figure 91 is a side view of the end tool. [Figure 99] Figure 91 is a side view of the end tool. [Figure 100] Figure 91 is a plan view of the end tool. [Figure 101] Figure 91 is a plan view of the end tool. [Figure 102] Figure 91 is a perspective view of the end tool hub of the end tool. [Figure 103] Figure 91 is a front view of the end tool hub of the end tool. [Figure 104] Figure 91 is a side view of the end tool hub of the end tool. [Modes for carrying out the invention]

[0040] The present invention can be subjected to various transformations and has various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, it should be understood that this is not intended to limit the present invention to specific embodiments, but rather to include all transformations, equivalents, and substitutes that fall within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a specific description of the relevant prior art would hinder the essence of the invention, such detailed description will be omitted.

[0041] Terms such as "first," "second," etc., can be used to describe various components, but the components should not be limited by such terms. These terms are used solely for the purpose of distinguishing one component from another.

[0042] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “includes” or “having” specify the presence of features, figures, steps, actions, components, parts, or combinations thereof described herein, and should be understood not to preemptively exclude the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0043] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. In describing these embodiments with reference to the attached drawings, the same drawing number will be assigned to identical or corresponding components, and redundant descriptions thereof will be omitted.

[0044] Furthermore, in describing the various embodiments of the present invention, it is not necessary to interpret or implement each embodiment independently. It should be understood that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described individually.

[0045] Figure 1 is a conceptual diagram showing a surgical robot system to which a multi-joint surgical device according to one embodiment of the present invention is attached; Figure 2 is a block diagram showing the internal configuration of the surgical robot system of Figure 1; and Figure 3 is a perspective view showing the slave robot of the surgical robot system of Figure 1 and the multi-joint surgical device attached thereto.

[0046] Referring to Figures 1 to 3, the surgical robot system 1 includes a master robot 10, a slave robot 20, and a multi-joint surgical device 30.

[0047] The master robot 10 includes an operating member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, and 23.

[0048] In detail, the master robot 10 is equipped with operating members 10a that can be grasped and operated by the surgeon in each hand. The operating members 10a can be embodied as two or more handles, as illustrated in Figure 1, and operation signals corresponding to the surgeon's handle operations are transmitted to the slave robot 20 via a wired or wireless network, controlling the robot arm units 21, 22, and 23. In other words, surgical operations such as repositioning, rotation, and cutting of the robot arm units 21, 22, and 23 can be performed by the surgeon's handle operations.

[0049] For example, a surgeon can operate robot arm units 21, 22, and 23 using a handle-shaped operating lever. Such operating levers can have various mechanical configurations depending on the operating method, and can be provided in various forms for operating the robot arm units 21, 22, 23 and / or other surgical devices of the slave robot 20, such as a master handle for operating the robot arm units 21, 22, and 23, and various input tools such as joysticks, keypads, trackballs, foot pedals, and touchscreens attached to the master robot 10 for operating the functions of the entire system. Here, the operating member 10a is not limited to the shape of a handle, and can be applied without any limitations as long as it can control the operation of the robot arm units 21, 22, and 23 via a network such as a wired or wireless network.

[0050] Alternatively, voice input or motion input can be applied for user input. That is, the user can wear glasses or an HMD (head-mounted display) with sensors attached to their head, and the laparoscope 50 can move in accordance with the direction in which they turn their gaze. Or, the system can recognize and perform actions when the user gives voice commands such as "left," "right," "arm 1," or "arm 2."

[0051] The display member 10b of the master robot 10 displays images captured via the laparoscope 50, which will be described later. The display member 10b can also display a predetermined virtual control panel together with the images captured via the laparoscope 50, or it can be displayed independently. A detailed explanation of the arrangement and configuration of such a virtual control panel is omitted.

[0052] Here, the display component 10b can consist of one or more monitors, and each monitor can individually display information necessary during surgery. The number of monitors can be determined in various ways depending on the type and category of information that needs to be displayed.

[0053] On the other hand, the slave robot 20 may include one or more robot arm units 21, 22, and 23. Here, each robot arm unit 21, 22, and 23 can be provided in a modular form that can operate independently of each other, and in this case, an algorithm to prevent collisions between each robot arm unit 21, 22, and 23 can be applied to the surgical robot system 1.

[0054] Generally, a robotic arm refers to a device that has functions similar to a human arm and / or wrist, and to which a predetermined tool can be attached to the wrist portion. In this specification, robotic arm units 21, 22, and 23 can be defined as a concept that encompasses all components such as the upper arm, lower arm, wrist, and elbow, as well as multi-joint surgical devices connected to the wrist portion. Alternatively, it can be defined as a concept that includes only the components for driving the multi-joint surgical device, excluding the multi-joint surgical device connected to the wrist portion.

[0055] Thus, the robot arm units 21, 22, and 23 of the slave robot 20 can be implemented to have multiple degrees of freedom. The robot arm units 21, 22, and 23 can be configured to include, for example, a surgical instrument inserted into the surgical site of a patient, a yaw drive unit that rotates the surgical instrument in the yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in the pitch direction perpendicular to the rotational drive of the yaw drive unit, a transport drive unit that moves the surgical instrument in the longitudinal direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives the end effector at the tip of the surgical instrument to incise or cut a surgical lesion. However, the configuration of the robot arm units 21, 22, and 23 is not limited to this, and it should be understood that such examples do not limit the scope of the present invention. Here, a detailed explanation of the actual control process, such as the rotation and movement of the robot arm units 21, 22, and 23 in the corresponding direction by the operator operating the operating member 10a, is omitted.

[0056] Here, two of the robot arm units 21, 22, and 23 can be fitted with a multi-jointed surgical device 30, and one can be fitted with a laparoscope 50. The surgeon can then select which robot arm unit 21, 22, or 23 to control via the master robot 10. In this way, by directly controlling a total of three or more surgical instruments via the master robot 10, the surgeon can control multiple instruments accurately and freely according to their intentions without the need for a surgical assistant.

[0057] On the other hand, the slave robot 20 can be provided in one or more units for performing surgery on a patient, and the laparoscope 50 for displaying the surgical site as an image via the display member 10b can also be embodied in an independent slave robot 20. Furthermore, as described above, embodiments of the present invention can be used universally in surgeries in which various surgical endoscopes other than laparoscopes (e.g., thoracoscopy, arthroscope, rhinoscopy, etc.) are used.

[0058] Referring to Figure 2, in one embodiment of the present invention, the master robot 10 may include a video input unit 11, a screen display unit 12, a user input unit 13, an operation signal generation unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0059] The video input unit 11 can receive video footage captured through a camera mounted on the laparoscope 50 of the slave robot 20 via a wired or wireless communication network.

[0060] The screen display unit 12 outputs an image corresponding to the video received via the video input unit 11 as visual information. Furthermore, if the biological information of the patient is input, the screen display unit 12 can further output corresponding information. The screen display unit 12 can also further output patient-related image data (e.g., X-ray images, CT images, MRI images, etc.) for the surgical site. Here, the screen display unit 12 can be implemented in the form of a display element (see 10b in Figure 1), and the control unit 15 can perform a video processing process to output the received video as an image via the screen display unit 12.

[0061] In the embodiment shown in Figure 2, the video input unit and the screen display unit are shown as being included in the master robot 10, but the embodiment is not limited to this. That is, the display member can be provided as a separate member located away from the master robot 10. Alternatively, the display member can be provided as a component of the master robot 10. In other embodiments, multiple display members may be provided, with one of them positioned adjacent to the master robot 10 and others positioned at a distance from the master robot 10.

[0062] Here, the screen display unit 12 (i.e., the display member 10b in Figure 1) can also be provided as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image, and uses this depth information to allow the observer to perceive a three-dimensional sense of dynamism and reality. The surgical robot system 1 according to one embodiment of the present invention can also be equipped with a stereoscopic display device in the screen display unit 12 to provide the user with a more realistic virtual environment.

[0063] The user input unit 13 is a means that allows the surgeon to control the position and function of the robot arm units 21, 22, and 23 of the slave robot 20. The user input unit 13 can be formed in the form of a handle-shaped operating member (see 10a in Figure 1) as illustrated in Figure 1, but its shape is not limited to this and can be transformed and embodied in various shapes to achieve the same purpose. For example, part of it may be in the shape of a handle and other parts may be in a different shape such as a clutch button, and a finger insertion tube or insertion ring may be further formed to allow the surgeon to insert and fix their finger in order to facilitate the operation of surgical tools.

[0064] The operation signal generation unit 14 generates an operation signal corresponding to the operator's operation of the user input unit 13 for the purpose of moving the robot arm units 21, 22, and 23 or for controlling surgical movements, and transmits it to the slave robot 20 via the communication unit 18. The operation signal can be transmitted and received via a wired or wireless network.

[0065] The control unit 15 is a type of central processing unit that controls the operation of each component so that it can perform the functions described above. As an example, the control unit 15 can also perform the function of converting video input via the video input unit 11 into an image displayed via the screen display unit 12.

[0066] The memory 16 can perform the function of temporarily or permanently storing data processed by the control unit 15. Here, the memory 16 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto.

[0067] The memory unit 17 can store data received from the slave robot 20. The memory unit 17 can also store various types of input data (e.g., patient data, equipment data, surgical data, etc.).

[0068] The communication unit 18 provides a communication interface necessary for transmitting and receiving video data transmitted from the slave robot 20 and control data transmitted from the master robot 10 in conjunction with the communication network 60.

[0069] The slave robot 20 includes a plurality of robot arm unit control units 21a, 22a, and 23a. The robot arm unit control unit 21a includes a robot arm control unit 26, an instrument control unit 27, and a communication unit 29. The robot arm unit control unit 21a may further include a rail control unit 28.

[0070] The robot arm control unit 26 receives the operation signals generated by the operation signal generation unit 14 of the master robot 10 and plays a role in controlling the robot arm units 21, 22, and 23 to operate in accordance with these operation signals.

[0071] The instrument control unit 27 receives the operation signal generated by the operation signal generation unit 14 of the master robot 10 and plays a role in controlling the multi-joint surgical device 30 to operate in accordance with this operation signal.

[0072] The communication unit 29 provides a communication interface necessary for transmitting and receiving video data transmitted from the slave robot 20 and control data transmitted from the master robot 10 in conjunction with the communication network 60.

[0073] On the other hand, the communication network 60 plays the role of connecting the master robot 10 and the slave robot 20. That is, the communication network 60 means a communication network that provides a connection path so that the master robot 10 and the slave robot 20 can send and receive data to each other after they have been connected. The communication network 60 can encompass wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MaNs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), as well as wireless networks such as wireless LANs, CDMA, Bluetooth®, and satellite communications, but the scope of the present invention is not limited thereto.

[0074] Continuing to refer to Figure 4, the surgical instrument 30 of the surgical robot system 1 may include an end tool 100, a drive unit 200, and a coupling unit 400.

[0075] Here, the connecting portion 400 is formed in the shape of a hollow shaft, and can accommodate one or more wires (described later) therein. The drive unit 200 is connected to one end of the connecting portion 400, and the end tool 100 is connected to the other end, thus serving to connect the drive unit 200 and the end tool 100.

[0076] The drive unit 200 is formed at one end of the coupling unit 400 and provides an interface that can be coupled with the robot arm units 21, 22, and 23. Therefore, when the master robot 10 is operated by the user, the motors (not shown) of the robot arm units 21, 22, and 23 are activated so that the end tool 100 of the surgical instrument 30 can perform the corresponding operation, and the driving force of these motors (not shown) is transmitted to the end tool 100 via the drive unit 200. In other words, the drive unit 200 itself can be described as an interface that connects the surgical instrument 30 and the slave robot 20.

[0077] The end tool 100 is formed at the other end of the connecting portion 400 and is inserted into the surgical site to perform the necessary actions for the surgery. This end tool 100 will be described in more detail in Figure 5 and subsequent figures.

[0078] A surgical instrument according to one embodiment of the present invention can be incorporated into the surgical instrument of the surgical robot system shown in Figures 1 to 4.

[0079] The following sections provide a more detailed explanation of the surgical instruments that can be equipped with this surgical robot system.

[0080] <First Embodiment of a Surgical Instrument>

[0081] Figures 5 and 6 are perspective views showing an end tool of a surgical instrument according to a first embodiment of the present invention. Figures 7 and 8 are plan views of the end tool of Figure 5. Figures 9 and 10 are plan views of the end tool of Figure 5. Figure 11 is a side perspective view of the end tool of Figure 5. Figure 12 is a perspective view of the end tool hub of the end tool of Figure 5.

[0082] Figure 13 is a perspective view showing the end tool of the surgical instrument in Figure 5 rotated by -90° in pitch. Figure 14 is a side view showing the end tool of the surgical instrument in Figure 5 rotated by +90° in pitch. Figure 15 is a perspective view showing the end tool of the surgical instrument in Figure 5 rotated by +90° in yaw. Figure 16 is a side view showing the end tool of the surgical instrument in Figure 5 rotated by -90° in yaw.

[0083] Here, Figure 6 shows the end tool hub 106 and pitch hub 107 removed from the end tool in Figure 5, and Figure 8 shows the end tool hub 106 and pitch hub 107 removed from the end tool in Figure 7. Figure 9 is a diagram of the end tool in Figure 5 with the wire centered, and Figure 10 is a diagram of the end tool in Figure 5 with the pulley centered. Figure 11(a) shows the end tool hub 106 and pitch hub 107 attached, Figure 11(b) shows the path of wire 301 with the end tool hub 106 and pitch hub 107 removed, and Figure 11(c) shows the path of wire 305 with the end tool hub 106 and pitch hub 107 removed.

[0084] As described above in Figures 1 to 4, the surgical instrument according to the first embodiment of the present invention (see 30 in Figure 4) may include an end tool 100, a drive unit (see 200 in Figure 4), a power transmission unit 300, and a connecting unit 400.

[0085] Referring to Figures 5 to 16, the end tool 100 is formed at the end of the connecting part 400 and is inserted into the surgical site to perform the actions necessary for the surgery. As an example of such an end tool 100, a pair of jaws 101 and 102 for performing a gripping action can be used, as shown in Figure 5. However, the concept of the present invention is not limited thereto, and various surgical devices can be used as the end tool 100. For example, a single-arm cautery device can also be used as an end tool. Such an end tool 100 is connected to a drive unit (see 200 in Figure 4) by a power transmission unit 300, and the driving force of the drive unit (see 200 in Figure 4) is transmitted via the power transmission unit 300 to perform the actions necessary for surgery, such as gripping, cutting, and suturing.

[0086] Here, the end tool 100 of the surgical instrument 30 according to the first embodiment of the present invention is formed to be rotatable in at least two directions. For example, the end tool 100 can be formed to perform a pitch motion around the rotation axis 143 in Figure 5, and a yaw motion and actuation motion around the rotation axis 141 in Figure 5.

[0087] Herein, the pitch, yaw, and actuation actions used in this invention are defined as follows:

[0088] First, the pitch motion refers to the movement of the end tool 100 rotating vertically with respect to the extension direction of the connecting portion 400 (the X-axis direction in Figure 5), that is, the movement of rotation around the Y-axis in Figure 5. In other words, it refers to the movement of the end tool 100, which extends from and is formed from the connecting portion 400, rotating vertically around the Y-axis relative to the connecting portion 400.

[0089] Next, yaw motion refers to the movement of the end tool 100 rotating left and right with respect to the extension direction of the connecting portion 400 (the X-axis direction in Figure 5), that is, rotation around the Z-axis in Figure 5. In other words, it refers to the movement of the end tool 100, which extends from the connecting portion 400, rotating left and right around the Z-axis relative to the connecting portion 400. That is, it refers to the movement of the two jaws 101 and 102 formed on the end tool 100, rotating in the same direction relative to each other around the Z-axis.

[0090] On the other hand, actuation motion refers to the movement in which the end tool 100 rotates around the same axis of rotation as yaw motion, but the two jaws 101 and 102 rotate in opposite directions to each other, causing the jaws to close and open. In other words, it refers to the movement in which the two jaws 101 and 102 formed on the end tool 100 rotate in opposite directions around the Z axis.

[0091] From a different perspective, yaw rotation can be defined as the rotation of the jaw pulley around the rotation axis 141, which is the axis of rotation of the jaw pulley (described later), and pitch rotation can be defined as the revolution of the jaw pulley around the rotation axis 143, which is the main axis of rotation of the pitch.

[0092] The power transmission unit 300 connects the drive unit (see 200 in Figure 4) and the end tool 100, and transmits the driving force of the drive unit (see 200 in Figure 4) to the end tool 100. It may include multiple wires, pulleys, links, joints, gears, etc.

[0093] The power transmission unit 300 and the end tool 100 including it will be described in more detail below.

[0094] (Power transmission section) The power transmission section 300 of the end tool of the surgical instrument shown in Figure 5 will be described in more detail below.

[0095] Referring to Figures 5, 6, 10, etc., the power transmission section 300 of the end tool 100 of a surgical instrument according to one embodiment of the present invention may include wires 301, 302, 303, 304, 305, and 306.

[0096] Here, wire 301 and wire 305 form a pair and can function as the first jaw wire. Wire 302 and wire 306 form a pair and can function as the second jaw wire. Here, the component encompassing the first jaw wires 301 and 305 and the second jaw wires 302 and 306 can be called a jaw wire. Furthermore, wire 303 and wire 304 form a pair and can function as the pitch wire.

[0097] Here, the figure shows a pair of wires associated with the rotational motion of the first jaw 101 and a pair of wires associated with the rotational motion of the second jaw 102, but the concept of the present invention is not limited. For example, a pair of wires may be associated with yaw motion and a pair of wires may be associated with actuation motion.

[0098] Furthermore, the power transmission section 300 of the surgical instrument according to one embodiment of the present invention may include fastening members 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, etc., which are connected to each end of each wire to connect the wire and the pulley. Here, each fastening member may take various forms as needed, such as ball-shaped or tube-shaped.

[0099] Here, fastening member 321, which is a pitch wire fastening member, is coupled to the end tool 100 side end of wire 303, which is a pitch wire, and fastening member 322, which is a pitch wire fastening member, is coupled to the end tool 100 side end of wire 304, which is a pitch wire, and can therefore function as a pitch wire end tool fastening member. On the other hand, fastening member 329, which is a pitch wire drive unit fastening member, may be coupled to the drive unit side end (see 200 in Figure 4) of wire 303, which is a pitch wire, and fastening member 330, which is a pitch wire drive unit fastening member, may be coupled to the drive unit side end (see 200 in Figure 4) of wire 304.

[0100] On the other hand, the fastening member 323, which is the first jaw wire fastening member, is connected to the end tool 100 side end of the first jaw wires, wire 301 and wire 305, and can function as the first jaw wire end tool fastening member. On the other hand, the fastening member 324, which is the first jaw wire drive unit fastening member, may be connected to the drive unit side end of the first jaw wire, wire 301 (see 200 in Figure 4), and the fastening member 325, which is the first jaw wire drive unit fastening member, may be connected to the drive unit side end of wire 305 (see 200 in Figure 4).

[0101] On the other hand, the fastening member 326, which is a second jaw wire fastening member, is connected to the end tool 100 side end of the second jaw wires, wire 302 and wire 306, and can function as a second jaw wire end tool fastening member. On the other hand, the fastening member 327, which is a second jaw wire drive unit fastening member, may be connected to the drive unit side end of the second jaw wire, wire 302 (see 200 in Figure 4), and the fastening member 328, which is a second jaw wire drive unit fastening member, may be connected to the drive unit side end of wire 306 (see 200 in Figure 4).

[0102] Here, each fastening member is classified as being included in the power transmission section 300, but the fastening members on the end tool 100 side can also be classified as being included in the end tool 100, and the fastening members on the drive section (see 200 in Figure 4) side can also be classified as being included in the drive section (see 200 in Figure 4).

[0103] The detailed relationship between the wire, fastening member, and each pulley is as follows:

[0104] First, the second jaw wires, wire 302 and wire 306, may be a single wire. A fastening member 326, which is a second jaw wire end tool fastening member, is placed in the middle of the single second jaw wire, and after the fastening member 326 is pressed (crimped) to fix it in place, the two strands of the second jaw wire can be called wire 302 and wire 306, respectively, with the fastening member 326 as the center.

[0105] Alternatively, the second jaw wires, wire 302 and wire 306, may be formed from separate wires and connected by a fastening member 326.

[0106] By connecting this fastening member 326 to the pulley 121, the wires 302 and 306 can be fixedly connected to the pulley 121. This allows the pulley 121 to rotate as the wires 302 and 306 are pulled and unwound.

[0107] On the other hand, a fastening member 327, which is a fastening member for the second jaw wire drive unit, can be connected to the opposite end of the location where the fastening member 326 is fastened with wire 302, and a fastening member 328, which is a fastening member for the second jaw wire drive unit, can be connected to the opposite end of the location where the fastening member 326 is fastened with wire 306.

[0108] Then, by connecting the fastening member 327, which is a fastening member of the second jaw wire drive unit and is connected to wire 302, to pulley 221, and by connecting the fastening member 328, which is a fastening member of the second jaw wire drive unit and is connected to wire 306, to pulley 222, wires 302 and 306 can be fixedly connected to pulleys 221 and 222, respectively. As a result, when pulleys 221 and 222 are rotated by a motor or by hand, wires 302 and 306 are pulled and unwound, allowing pulley 121 of the end tool 100 to rotate.

[0109] Here, as shown in the figure, the second jaw pulley of the drive unit includes pulleys 221 and 222, and the fastening member of the second jaw wire drive unit also includes fastening members 327 and 328, with wire 302 being connected to fastening member 327 and wire 306 being connected to fastening member 328. Alternatively, although not shown in the figure, the second jaw pulley of the drive unit may include one pulley, the fastening member of the second jaw wire drive unit may also include one fastening member, and wires 302 and 306 may be connected to one fastening member and then to one second jaw pulley of the drive unit.

[0110] Similarly, the first jaw wire, wire 301, is connected to the first jaw wire end tool fastening member 323 and the first jaw wire drive unit fastening member 324, and wire 305 is connected to the first jaw wire end tool fastening member 323 and the first jaw wire drive unit fastening member 325. The first jaw wire end tool fastening member 323 is connected to pulley 111, the first jaw wire drive unit fastening member 324 is connected to pulley 211, and the first jaw wire drive unit fastening member 325 is connected to pulley 212. As a result, when pulleys 211 / 212 are rotated by a motor or by hand, wires 301 and 305 are pulled and unwound, allowing pulley 111 of the end tool 100 to rotate.

[0111] Similarly, one end of the pitch wire 303 can be connected to the fastening member 321, which is a pitch wire end tool fastening member, and one end of the pitch wire 304 can be connected to the fastening member 322, which is a pitch wire end tool fastening member. The other end of the wire 303 can be connected to the fastening member 329, which is a pitch wire drive unit fastening member, and the other end of the wire 304 can be connected to the fastening member 330, which is a pitch wire drive unit fastening member. The fastening members 321 and 322 are each connected to the pulley 131, and the fastening members 329 and 330 are each connected to the drive unit pitch pulleys pulleys 231 and 232. As a result, when the drive unit pitch pulleys pulleys 231 and 232 are rotated by a motor or by hand, the wires 303 and 304 are pulled and unwound, allowing the pulley 131 of the end tool 100 to rotate.

[0112] As a result, wires 301 and 305, which are the two reinforcing wires of the first jaw wire, can be connected to fastening member 323, which is the fastening member of the first jaw wire end tool, and fastening members 324 / 325, which are the fastening members of the first jaw wire drive unit, and are formed to function as a closed loop as a whole. Similarly, the second jaw wire and pitch wire can also be formed to function as closed loops.

[0113] (End Tool) The following provides a more detailed description of the endotool 100 of the surgical instrument shown in Figure 5.

[0114] Continuing to refer to Figures 5 to 16, the end tool 100 of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be called a jaw 103.

[0115] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, and 118 related to the rotational motion of the first jaw 101. Furthermore, it may include pulleys 121, 122, 123, 124, 125, and 128 related to the rotational motion of the second jaw 102.

[0116] Here, the figure shows that a group of pulleys is related to the rotational motion of the first jaw 101 and a group of pulleys is related to the rotational motion of the second jaw 102, but the concept of the present invention is not limited to this. For example, a group of pulleys in the end tool may be related to yaw motion and a group of pulleys may be related to actuation motion. Here, the pulleys included in the end tool 100, including the pulleys described above, can be collectively referred to as end tool pulleys.

[0117] Here, the figure shows opposing pulleys formed parallel to each other, but the concept of the present invention is not limited to this, and each pulley can be formed in a variety of positions and sizes suitable for the configuration of the end tool.

[0118] Furthermore, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107.

[0119] The end tool hub 106 has rotating shafts 141, 142, and 145, which will be described later, inserted through it. The end tool hub 106 can also accommodate at least a portion of the pulleys 111 and 121 that are axially coupled to the rotating shaft 141. The end tool hub 106 can also accommodate at least a portion of the pulleys 112 and 122 that are axially coupled to the rotating shaft 142. Furthermore, the end tool hub 106 can accommodate the pulleys 118 and 128 that are axially coupled to the rotating shaft 145.

[0120] For details, please refer to Figure 12, etc. The end tool hub 106 includes a first jaw pulley coupling portion 106a, a second jaw pulley coupling portion 106b, a guide portion 106c, a pitch excess pulley housing portion 106d, and a pitch pulley coupling portion 106e.

[0121] In detail, the first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b are formed to face each other, and pulleys 111 and 121 are housed inside them. Through holes are formed in the first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b, and a rotating shaft 141 passes through the first jaw-pulley coupling portion 106a, pulleys 111 and 121, and the second jaw-pulley coupling portion 106b, connecting them axially. Similarly, a rotating shaft 142 passes through the first jaw-pulley coupling portion 106a, pulleys 112 and 122, and the second jaw-pulley coupling portion 106b, connecting them axially.

[0122] The first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b are connected by a guide portion 106c. That is, the first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b, which are parallel to each other, are connected by a guide portion 106c that is formed in a direction substantially perpendicular to them, so that the first jaw-pulley coupling portion 106a, the second jaw-pulley coupling portion 106b and the guide portion 106c form a roughly "U" shape, and the pulleys 111, 112, 121 and 122 are housed inside.

[0123] Here, the first jaw pulley, pulley 111, is positioned adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106, and the second jaw pulley, pulley 121, is positioned adjacent to the second jaw pulley coupling portion 106b of the end tool hub 106, allowing a predetermined space to be formed between the first jaw wire, wire 301 / wire 305, and the second jaw wire, wire 302 / wire 306.

[0124] On the other hand, a pitch-extra pulley housing portion 106d may be formed on the proximal side of the guide portion 106c of the end tool hub 106. The pitch-extra pulley housing portion 106d can accommodate pulleys 118 and 128, which are pitch-extra pulleys, and these pitch-extra pulleys can be axially coupled to the end tool hub 106 by a rotating shaft 145.

[0125] On the other hand, a pulley 131 that serves as an end tool pitch pulley may be formed at the pitch pulley coupling portion 106e at one end of the end tool hub 106. Here, the pulley 131 may be formed integrally with the end tool hub 106 (one-body). That is, one end of the end tool hub 106 may be formed from a disc shape to a semicircular shape, and a groove on its outer circumferential surface around which a wire can be wound may be formed, forming a kind of guide channel. Alternatively, the pulley 131 may be formed from a separate component from the end tool hub 106 and coupled to the end tool hub 106. The wires 303 and 304 described above are coupled to the pulley 131 that serves as an end tool pitch pulley, and this pulley 131 rotates around the rotation axis 143 and performs a pitch motion.

[0126] The pitch hub 107 has the rotating shafts 143 and 144, described later, inserted through it, and the rotating shaft 143 can axially connect it to the end tool hub 106 and the pulley 131. Therefore, the end tool hub 106 and the pulley 131 (connected to it) can be formed to be rotatable relative to the pitch hub 107, with the rotating shaft 143 as the center.

[0127] Furthermore, the pitch hub 107 can accommodate at least a portion of the pulleys 113, 114, 123, and 124 that are axially coupled to the rotating shaft 143. Additionally, the pitch hub 107 can accommodate at least a portion of the pulleys 115 and 125 that are axially coupled to the rotating shaft 144.

[0128] Furthermore, the end tool 100 of the first embodiment of the present invention may include rotating shafts 141, 142, 145, 143, and 144. As described above, rotating shafts 141, 142, and 145 may be inserted through the end tool hub 106, and rotating shafts 143 and 144 may be inserted through the pitch hub 107.

[0129] The rotating axes 141, 142, 145, 143, and 144 can be arranged sequentially from the distal end 104 to the proximal end 105 of the end tool 100. As a result, the rotating axis 141 can be called the 1st pin, the rotating axis 142 the 2nd pin, the rotating axis 145 the 2.5th pin, the rotating axis 143 the 3rd pin, and the rotating axis 144 the 4th pin, starting from the distal end 104.

[0130] Here, the rotating shaft 141 functions as the jaw pulley rotating shaft, the rotating shaft 142 functions as the jaw auxiliary pulley rotating shaft, the rotating shaft 143 functions as the pitch main rotating shaft, and the rotating shaft 144 can function as the pitch sub-rotating shaft of the end tool 100. The rotating shaft 145, positioned between the rotating shafts 142 and 143, can function as the pitch extra rotating shaft of the end tool 100.

[0131] Each of these rotating shafts 141, 142, 143, 144, and 145 may be fitted with one or more pulleys, which will be described in detail below.

[0132] Pulley 111 functions as the first jaw pulley, and pulley 121 functions as the second jaw pulley; these two components can be collectively referred to as jaw pulleys.

[0133] The jaw pulleys, pulley 111 and pulley 121, are formed to face each other and are rotatable independently around the rotation axis 141, which is the jaw pulley rotation axis. In this figure, pulleys 111 and 121 are formed to rotate around a single rotation axis 141, but it goes without saying that each jaw pulley may be formed to rotate around a separate axis. Here, the first jaw 101 is fixedly coupled to pulley 111 and rotates with pulley 111, and the second jaw 102 is fixedly coupled to pulley 121 and can rotate with pulley 121. Yaw motion and actuation motion of the end tool 100 are performed in accordance with the rotation of pulleys 111 and 121. That is, when pulleys 111 and 121 rotate in the same direction around the rotation axis 141, yaw motion is performed, and when pulleys 111 and 121 rotate in opposite directions around the rotation axis 141, actuation motion is performed.

[0134] Here, the first jaw 101 and the pulley 111 may be formed from separate components and joined together, or the first jaw 101 and the pulley 111 may be formed as a single unit (one-body). Similarly, the second jaw 102 and the pulley 121 may be formed from separate components and joined together, or the second jaw 102 and the pulley 121 may be formed as a single unit (one-body).

[0135] Here, the groove 111a around the pulley 111, which is the first jaw pulley, where the first wires, wire 301 / wire 305, are wound, is located adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106, and the groove 121a around the pulley 121, which is the second jaw pulley, where the second wires, wire 302 / wire 306, are wound, is located adjacent to the first jaw pulley coupling portion 106a of the end tool hub 106. Therefore, a predetermined space can be formed between the first jaw wires, wire 301 / wire 305, and the second jaw wires, wire 302 / wire 306. In this way, by arranging the first jaw wires, wire 301 / wire 305, and the second jaw wires, wire 302 / wire 306, to be separated from each other, the wires can be wound around each pulley while maintaining a straight line.

[0136] Pulley 112 functions as the first jaw auxiliary pulley, and pulley 122 functions as the second jaw auxiliary pulley; these two components can be collectively referred to as jaw auxiliary pulleys.

[0137] More specifically, the jaw auxiliary pulleys, pulleys 112 and 122, may be further provided on one side of pulleys 111 and 121. That is, the jaw auxiliary pulley 112 can be positioned between pulley 111 and pulleys 113 / 114. The jaw auxiliary pulley 122 may be positioned between pulley 121 and pulleys 123 / 124. Pulleys 112 and 122 may be formed to rotate independently around the rotation axis 142. Here, the figure shows pulleys 112 and 122 formed to rotate around one rotation axis 142, but it goes without saying that pulleys 112 and 122 may each be formed to rotate around separate axes. Such auxiliary pulleys will be described in more detail later.

[0138] Pulleys 113 and 114 function as the first jaw pitch main pulleys, and pulleys 123 and 124 function as the second jaw pitch main pulleys. These two components can also be collectively referred to as pitch main pulleys.

[0139] Pulley 115 functions as the first jaw pitch sub-pulley, and pulley 125 functions as the second jaw pitch sub-pulley; these two components can be collectively referred to as pitch sub-pulleys.

[0140] On the other hand, the present invention is characterized in that pulleys 118 and 128, which are pitch redundant pulleys, are further arranged between pulleys 112 and 122, which are jaw auxiliary pulleys, and pulleys 113, 114, 123 and 124, which are pitch main pulleys.

[0141] Pulley 118 functions as the first jaw pitch extra pulley, and pulley 128 functions as the second jaw pitch extra pulley; these two components can be collectively referred to as pitch extra pulleys.

[0142] Furthermore, a rotating shaft 145 may be provided that functions as an extra pitch rotating shaft, and the rotating shaft 145 may be inserted through the end tool hub 106. Here, the rotating shaft 145 may be formed substantially parallel to the rotating shaft 143, which is the main pitch rotating shaft, and the rotating shaft 144, which is the sub-pitch rotating shaft. In this case, the rotating shaft 145 is positioned between the rotating shaft 142, which is the second pin, and the rotating shaft 143, which is the third pin, and therefore can be called the 2.5 pin in terms of its position.

[0143] Such extra-pitch pulleys can serve to alter the retraction / extraction path of jaw wires, either entering the end tool from the proximal to the distal end or exiting from the distal to the proximal end. This will be explained in more detail later.

[0144] As a result, the rotation axes 141, 142, 145, 143, and 144 can be sequentially arranged from the distal part 104 to the proximal part 105 of the end tool 100.

[0145] Furthermore, pulleys 111, 112, 118, 113 / 114, and 115, which are pulleys related to the rotation of the first jaw 101, can be sequentially arranged from the distal part 104 to the proximal part 105 of the end tool 100.

[0146] Furthermore, pulleys 121, 122, 128, 123 / 124, and 125, which are pulleys related to the rotation of the second jaw 102, can be sequentially arranged from the distal part 104 to the proximal part 105 of the end tool 100.

[0147] Below, we will describe in more detail the pulleys 112 and 122, which serve as auxiliary pulleys.

[0148] Pulleys 112 and 122 can increase the rotation angles of the first jaw 101 and the second jaw 102 by contacting the first jaw wire, wire 305, and the second jaw wire, wire 302, and changing the arrangement paths of wires 305 and 302 to a certain extent.

[0149] In other words, without 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, pulleys 112 and 122, the maximum rotation angle can be increased by θ as seen in Figure 10. This makes it possible for the two jaws of the end tool 120 to open for actuation when both jaws have yaw-rotated together by 90° in the L direction. This is because the second jaw 102 can rotate by an additional angle (θ) as in Figure 10. Similarly, actuation is possible even when both jaws have yaw-rotated in the R direction. In other words, the range of yaw rotation for which actuation is possible can be expanded through pulleys 112 and 122.

[0150] This can be explained in more detail as follows:

[0151] If no auxiliary pulleys are present, the first jaw wire is fixedly connected to the first jaw pulley, and the second jaw wire is fixedly connected to the second jaw pulley. Therefore, the first and second jaw pulleys can only rotate up to 90° each. In this case, when an actuation operation is performed with the first and second jaws positioned at the 90° line, the first jaw can expand, but the second jaw cannot rotate beyond 90°. Consequently, there was a problem in that the actuation operation could not be performed smoothly when the first and second jaws were performing a yaw motion beyond a certain angle.

[0152] To solve these problems, in the case of the end tool of the surgical instrument of the present invention, auxiliary pulleys, pulleys 612 and 622, are further arranged on one side of pulleys 111 and 121. By arranging pulleys 112 and 122 in this way, the arrangement paths of the first jaw wire, wire 305, and the second jaw wire, wire 302, are changed to a certain extent, thereby changing the tangential direction of wires 305 and 302, and thus allowing the fastening member 323 that connects wire 302 and pulley 121 to rotate to line N in Figure 10. That is, the fastening member 326, which is the connection part between wire 302 and pulley 121, can rotate until it is positioned on the common inner tangent of pulleys 121 and 122. Similarly, the fastening member 323, which is the connection part between wire 305 and pulley 111, can rotate until it is positioned on the common inner tangent of pulleys 111 and 112, and the range of rotation in the L direction can be expanded.

[0153] In other words, pulley 112 positions wires 301 and 305, which are the two strands of the first jaw wire wrapped around pulley 111, to one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis. At the same time, pulley 122 positions wires 302 and 306, which are the two strands of the second jaw wire wrapped around pulley 121, to the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0154] In other words, pulleys 113 and 114 are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis, while pulleys 123 and 124 are positioned on the other side with respect to the same plane perpendicular to the Y-axis and passing through the X-axis.

[0155] In other words, wire 305 lies on the internal tangent line between pulley 111 and pulley 112, and pulley 112 increases the rotation angle of pulley 111. Similarly, wire 302 lies on the internal tangent line between pulley 121 and pulley 122, and pulley 122 increases the rotation angle of pulley 121.

[0156] This invention provides the effect of widening the yaw range in which normal opening and closing actuation operations can be performed, by increasing the rotation radius of jaws 101 and 102.

[0157] The following describes the components related to the rotation of the pulley 111.

[0158] Pulleys 113 and 114 form a pair and function as the first jaw pitch main pulley. That is, they function as the main rotation pulley for the pitch motion of the first jaw 101. Here, the wire 301, which is the first jaw wire, is wound around pulley 113, and the wire 305, which is the first jaw wire, is wound around pulley 114.

[0159] Pulley 115 functions as a first jaw pitch sub-pulley. That is, it functions as a sub-rotating pulley for the pitch motion of the first jaw 101. Here, the wire 301, which is the first jaw wire, is wound around pulley 115.

[0160] Pulley 118 functions as a first jaw extra pulley; that is, it functions as an extra rotation pulley for the pitch motion of the first jaw 101. Here, the wire 305, which is the first jaw wire, is wound around pulley 118.

[0161] Here, pulley 118 is positioned on one side of pulleys 111 and 112. Here, pulley 118 is formed to be rotatable around a rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 113 and 114 are positioned on one side of pulley 118, facing each other. Here, pulleys 113 and 114 are formed to be rotatable independently around a rotation axis 143, which is the main rotation axis for the pitch. Also, pulley 115 is positioned on one side of each of pulleys 113 and 114. Here, pulley 115 is formed to be rotatable around a rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 118, 113, 114, and 115 all formed to be rotatable around the Y-axis direction, but the concept of the present invention is not limited to this, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0162] The first jaw wire, wire 301, is sequentially wound around pulleys 115, 113, and 111 so that at least a portion of it is in contact with them. Then, wire 305, which is connected to wire 301 by fastening member 323, is sequentially wound around pulleys 111, 112, 118, and 114 so that at least a portion of it is in contact with them.

[0163] To explain this from another perspective, the first jaw wires, wire 301 and wire 305, are sequentially wound around pulleys 115, 113, 111, 112, 118, and 114 so that at least a portion of them are in contact with them, and wires 301 and 305 are formed to move along the pulleys while the pulleys are rotating.

[0164] Therefore, when wire 301 is pulled in the direction of arrow 301 in Figure 9, the fastening member 323 to which wire 301 is connected and the pulley 111 connected to it rotate in the direction of arrow L in Figure 9. Conversely, when wire 305 is pulled in the direction of arrow 305 in Figure 9, the fastening member 323 to which wire 305 is connected and the pulley 111 connected to it rotate in the direction of arrow R in Figure 9.

[0165] Next, we will describe the components related to the rotation of the pulley 121.

[0166] Pulleys 123 and 124 form a pair and function as the second jaw pitch main pulley. That is, they function as the main rotation pulley for the pitch motion of the second jaw 102. Here, the wire 306, which is the second jaw wire, is wound around pulley 123, and the wire 302, which is the second jaw wire, is wound around pulley 124.

[0167] Pulley 125 functions as a second jaw pitch sub-pulley; that is, it functions as a sub-rotating pulley for the pitch motion of the second jaw 102. Here, the wire 306, which is the second jaw wire, is wound around pulley 125.

[0168] Pulley 128 functions as a second jaw pitch extra pulley; that is, it functions as an extra rotation pulley for the pitch motion of the second jaw 102. Here, the wire 302, which is the second jaw wire, is wound around pulley 128.

[0169] Here, pulley 128 is positioned on one side of pulleys 121 and 122. Here, pulley 128 is formed to be rotatable around a rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 123 and 124 are positioned on one side of pulley 128, facing each other. Here, pulleys 123 and 124 are formed to be rotatable independently around a rotation axis 143, which is the main rotation axis for the pitch. Also, pulley 125 is positioned on one side of each of pulleys 123 and 124. Here, pulley 125 is formed to be rotatable around a rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 128, 123, 124, and 125 all formed to be rotatable around the Y-axis direction, but the concept of the present invention is not limited to this, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0170] The second jaw wire, wire 306, is wound sequentially around pulleys 125, 123, and 121 so that at least a portion of it is in contact with them. Then, wire 302, which is connected to wire 306 by fastening member 326, is wound sequentially around pulleys 121, 122, 128, and 124 so that at least a portion of it is in contact with them.

[0171] To explain this from another perspective, the second jaw wires, wire 306 and wire 302, are sequentially wound around pulleys 125, 123, 121, 122, 128, and 124 so that at least a portion of them are in contact with them, and wire 306 and wire 302 are formed to move along the pulleys while the pulleys are rotating.

[0172] Therefore, when wire 306 is pulled in the direction of arrow 306 in Figure 9, the fastening member 326 to which wire 306 is connected and the pulley 121 connected to it rotate in the direction of arrow R in Figure 9. Conversely, when wire 302 is pulled in the direction of arrow 302 in Figure 9, the fastening member 326 to which wire 302 is connected and the pulley 121 connected to it rotate in the direction of arrow L in Figure 9.

[0173] Herein, the present invention is characterized in that the pitch motion can be easily controlled by winding the jaw wires of both lines, which are wound around a single jaw pulley, in opposite directions around the pitch main pulley.

[0174] More specifically, if we define the +Z axis direction as the upper side and the -Z axis direction as the lower side, based on the plane (i.e., the XY plane) passing between the first jaw pulley (pulley 111) and the second jaw pulley (pulley 121), then one of the two strands of the first jaw wire (e.g., wire 301) can enter the first jaw pitch main pulley (pulley 113) from the lower side of the XY plane, and the other strand (e.g., wire 305) can exit the first jaw pitch main pulley (pulley 114) from the upper side of the XY plane. In other words, the jaw wire can be described as entering the lower side of the first jaw pitch main pulley and exiting from the upper side. (The second jaw wire enters the upper side of the second jaw pitch main pulley and exits from the lower side.)

[0175] To explain this from another perspective, wire 301, one strand of the first jaw wire, contacts the upper side of pulley 115, then the lower side of pulley 113, and then contacts pulley 111. Subsequently, wire 305, the other strand of the first jaw wire, is wrapped around pulleys 111 and 112, then contacts the lower side of pulley 118, then the upper side of pulley 114, and then exits into the coupling section 400. As a result, the first jaw wire exits the coupling section 400, enters the lower side of pulley 113, passes through each pulley, and then enters the coupling section 400 again via the upper side of pulley 114.

[0176] Similarly, wire 306, one strand of the second jaw wire, contacts the underside of pulley 125, then the upper side of pulley 123, and then contacts pulley 121. Subsequently, wire 302, the other strand of the second jaw wire, is wound around pulleys 121 and 122, then contacts the upper side of pulley 128, then the lower side of pulley 124, and then exits into the coupling section 400. As a result, the second jaw wire exits the coupling section 400, enters the upper side of pulley 123, passes through each pulley, and then enters the coupling section 400 again via the lower side of pulley 124.

[0177] To express this from another perspective, one of the first jaw wires of both reins is wound around the first jaw pitch main pulley in either a clockwise or counterclockwise direction, while the other wire is wound around the first jaw pitch main pulley in the other direction. That is, as shown in Figure 11, wire 301 is wound clockwise as it enters the end tool 100 from the connecting part 400, and wire 305 is wound counterclockwise as it enters the end tool 100 from the connecting part 400.

[0178] Similarly, it could be said that of the two second jaw wires, one wire is wound around the second jaw pitch main pulley in either a clockwise or counterclockwise direction, and the other wire is wound around the second jaw pitch main pulley in the other direction. That is, as shown in Figure 10, wire 302 is wound clockwise as it enters from the connecting part 400 toward the end tool 100, and wire 306 is wound counterclockwise as it enters from the connecting part 400 toward the end tool 100.

[0179] In this way, by winding the jaw wires of both lines, which are wrapped around a single jaw pulley, in opposite directions around the pitch main pulley, it becomes easier to control the pitch motion. This will be explained in more detail later.

[0180] On the other hand, from the perspective of the XZ plane, both strands of each jaw wire are positioned on the same side with respect to the XZ plane. More specifically, if we define the +Z axis direction as the upper side and the -Z axis direction as the lower side with respect to the plane passing between the first jaw pitch main pulley (pulley 114) and the second jaw pitch main pulley (pulley 124) (i.e., the XY plane), then one of the two strands of the first jaw wire (e.g., wire 301) can be positioned on the first side of the XY plane, and the other strand (e.g., wire 305) can also be positioned on the same first side. Similarly, one of the two strands of the second jaw wire (e.g., wire 306) can be positioned on the second side of the XZ plane, and the other strand (e.g., wire 302) can also be positioned on the same second side. In other words, it can be described as a structure where one jaw wire enters on the first side and exits on the first side. (Also, the other jaw wire can be described as a structure where it enters on the second side and exits on the second side.)

[0181] (Drive unit) The drive unit 200 of the surgical instrument 30 shown in Figure 4 will be described in more detail below.

[0182] Figure 17 is a perspective view of the drive unit of the surgical instrument shown in Figure 4, Figure 18 is a plan view of the drive unit of the surgical instrument shown in Figure 17, Figure 19 is a rear view of the drive unit of the surgical instrument shown in Figure 17, and Figure 20 is a side view of the drive unit of the surgical instrument shown in Figure 17.

[0183] Referring to Figures 17 to 20, the drive unit 200 of the surgical instrument 30 according to the first embodiment of the present invention may include pulleys 211, 212, 213, 214, 215, and 216 related to the rotational motion of the first jaw 101. It may also include pulleys 221, 222, 223, 224, 225, and 226 related to the rotational motion of the second jaw 102.

[0184] Here, the figure shows opposing pulleys formed parallel to each other, but the concept of the present invention is not limited to this, and each pulley can be formed in a variety of positions and sizes suitable for the configuration of the drive unit.

[0185] Furthermore, the drive unit 200 of the surgical instrument 30 according to the first embodiment of the present invention may further include pulleys 231 and 232 that serve as drive unit pitch pulleys.

[0186] Furthermore, the drive unit 200 of the first embodiment of the present invention may include rotating shafts 241, 242, 243, and 244. Here, rotating shaft 241 can function as the first jaw rotating shaft of the drive unit, and rotating shaft 242 can function as the second jaw rotating shaft of the drive unit. Rotating shaft 243 can function as the pitch rotating shaft of the drive unit, and rotating shaft 244 can function as the roll rotating shaft of the drive unit. One or more pulleys may be fitted to each of these rotating shafts 241, 242, 243, and 244, which will be described in detail later.

[0187] Furthermore, the drive unit 200 of the first embodiment of the present invention may include motor coupling parts 251, 252, 253, and 254. Here, motor coupling part 251 can function as a first jaw drive motor coupling part, motor coupling part 252 can function as a second jaw drive motor coupling part, motor coupling part 253 can function as a pitch drive motor coupling part, and motor coupling part 254 can function as a roll drive motor coupling part. Here, each motor coupling part 251, 252, 253, and 254 can be formed in a rotatable flat plate shape and can have one or more coupling holes into which a motor (not shown) can be coupled.

[0188] The motor coupling parts 251, 252, 253, and 254 of the drive unit 200 are coupled to motors (not shown) formed on each robot arm unit 21, 22, and 23, and the drive unit 200 operates by the drive of these motors (not shown).

[0189] Furthermore, the drive unit 200 of the first embodiment of the present invention may include gears 263 and 264. Here, gears 263 and 264 can function as roll drive gears.

[0190] The following sections will provide a more detailed explanation of each component.

[0191] Pulleys 211 and 212 function as the first jaw pulleys of the drive unit, and pulleys 221 and 222 function as the second jaw pulleys of the drive unit. These components can be collectively referred to as the drive unit jaw pulleys.

[0192] Here, the figure shows that pulleys 211 and 212 are related to the rotational motion of the first jaw 101 of the end tool 100, and pulleys 221 and 222 are related to the rotational motion of the second jaw 102 of the end tool 100, but the concept of the present invention is not limited to this. For example, a group of pulleys in the drive unit may be related to yaw motion, and a group of pulleys may be related to actuation motion. Therefore, pulleys 211, 212, 221, and 222 can collectively be called drive unit drive pulleys. Furthermore, other pulleys described below may also have groups of pulleys related to yaw motion and groups of pulleys related to actuation motion.

[0193] Pulleys 213, 214, 215, and 216 function as first jaw auxiliary pulleys for the drive unit, while pulleys 223, 224, 225, and 226 function as second jaw auxiliary pulleys for the drive unit. These components can collectively be referred to as drive unit jaw auxiliary pulleys.

[0194] Multiple rotating shafts, including rotating shafts 241, 242, 243, and 244, may be formed on the first surface of the base plate 201. In addition, multiple intermediate pulleys 202 may be formed on the first surface of the base plate 201, which can serve to redirect the wires 301, 302, 303, 304, 305, and 306 that have passed through the shaft 410 and entered the drive unit 200 toward the pulleys 231 / pulleys 232.

[0195] Furthermore, on the base plate 201, a shaft-shaped shaft 410 is coupled to the second surface opposite to the first surface, and motor coupling parts 251, 252, 253, and 254 can be formed to which a motor (not shown) for driving the pulley is coupled.

[0196] Here, each motor coupling and the rotating shaft may be directly connected, or they may be indirectly connected via gears.

[0197] For example, the motor coupling part 251, which is the first jaw drive motor coupling part, is directly coupled to the rotating shaft 241, which is the first jaw rotation shaft of the drive unit. When the motor coupling part 251, which is coupled to the first jaw drive motor (not shown), rotates, the rotating shaft 241, which is directly coupled to it, can rotate together. Similarly, the motor coupling part 252, which is the second jaw drive motor coupling part, is directly coupled to the rotating shaft 242, which is the second jaw rotation shaft of the drive unit. When the motor coupling part 252, which is coupled to the second jaw drive motor (not shown), rotates, the rotating shaft 242, which is directly coupled to it, can rotate together. Similarly, the motor coupling part 253, which is the pitch drive motor coupling part, is directly coupled to the rotating shaft 243, which is the pitch rotation shaft of the drive unit. When the motor coupling part 253, which is coupled to the pitch drive motor (not shown), rotates, the rotating shaft 243, which is directly coupled to it, can rotate together.

[0198] As another example, the motor coupling part 254, which is the roll drive motor coupling part, and the rotating shaft 244, which is the drive unit roll rotation shaft, may be arranged at a certain distance apart in a plan view perpendicular to the rotating shaft 244. In such a case, the motor coupling part 254 and the rotating shaft 244 may be connected by gears 263 and 264, which are roll drive gears.

[0199] The reason why some motor couplings are directly connected to the rotating shaft and the remaining motor couplings are indirectly connected to the rotating shaft is that the coupling position and orientation between the surgical instrument 30 and the slave robot 20 must be taken into consideration. In other words, the rotating shaft that is not affected by the coupling position with the slave robot 20 is directly connected to the motor coupling, while the rotating shaft that may interfere with the coupling position with the slave robot 20 can be indirectly connected to the motor coupling.

[0200] The figure shows that motor coupling parts 251, 252, and 253 are directly connected to the rotating shaft, and motor coupling part 254 is indirectly connected via a gear. However, the concept of the present invention is not limited to this, and various configurations are possible depending on the coupling position and direction with the slave robot 20.

[0201] The rotating shaft 241, which is the first jaw rotation axis of the drive unit, may be coupled to pulleys 211 and 212, which are the first jaw pulleys of the drive unit. Here, pulleys 211 and 212 may be formed to rotate together with the rotating shaft 241.

[0202] In this figure, the first jaw pulley of the drive unit is shown to be formed by two pulleys 211 and 212, with wire 301 connected to one pulley 211 and wire 305 connected to the other pulley 212. However, the concept of the present invention is not limited to this, and the first jaw pulley of the drive unit may be formed by a single pulley, to which both wire 301 and wire 305 may be connected.

[0203] As described above, the rotating shaft 241 is coupled to the first jaw drive motor (not shown) by the motor coupling part 251. Therefore, when the first jaw drive motor (not shown) for driving the first jaw 101 rotates, the pulleys 211 and 212, which are the drive unit's first jaw pulleys, rotate together with the rotating shaft 241, pulling and unwinding the wires 301 and 305, which are the first jaw wires.

[0204] Furthermore, one or more drive unit first jaw auxiliary rotating shafts can be arranged in the region adjacent to the rotating shaft 241. Then, pulleys 213, 214, 215, and 216, which are drive unit first jaw auxiliary pulleys, can be connected to these rotating shafts. Pulleys 213, 214, 215, and 216 can serve to guide the paths of the first jaw wires, wires 301 and 305.

[0205] The rotating shaft 242, which is the second jaw rotation shaft of the drive unit, may be coupled to pulleys 221 and 222, which are the second jaw pulleys of the drive unit. Here, pulleys 221 and 222 may be formed to rotate together with the rotating shaft 242.

[0206] Here, the figure shows that the second jaw pulley of the drive unit is formed by two pulleys 221 and 222, with wire 302 connected to one pulley 221 and wire 306 connected to the other pulley 222. However, the concept of the present invention is not limited to this, and the second jaw pulley of the drive unit may be formed by a single pulley, to which both wire 302 and wire 306 may be connected.

[0207] As described above, the rotating shaft 242 is coupled to a second jaw drive motor (not shown) by a motor coupling part 252. Therefore, when the second jaw drive motor (not shown) for driving the second jaw 102 rotates, the pulleys 221 and 222, which are the second jaw pulleys of the drive unit, rotate together with the rotating shaft 242, pulling and unwinding the wires 302 and 306, which are the second jaw wires.

[0208] Furthermore, one or more auxiliary rotating shafts for the second jaw of the drive unit can be positioned in the region adjacent to the rotating shaft 242. Pulleys 223, 224, 225, and 226, which are auxiliary pulleys for the second jaw of the drive unit, can be coupled to these rotating shafts. Pulleys 223, 224, 225, and 226 can serve to guide the paths of the second jaw wires, wires 302 and 306.

[0209] The rotating shaft 243, which is the pitch rotation shaft of the drive unit, may be coupled to pulleys 231 and 232, which are the pitch pulleys of the drive unit. Here, pulleys 231 and 232 may be formed to rotate together with the rotating shaft 243.

[0210] Here, the figure shows that the drive unit pitch pulley is formed by two pulleys 231 and 232, with wire 304 connected to one pulley 231 and wire 303 connected to the other pulley 232. However, the concept of the present invention is not limited to this, and the drive unit pitch pulley may be formed by a single pulley, to which both wire 303 and wire 304 can be connected.

[0211] As described above, the rotating shaft 243 is coupled to a pitch drive motor (not shown) by a motor coupling part 253. Therefore, when the pitch drive motor (not shown) rotates for pitch movement, the drive unit pitch pulleys, pulleys 231 and 232, rotate together with the rotating shaft 243, pulling and unwinding the pitch wires, wires 303 and 304.

[0212] Furthermore, one or more drive unit pitch auxiliary rotating shafts can be arranged in the region adjacent to the rotating shaft 243. Then, pulleys 233 and 234, which are drive unit pitch auxiliary pulleys, can be coupled to these rotating shafts. Pulleys 233 and 234 can serve to guide the paths of the pitch wires, wires 303 and 304.

[0213] The first jaw wire, wire 305, is connected at one end to pulley 211 by the first jaw wire drive unit fastening member 325, and is sequentially wound around pulleys 211, 213, and 215 so that at least a portion of it is in contact with them, before being connected to the end tool 100 via shaft 410.

[0214] To express this from another perspective, the first jaw wire, wire 305, passes sequentially through the drive unit's first jaw pulley 211, the drive unit's first jaw auxiliary pulley 213, and the drive unit's first jaw auxiliary pulley 215, before being connected to the end tool 100 via the shaft 410.

[0215] To express this from another perspective, the first jaw wire, wire 305, passes through the end tool 100 and shaft 410 and enters the drive unit 200, then is wound around pulleys 215 and 213 in sequence, and finally fixedly coupled to pulley 211, which is the first jaw pulley of the drive unit.

[0216] Meanwhile, the first jaw wire, wire 301, is connected at one end to pulley 212 by the first jaw wire drive unit fastening member 324, and is sequentially wound around pulleys 212, 214, and 216 so that at least a portion of it is in contact with them, before being connected to the end tool 100 via shaft 410.

[0217] The second jaw wire, wire 306, is connected at one end to pulley 221 by second jaw wire drive unit fastening member 327, and is sequentially wound around pulleys 221, 223, and 225 so that at least a portion of it is in contact with them, before being connected to the end tool 100 via shaft 410.

[0218] On the other hand, one end of the wire 302, which is the second joystick wire, is coupled to the pulley 222 by the second joystick drive unit fastening member 328, and is sequentially wound so as to be in contact with at least a part of the pulleys 222, 224, and 226, and then is connected to the end tool 100 via the shaft 410.

[0219] (Pitch movement) The end tool 100 of the surgical instrument of the present invention includes a pulley 131 which is an end tool pitch pulley, the drive unit (see 200 in FIG. 17) includes pulleys 231 and 232 which are drive unit pitch pulleys, and the power transmission unit 300 can further include wires 303 and 304 which are pitch wires.

[0220] Specifically, the pulley 131 of the end tool 100 is rotatable about a rotation axis 143 which is a pitch main rotation axis, and may be formed integrally with (or fixedly coupled to) the end tool hub 106. Further, the wires 303 and 304 can serve to connect the pulley 131 of the end tool 100 and the pulleys 231 / 232 which are the drive unit pitch pulleys of the drive unit (see 200 in FIG. 17).

[0221] Therefore, when the pulleys 231 / 232 which are the drive unit pitch pulleys of the drive unit (see 200 in FIG. 17) rotate, the rotation of the pulleys 231 / 232 which are the drive unit pitch pulleys is transmitted to the pulley 131 of the end tool 100 via the wires 303 and 304, and the pulley 131 also rotates together, and as a result, the end tool 100 performs a pitch movement while rotating.

[0222] By the way, when the pulleys 231 / 232, which are the drive unit pitch pulleys, rotate to perform the pitch operation as described above, if no separate pitch compensation is performed on the joystick wire in the drive unit, the end tool will cause the joystick to rotate about the rotation axis 141, which is the rotation axis of the joystick pulley, along with the pitch operation. As a result, there was a problem that a pure pitch operation could not be performed.

[0223] In the following, such pitch compensation will be described in more detail.

[0224] Figs. 22 to 29 are conceptual diagrams showing the pitch operation of the surgical instrument shown in Fig. 4. Specifically, Figs. 22 and 23 are diagrams showing the surgical instrument in a neutral state, Figs. 24, 25, and 26 are diagrams showing the surgical instrument when no pitch compensation is performed, and Figs. 27, 28, and 29 are diagrams showing the surgical instrument when pitch compensation is performed. Here, for convenience of explanation, in Figs. 23(a), 26(a), and 29(a), the pulleys and wires related to the rotation of the first joystick are shown centered, and Figs. 23(b), 26(b), and 29(b) are shown centered on the pulleys and wires related to the rotation of the second joystick.

[0225] Here, the surgical instrument according to an embodiment of the present invention is characterized in that when performing a pitch operation, the pulleys 211 / 212, which are the drive unit first joystick pulleys, and the pulleys 221 / 222, which are the drive unit second joystick pulleys, rotate to wind and unwind the joystick wire, thereby enabling the pitch operation of the end tool 100.

[0226] As described above, when the pulleys 231 / 232, which are the drive unit pitch pulleys, rotate in the drive unit to perform the pitch operation, if no separate pitch compensation is performed on the joystick wire in the drive unit, the end tool will cause the joystick to rotate about the rotation axis 141, which is the rotation axis of the joystick pulley, along with the pitch operation. As a result, a pure pitch operation cannot be performed.

[0227] In detail, referring to Figures 22 to 26, when the drive unit pitch pulleys, pulleys 231 and 232 of the drive unit 200, rotate to perform the pitch motion of the end tool, the rotation of the drive unit pitch pulleys, pulleys 231 and 232, is transmitted via wires 303 and 304 to pulley 131 of the end tool 100, causing pulley 131 to rotate as well, and as a result the end tool 100 performs a pitch motion while rotating.

[0228] In other words, when the drive unit pitch pulleys, pulleys 231 and 232, rotate in the direction of arrow P1 in Figure 26(a), the rotation of the drive unit pitch pulleys, pulleys 231 and 232, is transmitted via wires 303 and 304 to pulley 131 of the end tool 100, causing pulley 131 to rotate in the direction of arrow P2 in Figure 26(a), thereby causing the end tool hub (see 106 in Figure 5) to rotate relative to the pitch hub (see 107 in Figure 5). In addition, the first jaw 101, second jaw 102, first jaw pulley 111, second jaw pulley 122, first jaw auxiliary pulley 112, and second jaw auxiliary pulley 122, which are connected to the end tool hub (see 106 in Figure 5), also rotate relative to the pitch hub (see 107 in Figure 5) together with the end tool hub (see 106 in Figure 5).

[0229] Incidentally, at this point, the jaw wires, wire 301 and wire 302, are further wound around pulley 113 / pulley 114, while wire 305 and wire 306 are further unwound around pulley 114 / pulley 114.

[0230] Therefore, if no compensation is provided for this, the first jaw pulley 111 will rotate to a certain extent in the direction of arrow J1 in Figure 26(b), and the second jaw pulley 121 will rotate to a certain extent in the direction of arrow J2 in Figure 26(a).

[0231] Therefore, if no compensation is provided for the movement of the jaw wire, the end tool will rotate not only with the pitch motion but also around the rotation axis 141, which is the axis of rotation of the jaw pulley. As a result, pure pitch motion cannot be performed, and a problem arises in which pitch motion and yaw motion are mixed.

[0232] Thus, in order to compensate for the motion of pitch movement, the surgical instrument according to one embodiment of the present invention is characterized in that, during pitch movement, the pulleys 211 / 212, which are the first jaw pulleys of the drive unit, and the pulleys 221 / 222, which are the second jaw pulleys of the drive unit, rotate together with the pitch pulley of the drive unit, winding and unwinding the jaw wire, thereby providing compensation for a kind of pitch movement and enabling the pitch movement of the end tool 100 to be performed.

[0233] In other words, during pitch operation, the drive unit's first jaw pulleys, pulleys 211 and 212, rotate to a certain extent in the direction of arrow A1 in Figure 29(b). As a result, the wire 301 is unwound to a certain extent (for example) by the drive unit's first jaw pulleys, pulleys 211 and 212, and is wrapped around the first jaw pitch main pulley 113 by that amount. At the same time, the wire 305 is wrapped around the drive unit's first jaw pulleys, pulleys 211 and 212, to a certain extent (for example), and is unwound by the first jaw pitch main pulley 114 by that amount.

[0234] Similarly, during pitch operation, the second jaw pulleys of the drive unit, pulleys 221 and 222, rotate to a certain extent in the direction of arrow A2 in Figure 29(a). As a result, the wire 302 is unwound to a certain extent (for example) by the first jaw pulleys of the drive unit, pulleys 221 and 222, and is wrapped around the second jaw pitch main pulley 123 by that amount. At the same time, the wire 306 is wrapped around the first jaw pulleys of the drive unit, pulleys 221 and 222, to a certain extent (for example), and is unwound by the second jaw pitch main pulley 114 by that amount.

[0235] In other words, when the drive unit pitch pulleys, pulleys 231 / 232, rotate, the drive unit first jaw pulleys, pulleys 211 / 212, and the drive unit second jaw pulleys, pulleys 221 / 222, also rotate. Consequently, the length of each jaw wire wrapped around the drive unit first jaw pulleys, pulleys 211 / 212, and the drive unit second jaw pulleys, pulleys 221 / 222, is changed. Specifically, the jaw wire wrapped around the end tool 100 side by the rotation of the drive unit pitch pulleys, pulleys 231 / 232, is unwound by the same amount on the drive unit 200 side, and the jaw wire unwound on the end tool 100 side is wrapped around the drive unit 200 side by the same amount, thereby preventing the pitch motion from affecting the yaw motion.

[0236] To express this from another perspective, when the end tool 100 performs a pitch motion due to the rotation of the drive unit pitch pulleys, pulleys 231 / 232, the jaw wires (which are responsible for yaw motion and actuation motion) also move due to the pitch motion. That is, the end tool 100 rotates around its axis of rotation 143, causing one strand of the jaw wire connected to one jaw to be pulled and the other strand to be unwound. At the same time, one strand of the jaw wire connected to the other jaw is pulled and the other strand to be unwound. Therefore, the present invention can be described as compensating for such jaw wire movement by, in order to compensate for such jaw wire movement, when the drive unit pitch pulleys, pulleys 231 / 232, rotate for the pitching motion of the end tool, the drive unit first jaw pulleys, pulleys 211 / 212, and the drive unit second jaw pulleys, pulleys 221 / 222, also rotate, changing the length of each jaw wire within the drive unit. By unwinding (or pulling) the jaw wire on the drive unit side by the amount that the jaw wire is pulled (or unwound) on the end tool side, the movement of the jaw wire is compensated when the end tool performs a pitching motion.

[0237] Thus, the end tool 100 of the surgical instrument according to one embodiment of the present invention has the effect of making it easier to control the pitch motion by having the jaw wires of both muscles, which are wound around a single jaw pulley, wound around the pitch main pulley in opposite directions to each other. In other words, when the pitch motion occurs, the pulleys 211 / 212, which are the first jaw pulleys of the drive unit, and the pulleys 221 / 222, which are the second jaw pulleys of the drive unit, rotate and wind the jaw wires around and unwind them, thereby providing a kind of compensation for the pitch motion, and thus the pitch motion of the end tool 100 becomes executable.

[0238] Figure 30 shows the neutral state of a surgical instrument according to a comparative example of the present invention, while Figures 31, 32, and 33 show the case where pitch compensation is performed on the surgical instrument of Figure 30.

[0239] For the sake of explanation, Figures 30(a), 31(a), and 32(a) show the end tool with the end tool hub and pitch hub connected, Figures 30(b), 31(b), and 32(b) show the end tool with the end tool hub and pitch hub removed, and Figures 30(c), 31(c), and 32(c) show the drive unit corresponding to the state of the end tool.

[0240] In the case of the surgical instrument according to the comparative example of the present invention shown in Figure 30, there is no extra pitch pulley (see 118 and 128 in Figure 6). Therefore, the jaw wires of both muscles that are wound around a single jaw pulley are wound around the pitch main pulley in the same direction.

[0241] For example, either one of the two strands of the first joist wire (e.g., wire 701) enters the pulley 513 which is the first joist pitch main pulley from below the XY plane, and the other strand (e.g., wire 705) can exit from the pulley 514 which is the first joist pitch main pulley below the XY plane. That is, it can be expressed as a structure in which the first joist wire enters below the first joist pitch main pulley and exits from below. (The second joist wire enters above the second joist pitch main pulley and exits from above.)

[0242] Therefore, when the pulley 631 / pulley 632 which are the drive unit pitch pulleys rotate to perform a pitch operation, the wire 701 and the wire 705 which are the first joist wires move in the same direction.

[0243] For example, as shown in FIGS. 31 and 33, when the pulley 631 / pulley 632 which are the drive unit pitch pulleys rotate in the direction of arrow P in FIG. 31, the wire 701 and the wire 705 will be pulled as shown in FIG. 33.

[0244] When the wire 701 and the wire 705 move in the same direction in this way, it becomes impossible to compensate for the pitch operation by rotating the pulley 611 / pulley 612 which are the drive unit first joist pulleys.

[0245] Therefore, as shown in FIGS. 31 and 33, by moving the position of the pulley 611 / pulley 612 which are the drive unit first joist pulleys to change the path length of the first joist wire in the drive unit 600, and at the same time, by moving the position of the pulley 621 / pulley 622 which are the drive unit second joist pulleys to change the path length of the second joist wire in the drive unit 600, pitch compensation can be performed.

[0246] In other words, to compensate for the movement of the jaw wire during pitch drive, the first jaw pulleys of the drive unit, pulleys 611 and 612, will move to a certain extent in the direction of arrow J1. And, using the same principle, the second jaw pulleys of the drive unit, pulleys 621 and 622, will move to a certain extent in the direction of arrow J2.

[0247] In this case, moving the positions of the first and second jaw pulleys of the drive unit for pitch compensation would require a variety of complex mechanical structures within the drive unit.

[0248] In contrast, the end tool 100 of the surgical instrument according to one embodiment of the present invention has the effect of making it easier to control the pitch motion, as the jaw wires of both muscles, which are wound around a single jaw pulley, are wound around the pitch main pulley in opposite directions to each other.

[0249] (Yaw motion) Figures 15 and 16 show the yaw motion of the surgical instrument shown in Figure 4.

[0250] Referring to Figures 15, 16, 17, and 21, when the pulley 211 / pulley 212, which are the first jaw pulleys of the drive unit, rotate in one direction for yaw motion, the wires 301 and 305, which are the first jaw wires, are wound around the pulley 211 / pulley 212 on one side and unwound from the pulley 211 / pulley 212 on the other side, in accordance with the rotation of the pulley 211 / pulley 212. As a result, the pulley 111, which is the first jaw pulley of the end tool connected to the opposite side of the wires 301 and 305, rotates in one direction while yaw motion is performed.

[0251] At this time, the drive unit pitch pulleys, pulleys 231 and 232, do not rotate, and the pitch wires, wires 303 and 304, maintain their positions without being wound around or unwound.

[0252] Similarly, when the drive unit's second jaw pulleys, pulleys 221 and 222, rotate in one direction for yaw motion, the second jaw wires, wires 302 and 306, are wound around pulleys 221 and 222 on one side and unwound from pulleys 221 and 222 on the other side as the pulleys rotate. As a result, the yaw motion is performed while pulley 121, the end tool's second jaw pulley connected to the opposite side of wires 302 and 306, rotates in one direction.

[0253] At this time, the drive unit pitch pulleys, pulleys 231 and 232, do not rotate, and the pitch wires, wires 303 and 304, maintain their positions without being wound around or unwound.

[0254] As a result, even when the drive jaw pulleys, pulleys 211 / 212 or 221 / 222, rotate for yaw or actuation, the overall length of the jaw wires, wires 301, 302, 305, and 306, within the drive unit 200 remains constant.

[0255] Thus, in the surgical instrument 30 according to one embodiment of the present invention, when the drive unit pitch pulley rotates, the drive unit jaw pulley rotates together with it, changing the path length of the jaw wire wrapped around the drive unit jaw pulley. As a result, the jaw wire is wound around or unwound in response to the rotation of the drive unit pitch pulley, thereby canceling out or compensating for the movement of the jaw wire due to the pitch drive, and thus achieving the effect of separating the pitch motion and the yaw motion.

[0256] <First modified example of the first embodiment> The following describes the end tool 100 of a surgical instrument according to a first modification of the first embodiment of the present invention. Here, the end tool 100 of a surgical instrument according to the first modification of the first embodiment of the present invention differs from the end tool of a surgical instrument according to the first embodiment of the present invention described above in that a part of the pulley is added. The following describes in detail the configuration that differs from the first embodiment.

[0257] Figures 34 and 35 are perspective views showing an end tool of a surgical instrument according to a first modification of the first embodiment of the present invention. Figure 36 is a plan view of the end tool of Figure 34. Figures 37 and 38 are plan views of the end tool of Figure 34. Figure 39 is a perspective view of the end tool of Figure 34. Figure 40 is a perspective view of the end tool hub of the end tool of Figure 34.

[0258] Referring to Figures 34 to 40, the end tool 100 according to the first modification of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be called a jaw 103.

[0259] Furthermore, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107.

[0260] Furthermore, the end tool 100 of the first embodiment of the present invention may include rotating shafts 141, 142, 145, 143, and 144. As described above, rotating shafts 141, 142, and 145 may be inserted through the end tool hub 106, and rotating shafts 143 and 144 may be inserted through the pitch hub 107.

[0261] In this modified example, the end tool hub 106, pitch hub 107, and each of the rotation axes 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each of the rotation axes 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, so a detailed explanation thereof is omitted here.

[0262] On the other hand, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 116, 117, and 118 related to the rotational motion of the first jaw 101. It may also include pulleys 121, 122, 123, 124, 125, 126, 127, and 128 related to the rotational motion of the second jaw 102.

[0263] Herein, the end tool 100 of the surgical instrument according to the first modification of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley each include two pulleys, and the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include two pulleys.

[0264] More specifically, the end tool 100 of the surgical instrument according to the first embodiment of the present invention, as shown in Figure 6, etc., is equipped with only one pulley 118 as the first jaw pitch extra pulley and only one pulley 128 as the second jaw pitch extra pulley.

[0265] In contrast, the end tool 100 of the surgical instrument according to the first modification of the first embodiment of the present invention is distinguished from the first embodiment of the present invention shown in Figure 6, etc., by comprising a pair of pulleys, pulley 117 and pulley 118, as first jaw pitch extra pulleys, and a pair of pulleys, pulley 127 and pulley 128, as second jaw pitch extra pulleys.

[0266] Furthermore, the end tool 100 of the surgical instrument according to the first embodiment of the present invention, as shown in Figure 6, etc., is equipped with only one pulley 115 as the first jaw pitch sub-pulley and only one pulley 125 as the second jaw pitch sub-pulley.

[0267] In contrast, the end tool 100 of the surgical instrument according to the first modification of the first embodiment of the present invention is distinguished from the first embodiment of the present invention shown in Figure 6, etc., by having a pair of pulleys, pulley 115 and pulley 116, as the first jaw pitch sub-pulleys, and a pair of pulleys, pulley 125 and pulley 126, as the second jaw pitch sub-pulleys.

[0268] As a result, pulleys 111, 112, 117 / 118, 113 / 114, and 115 / 116, which are pulleys associated with the rotation of the first jaw 101, can be sequentially arranged from the distal part 104 to the proximal part 105 of the end tool 100.

[0269] Furthermore, pulleys related to the rotation of the second jaw 102, namely pulleys 121, 122, 127 / 128, 123 / 124, and 125 / 126, can be sequentially arranged from the distal end 104 to the proximal end 105 of the end tool 100.

[0270] In other words, in the first embodiment of the present invention, the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in one row, whereas in the first modified example of the first embodiment of the present invention, the first jaw pitch extra pulley and the second jaw pitch extra pulley are each configured in two rows. Furthermore, in the first embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each configured in one row, whereas in the first modified example of the first embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each configured in two rows.

[0271] Here, pulleys 117 and 118 are positioned on one side of pulleys 111 and 112. Here, pulleys 117 and 118 are formed to rotate independently of each other around the rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 113 and 114 are positioned opposite each other on one side of pulleys 117 and 118. Here, pulleys 113 and 114 are formed to rotate independently of each other around the rotation axis 143, which is the main rotation axis for the pitch. Also, pulleys 115 and 116 are positioned opposite each other on one side of pulleys 113 and 114. Here, pulleys 115 and 116 are formed to rotate independently of each other around the rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 117, 118, 113, 114, 115, and 116 all formed to be rotatable around the Y-axis direction. However, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0272] The first jaw wire, wire 301, is sequentially wound around pulleys 115, 113, 117, and 111 so that at least a portion of it is in contact with them. Then, wire 305, which is connected to wire 301 by fastening member 323, is sequentially wound around pulleys 111, 112, 118, 114, and 116 so that at least a portion of it is in contact with them.

[0273] To explain this from another perspective, the first jaw wires, wire 301 and wire 305, are sequentially wound around pulleys 115, 113, 117, 111, 112, 118, 114, and 116 so that at least a portion of them are in contact with them, and wires 301 and 305 are formed to move along the pulleys while the pulleys are rotating.

[0274] On the other hand, pulleys 127 and 128 are positioned on one side of pulleys 121 and 122. Here, pulleys 127 and 128 are formed to rotate independently of each other around the rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 123 and 124 are positioned on one side of pulleys 127 and 128, facing each other. Here, pulleys 123 and 124 are formed to rotate independently of each other around the rotation axis 143, which is the main rotation axis for the pitch. Also, pulleys 125 and 126 are positioned on one side of each of pulleys 123 and 124, facing each other. Here, pulleys 125 and 126 are formed to rotate independently of each other around the rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows that pulleys 127, 128, 123, 124, 125, and 126 are all formed to be rotatable around the Y-axis direction. However, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0275] The second jaw wire, wire 306, is sequentially wound around pulleys 125, 123, 127, and 121 so that at least a portion of it is in contact with them. Then, wire 302, which is connected to wire 306 by fastening member 326, is sequentially wound around pulleys 121, 122, 128, 124, and 126 so that at least a portion of it is in contact with them.

[0276] To explain this from another perspective, the second jaw wires, wire 306 and wire 302, are wrapped around pulleys 125, 123, 127, 121, 122, 128, 124, and 126, at least in part, and wire 306 and wire 302 are formed to move along the pulleys while the pulleys are rotating.

[0277] As a result, in the first embodiment of the present invention, the first jaw pitch extra pulley, the second jaw pitch extra pulley, the first jaw pitch sub-pulley, and the second jaw pitch sub-pulley are each configured in one row, whereas in the first modified example of the first embodiment, the first jaw pitch extra pulley, the second jaw pitch extra pulley, the first jaw pitch sub-pulley, and the second jaw pitch sub-pulley are each configured in two rows, thereby providing the effect of more stable support for the wire.

[0278] <Second modified form of the first embodiment>

[0279] The following describes the end tool 100 of a surgical instrument according to a second modified form of the first embodiment of the present invention. Here, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention differs from the end tool of the surgical instrument according to the first modified form of the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration which has changed compared to the first modified form of the first embodiment.

[0280] Figures 41 and 42 are perspective views showing an end tool of a surgical instrument according to a second modified form of the first embodiment of the present invention. Figure 43 is a plan view of the end tool of Figure 41.

[0281] Referring to Figures 41 to 43, the end tool 100 according to the second modification of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be referred to as jaw 103.

[0282] Furthermore, the end tool 100 of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107.

[0283] Furthermore, the end tool 100 of the second variant of the first embodiment of the present invention may include rotating shafts 141, 142, 145, 143, and 144. As described above, rotating shafts 141, 142, and 145 can be inserted through the end tool hub 106, and rotating shafts 143 and 144 can be inserted through the pitch hub 107.

[0284] In this modified form, the end tool hub 106, pitch hub 107, and each rotation axis 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each rotation axis 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, so a detailed explanation of them is omitted here.

[0285] On the other hand, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 116, and 118 related to the rotational motion of the first jaw 101. Furthermore, the end tool 100 may include pulleys 121, 122, 123, 124, 125, 126, and 128 related to the rotational motion of the second jaw 102.

[0286] Herein, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley each include only one pulley.

[0287] More specifically, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention, as shown in Figure 34, etc., comprises a pair of pulleys, pulley 117 and pulley 118, as the first jaw pitch extra pulleys, and a pair of pulleys, pulley 127 and pulley 128, as the second jaw pitch extra pulleys.

[0288] In contrast, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention is differentiated from the first modified form of the first embodiment of the present invention shown in Figure 34 and the like by having a single pulley pulley 118 as the first jaw pitch extra pulley and a single pulley pulley 128 as the second jaw pitch extra pulley.

[0289] As a result, pulleys 111, 112, 118, 113 / 114, and 115 / 116, which are pulleys associated with the rotation of the first jaw 101, can be arranged sequentially from the distal part 104 to the proximal part 105 of the end tool 100.

[0290] Furthermore, pulleys 121, 122, 128, 123 / 124, and 125 / 126, which are pulleys related to the rotation of the second jaw 102, can be arranged sequentially from the distal part 104 to the proximal part 105 of the end tool 100.

[0291] Here, the pulleys 117 and 127 of the end tool 100 in the first modified form of the first embodiment of the present invention, as shown in Figure 34, are not pulleys around which the wire is wound, but rather pulleys that graze the wire in a straight line, thus making it possible to omit the pulleys as in this modified form.

[0292] In other words, the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each composed of two rows, whereas the second variant of the first embodiment of the present invention is characterized in that the first jaw pitch extra pulley and the second jaw pitch extra pulley are each composed of one row.

[0293] Here, pulley 118 is positioned on one side of pulleys 111 and 112. Here, pulley 118 is formed to be rotatable around a rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 113 and 114 are positioned on one side of pulley 118, facing each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other around a rotation axis 143, which is the main rotation axis for the pitch. Also, pulleys 115 and 116 are positioned on one side of each of pulleys 113 and 114, facing each other. Here, pulleys 115 and 116 are formed to be rotatable independently of each other around a rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 118, 113, 114, 115, and 116 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0294] The first jaw wire, wire 301, is wound sequentially around pulleys 115, 113, and 111 so that at least a portion of it is in contact with them. Then, wire 305, which is connected to wire 301 by fastening member 323, is wound sequentially around pulleys 111, 112, 118, 114, and 116 so that at least a portion of it is in contact with them.

[0295] In other words, the first jaw wires, wire 301 and wire 305, are sequentially wound around pulleys 115, 113, 111, 112, 118, 114, and 116 so that at least a portion of them are in contact with them, and wires 301 and 305 are formed so that they can move along the pulleys while the pulleys are rotating.

[0296] On the other hand, a pulley 128 is positioned on one side of pulleys 121 and 122. Here, pulley 128 is formed to be rotatable around a rotation axis 145, which is the extra rotation axis for the pitch. Also, on one side of pulley 128, pulleys 123 and 124 are positioned opposite each other. Here, pulleys 123 and 124 are formed to be rotatable independently of each other around a rotation axis 143, which is the main rotation axis for the pitch. Also, on one side of each of pulleys 123 and 124, pulleys 125 and 126 are positioned opposite each other. Here, pulleys 125 and 126 are formed to be rotatable independently of each other around a rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 128, 123, 124, 125, and 126 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0297] The second jaw wire, wire 306, is wound sequentially around pulleys 125, 123, and 121 so that at least a portion of it is in contact with them. Then, wire 302, which is connected to wire 306 by fastening member 326, is wound sequentially around pulleys 121, 122, 128, 124, and 126 so that at least a portion of it is in contact with them.

[0298] In other words, the second jaw wires, wire 306 and wire 302, are sequentially wound around pulleys 125, 123, 121, 122, 128, 124, and 126 so that at least a portion of them are in contact with them, and wire 306 and wire 302 are formed so that they can move along the pulleys while the pulleys are rotating.

[0299] As a result, in the first modified form of the first embodiment of the present invention, the first jaw pitch extra pulley and the second jaw pitch extra pulley are each composed of two rows, whereas in the second modified form of the first embodiment of the present invention, the first jaw pitch extra pulley and the second jaw pitch extra pulley are each composed of one row, thereby reducing the number of parts and simplifying the manufacturing process.

[0300] <Third modified form of the first embodiment> The following describes the end tool 100 of a surgical instrument according to the third modified form of the first embodiment of the present invention. Here, the end tool 100 of the surgical instrument according to the third modified form of the first embodiment of the present invention differs in the configuration of the end tool hub from the end tool of the surgical instrument according to the first modified form of the first embodiment of the present invention described above. The following describes in detail the configuration that has changed compared to the first modified form of the first embodiment.

[0301] Figures 44 and 45 are perspective views showing an end tool of a surgical instrument according to a third modification of the first embodiment of the present invention. Figure 46 is a coupled perspective view showing the second jaw of the end tool of Figure 44. Figure 47 is an exploded perspective view showing the second jaw of the end tool of Figure 44. Figure 48 is a coupled perspective view showing the first jaw of the end tool of Figure 44. Figure 49 is an exploded perspective view showing the first jaw of the end tool of Figure 44. Figures 50 and 51 are perspective views showing the end tool hub of the end tool of Figure 44. Figure 52 is a plan view of the end tool of Figure 44. Figures 53 and 54 are side views of the end tool of Figure 44.

[0302] Referring to Figures 44 to 54, the end tool 100 according to the third modification of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be referred to as jaw 103.

[0303] On the other hand, the first jaw 101 can be connected to the electric wire 411, and the second jaw 102 can be connected to the electric wire 412.

[0304] Furthermore, the end tool 100 of the third variant of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107. The end tool hub 180 will be described in more detail later.

[0305] Furthermore, the end tool 100 of the third variant of the first embodiment of the present invention may include a rotating shaft 141, a rotating shaft 142, a rotating shaft 143, and a rotating shaft 144. As described above, the rotating shafts 141 and 142 can be inserted through the end tool hub 106, and the rotating shafts 143 and 144 can be inserted through the pitch hub 107.

[0306] On the other hand, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 related to the rotational motion of the first jaw 101. Furthermore, the end tool 100 may include pulleys 121, 122, 123, 124, 125, and 126 related to the rotational motion of the second jaw 102.

[0307] In this modified form, the first jaw 101, the second jaw 102, the pitch hub 107, their respective pulleys, and each rotating shaft are substantially the same as those in the end tool 100 described in Figure 5 of the first embodiment, so a detailed explanation of them is omitted here.

[0308] In the following, the end tool hub 180 of the third modified form of the first embodiment of the present invention will be described in more detail, with particular emphasis on the first pitch extra pulley portion 183 and the second pitch extra pulley portion 184 of the end tool hub 180, which serve as pitch extra pulleys.

[0309] The end tool hub 180 includes a first jaw pulley coupling portion 181, a second jaw pulley coupling portion 182, a first pitch extra pulley portion 183, a second pitch extra pulley portion 184, and a pitch pulley coupling portion 185.

[0310] In detail, the first jaw-pulley coupling portion 181 and the second jaw-pulley coupling portion 182 are formed to face each other, and pulleys 111, 112, 121, and 122 are housed inside them. Through holes are formed in each jaw-pulley coupling portion 181 and 182, and the rotating shaft 141 passes through the jaw-pulley coupling portions 181 and 182 and the pulleys 111 and 121, axially coupling them. Through holes are also formed in each jaw-pulley coupling portion 181 and 182, and the rotating shaft 142 passes through the jaw-pulley coupling portions 181 and 182 and the pulleys 112 and 122, axially coupling them.

[0311] The first jaw-pulley coupling portion 181 and the second jaw-pulley coupling portion 182 are connected by a guide portion 186. That is, the first jaw-pulley coupling portion 181 and the second jaw-pulley coupling portion 182, which are parallel to each other, are connected by a guide portion 186 that is formed in a direction that is roughly perpendicular to them, so that the first jaw-pulley coupling portion 181, the second jaw-pulley coupling portion 182 and the guide portion 186 are roughly in the shape of a "U", and the pulleys 111, 112, 121 and 122 are housed inside.

[0312] In other words, it can be considered that the first jaw-pulley coupling portion 181 and the second jaw-pulley coupling portion 182 are formed extending in the X-axis direction from both ends of the guide portion 186, which is formed to be long in the Z-axis direction.

[0313] A first pitch extra pulley portion 183 can be formed on one side of the guide portion 186, and a second pitch extra pulley portion 184 can be formed on the other side.

[0314] In detail, a first pitch extra pulley portion 183 and a second pitch extra pulley portion 184 can be formed on both sides of the guide portion 186, each being disc-shaped like a pulley with grooves formed on its outer circumference around which a wire can be wound.

[0315] The first jaw wire, wire 305, can be wound around the first pitch extra pulley section 183, and the second jaw wire, wire 302, can be wound around the second pitch extra pulley section 184.

[0316] On the other hand, the first jaw wire, wire 301, can pass through the side surface of the first pitch extra pulley portion 183, and the second jaw wire, wire 306, can pass through the side surface of the second pitch extra pulley portion 184.

[0317] On the other hand, a pulley 131 that serves as an end tool pitch pulley can be formed at the pitch pulley coupling portion 185 at one end of the end tool hub 180. Here, the pulley 131 can be formed integrally (one-body) with the end tool hub 180. That is, one end of the end tool hub 180 can be formed in a disc shape or semicircular shape, and a groove for winding the wire can be formed on its outer circumference, forming a kind of guide channel. Alternatively, the pulley 131 can be formed from a separate component from the end tool hub 180 and coupled to the end tool hub 180. The aforementioned wires 303 and 304 are coupled to the pulley 131 that serves as an end tool pitch pulley, and this pulley 131 rotates around the rotation axis 143 while performing a pitch motion.

[0318] Thus, by forming the first pitch extra pulley portion 183 and the second pitch extra pulley portion 184 on the existing end tool hub 180 without adding a separate structure such as a pitch extra pulley, it is possible to expand the rotation range without adding parts or manufacturing processes.

[0319] <Fourth Modified Form of the First Embodiment> The following describes the end tool 100 of a surgical instrument according to the fourth modification of the first embodiment of the present invention. Here, the end tool 100 of a surgical instrument according to the third modification of the first embodiment of the present invention differs from the end tool of a surgical instrument according to the first modification of the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration that has changed compared to the first modification of the first embodiment.

[0320] Figures 55 and 56 are perspective views showing an end tool of a surgical instrument according to a fourth modification of the first embodiment of the present invention. Figures 57 and 58 are plan views of the end tool of Figure 55. Figures 59, 60, and 61 are side views of the end tool of Figure 55. Figures 62 and 63 are plan views of the end tool of Figure 55.

[0321] Referring to Figures 55 to 63, the end tool 100 according to the third modification of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be referred to as jaw 103.

[0322] Furthermore, the end tool 100 of the fourth variant of the first embodiment of the present invention may include an end tool hub 106 and a pitch hub 107.

[0323] Furthermore, the end tool 100 of the fourth variant of the first embodiment of the present invention may include rotating shafts 141, 142, 145, 143, and 144. As described above, rotating shafts 141, 142, and 145 can be inserted through the end tool hub 106, and rotating shafts 143 and 144 can be inserted through the pitch hub 107.

[0324] In this modified form, the end tool hub 106, pitch hub 107, and each rotation axis 141, 142, 143, 144, and 145 are substantially the same as the end tool hub 106, pitch hub 107, and each rotation axis 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, so a detailed explanation of them is omitted here.

[0325] On the other hand, the end tool 100 may include pulleys 111, 112, 113, 114, 115, 117, and 118 related to the rotational motion of the first jaw 101. Furthermore, the end tool 100 may include pulleys 121, 122, 123, 124, 125, 127, and 128 related to the rotational motion of the second jaw 102.

[0326] Here, the end tool 100 of the surgical instrument according to the fourth variant of the first embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0327] More specifically, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention, as shown in Figure 34, etc., comprises a pair of pulleys, pulley 115 and pulley 116, as the first jaw pitch sub-pulley, and a pair of pulleys, pulley 125 and pulley 126, as the second jaw pitch sub-pulley.

[0328] In contrast, the end tool 100 of the surgical instrument according to the fourth modification of the first embodiment of the present invention is differentiated from the first modification of the first embodiment of the present invention shown in Figure 34 and the like by having a single pulley of pulley 115 as the first jaw pitch sub-pulley and a single pulley of pulley 125 as the second jaw pitch sub-pulley.

[0329] As a result, pulleys 111, 112, 117 / 118, 113 / 114, and 115, which are pulleys associated with the rotation of the first jaw 101, can be arranged sequentially from the distal part 104 to the proximal part 105 of the end tool 100.

[0330] Furthermore, pulleys related to the rotation of the second jaw 102, namely pulleys 121, 122, 127 / 128, 123 / 124, and 125, can be arranged sequentially from the distal end 104 to the proximal end 105 of the end tool 100.

[0331] Here, the pulleys 116 and 126 of the end tool 100 in the first modified form of the first embodiment of the present invention, as shown in Figure 34, are not pulleys around which the wire is wound, but rather pulleys that graze the wire in a straight line, thus making it possible to omit the pulleys as in this modified form.

[0332] In other words, the first variant of the first embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of two rows, whereas the third variant of the first embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of one row.

[0333] Here, pulleys 117 and 118 are positioned on one side of pulleys 111 and 112. Here, pulleys 117 and 118 are formed to be rotatable around a rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 113 and 114 are positioned on one side of pulleys 117 and 118, facing each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other around a rotation axis 143, which is the main rotation axis for the pitch. Furthermore, pulley 115 is positioned on one side of each of pulleys 113 and 114. Here, pulley 115 is formed to be rotatable around a rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 117, 118, 113, 114, and 115 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0334] The first jaw wire, wire 301, is wound sequentially around pulleys 115, 113, 117, and 111 so that at least a portion of it is in contact with them. Then, wire 305, which is connected to wire 301 by fastening member 323, is wound sequentially around pulleys 111, 112, 118, and 114 so that at least a portion of it is in contact with them.

[0335] In other words, the first jaw wires, wire 301 and wire 305, are sequentially wound around pulleys 115, 113, 117, 111, 112, 118, and 114 so that at least a portion of them are in contact with them, and wires 301 and 305 are formed so that they can move along the pulleys while the pulleys are rotating.

[0336] On the other hand, pulleys 127 and 128 are positioned on one side of pulleys 121 and 122. Here, pulleys 127 and 128 are formed to be rotatable around the rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 123 and 124 are positioned on one side of pulleys 127 and 128, facing each other. Here, pulleys 123 and 124 are formed to be rotatable independently of each other around the rotation axis 143, which is the main rotation axis for the pitch. Furthermore, pulley 125 is positioned on one side of each of pulleys 123 and 124. Here, pulley 125 is formed to be rotatable around the rotation axis 144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 127, 128, 123, 124, 125, and 126 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0337] The second jaw wire, wire 306, is wound sequentially around pulleys 125, 123, 127, and 121 so that at least a portion of it is in contact with them. Then, wire 302, which is connected to wire 306 by fastening member 326, is wound sequentially around pulleys 121, 122, 128, and 124 so that at least a portion of it is in contact with them.

[0338] In other words, the second jaw wires, wire 306 and wire 302, are sequentially wound around pulleys 125, 123, 127, 121, 122, 128, and 124 so that at least a portion of them are in contact with them, and wire 306 and wire 302 are formed so that they can move along the pulleys while the pulleys are rotating.

[0339] As a result, in the first variant of the first embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of two rows, whereas in the third variant of the first embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of one row, thereby reducing the number of parts and simplifying the manufacturing process.

[0340] <Fifth Modification of the First Embodiment>

[0341] The following describes an end tool 100 for a surgical instrument according to a fifth modification of the first embodiment of the present invention. Here, the end tool 100 for a surgical instrument according to the fifth modification of the first embodiment of the present invention differs from the end tool for a surgical instrument according to the first embodiment of the present invention described above in the configuration of the end tool hub 180 which performs the role of an auxiliary pulley. This configuration, which differs from the first embodiment, will be described in detail later.

[0342] Figures 64 and 65 are perspective views showing the end tool of a surgical instrument according to a fifth modification of the first embodiment of the present invention. Figure 66 is a plan view of the end tool of Figure 64. Figure 67 is a perspective view of the end tool hub of the end tool of Figure 64. Figure 68 is a side view of the end tool of Figure 64. Figure 69 is a perspective view showing the end tool of the surgical instrument of Figure 64 rotated by -90° pitch. Figure 70 is a side view showing the end tool of the surgical instrument of Figure 64 rotated by +90° pitch. Figure 71 is a perspective view showing the end tool of the surgical instrument of Figure 64 rotated by +90° yaw. Figure 72 is a side view showing the end tool of the surgical instrument of Figure 64 rotated by -90° yaw.

[0343] Referring to Figures 64 to 72, the end tool 100 according to the fifth modification of the first embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. Here, the first jaw 101 and the second jaw 102, or the component encompassing the first jaw 101 and the second jaw 102, can be called a jaw 103.

[0344] On the other hand, the end tool 100 includes a plurality of pulleys, including a pulley 111 associated with the rotational motion of the first jaw 101. The pulleys associated with the rotational motion of the first jaw 101 in this modified example are substantially the same as the pulleys 111, 112, 113, 114, 115, and 118 described in Figure 5 of the first embodiment, so a detailed description thereof is omitted here.

[0345] On the other hand, the end tool 100 includes a plurality of pulleys, including a pulley 121 related to the rotational motion of the second jaw 102. The pulleys related to the rotational motion of the second jaw 102 in this modified example are substantially the same as pulleys 121, 122, 123, 124, 125, and 128 described in Figure 5 of the first embodiment, so a detailed description thereof is omitted here.

[0346] Furthermore, the end tool 100 of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107. The end tool hub 180 will be described in more detail later.

[0347] Furthermore, the end tool 100 of the fifth modification of the first embodiment of the present invention may include a rotating shaft 141, a rotating shaft 145, a rotating shaft 143, and a rotating shaft 144. As described above, the rotating shafts 141 and 145 may be inserted through the end tool hub 180, and the rotating shafts 143 and 144 may be inserted through the pitch hub 107.

[0348] In this modified example, the pitch hub 107 and each of the rotation axes 141, 143, 144, and 145 are substantially the same as the pitch hub 107 and each of the rotation axes 141, 143, 144, and 145 described in Figure 5 of the first embodiment, so a detailed explanation thereof is omitted here.

[0349] Here, the end tool 100 of the fifth modification of the first embodiment of the present invention may include an end tool hub 180 and a pitch hub 107.

[0350] A rotating shaft 141 is inserted through the end tool hub 180, and pulleys 111 and 121, which are axially coupled to the rotating shaft 141, and at least a portion of the first jaws 101 and second jaws 102 coupled to them, can be housed inside the end tool hub 180. Herein, one embodiment of the present invention is characterized in that a guide portion 183 that acts as an auxiliary pulley is formed in the end tool hub 180. That is, the end tool hub 180 may have a guide portion 183 that guides the paths of wires 305 and 302. Such a guide portion 183 of the end tool hub 180 can act as a kind of auxiliary pulley to change the path of the wires, and the guide portion 183 of the end tool hub 180 that acts as an auxiliary pulley in this way will be described in more detail later.

[0351] On the other hand, a pulley 131 that serves as an end tool pitch pulley may be formed at one end of the end tool hub 180. As shown in Figure 64, the pulley 131 can be formed as a one-body unit with the end tool hub 180. In this case, the pulley 131 is formed inside the end tool hub 180 in the form of a kind of guide channel and can guide the paths of wires 303 and 304. Alternatively, the pulley 131 can be formed from a separate component from the end tool hub 180 and coupled to the end tool hub 180. Then, wires 303 and 304 are coupled to the pulley 131 that serves as the end tool pitch pulley, and this pulley 131 rotates around the rotation axis 143 and performs a pitch motion.

[0352] Rotating shafts 143 and 144 are inserted through the pitch hub 107, and the rotating shaft 143 allows the pitch hub 107 to be axially coupled to the end tool hub 180 and the pulley 131. Therefore, the end tool hub 180 and the pulley 131 can be formed to be pitch-rotatable with respect to the pitch hub 107 around the rotating shaft 143.

[0353] Furthermore, the pitch hub 107 can accommodate at least a portion of the pulleys 113, 114, 123, and 124 that are axially coupled to the rotating shaft 143. Additionally, the pitch hub 107 can accommodate at least a portion of the pulleys 115 and 125 that are axially coupled to the rotating shaft 144.

[0354] The following describes in more detail the end tool hub 180 of one embodiment of the present invention, with particular emphasis on the guide portion 183 of the end tool hub 180, which serves as an auxiliary pulley.

[0355] The end tool hub 180 includes a pair of jaw pulley couplings 181 and 182, a guide portion 183, a guide groove 184, and a pitch pulley portion 185.

[0356] In detail, a pair of jaw-pulley couplings 181 and 182 are formed facing each other, and pulleys 111 and 121 are housed therein. Through holes are formed in each jaw-pulley coupling 181 and 182, and a rotating shaft 141 passes through the jaw-pulley couplings 181 and 182 and the pulleys 111 and 121, connecting them axially.

[0357] A pair of jaw-pulley couplings 181 and 182 are connected by a guide portion 183. That is, a pair of jaw-pulley couplings 181 and 182, which are parallel to each other, are connected by a guide portion 183 formed in a direction substantially perpendicular to them, and the pair of jaw-pulley couplings 181 and 182 and the guide portion 183 are roughly in the shape of a "U", with pulleys 111 and 121 housed inside.

[0358] From another perspective, this can be seen as a pair of jaw-pulley coupling portions 181 and 182 extending in the X-axis direction from both ends of a guide portion 183 that is long in the Z-axis direction.

[0359] Here, the guide portion 183 may be formed in a cylindrical shape with a substantially semicircular cross-section. This semicircular portion can be positioned to protrude toward the pulleys 111 and 121. From another perspective, this can be described as the guide portion 183 being formed to protrude toward the space formed between the pair of jaw-pulley coupling portions 181 and 182 and the guide portion 183. From yet another perspective, this can be described as the region of the guide portion 183 adjacent to the jaw-pulley coupling portions 181 and 182 being formed with a curved cross-section having a predetermined curvature.

[0360] Alternatively, from another perspective, the guide portion 183 can be said to function as a kind of pulley member, with wires 305 and 302 wrapped around its outer surface, guiding the paths of wires 305 and 302. However, the guide portion 183 is not a member that rotates around a predetermined axis like a pulley in the true sense, but is formed to be fixed as part of the end tool hub 180, although it can be said to perform a function somewhat similar to a pulley that guides the path of wires by having wires wrapped around it.

[0361] Here, the figure shows the guide portion 183 as being formed in the shape of a cylindrical body with a substantially semicircular cross-section. That is, at least a portion of the cross-section of the guide portion 183 on the XY plane is shown to form a predetermined arc shape. However, the concept of the present invention is not limited to this, and it can be said that the guide portion can be formed in various shapes and sizes suitable for guiding the paths of wires 305 and 302, such as by forming the cross-section to have a predetermined curvature, such as an ellipse or a parabola, or by forming the corners of a polygonal prism to a certain extent to be rounded.

[0362] Here, guide grooves 184 can be further formed in the portion of the guide portion 183 that contacts the wires 305 and 302 to better guide the paths of the wires 305 and 302. The guide grooves 184 can be formed in the shape of a groove that is recessed to some extent from the protruding surface of the guide portion 183.

[0363] Here, the figure shows that the guide groove 184 is formed on the entire arcuate surface of the guide portion 183. However, the concept of the present invention is not limited to this, and it can be said that the guide groove 184 can be formed only on a part of the arcuate surface of the guide portion 183 as needed.

[0364] By further forming guide grooves 184 in the guide portion 183 in this way, unnecessary friction with the wire can be reduced, thereby improving the durability of the wire.

[0365] In the guide portion 183, a pitch pulley portion 185 may be further formed in the direction opposite to the formation direction of the jaw pulley coupling portions 181 and 182. A pulley 131, which is a pitch pulley, can be formed in the pitch pulley portion 185, around which the pitch wires, wire 303 and wire 304, can be wound. However, the pulley 131 here is not a member that rotates around a predetermined axis like a pulley in the true sense, but is formed to be fixed as part of the end tool hub 180, although it can be said to perform a function partially similar to a pulley by winding wires around it. That is, the pulley 131 can be formed in the pitch pulley portion 185 of the end tool hub 180 in the shape of a kind of groove, and such a pulley 131 can serve as a guide channel for the wires 303 and wire 304. Here, the pitch pulley portion 185 can be formed on the XZ plane. Furthermore, a through hole can be formed in the pitch pulley portion 185 through which the rotating shaft 143 can be inserted.

[0366] On the other hand, although not shown in the figure, the pitch pulley section and the pitch pulley can be formed from separate components and joined together, and the rotating shaft 143 can be formed to pass through the pitch pulley section and the pulley.

[0367] The role and function of the guide section 183 will be explained in more detail below.

[0368] The guide section 183 can increase the rotation radius of the first jaw 101 and the second jaw 102 by contacting the wires 305 and 302 and changing their arrangement paths to a certain extent.

[0369] In other words, if the auxiliary pulley or guide portion 183 is not provided, the first jaw pulley, pulley 111, and the second jaw pulley, pulley 121, could only rotate up to a right angle. However, in one embodiment of the present invention, by further providing the end tool hub 180 with the guide portion 183, the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0370] This allows the two jaws of the end tool 100 to open for actuation while yaw-rotating by 90°. In other words, the configuration of the guide section 183 of the end tool hub 180 has the characteristic of being able to widen the range of yaw rotation in which actuation is possible.

[0371] Furthermore, by forming a guide section 183 on the conventional end tool hub 180 without adding any separate structures such as auxiliary pulleys, it is possible to expand the rotation range without adding any parts or manufacturing processes.

[0372] In this way, the need for additional structures to increase the rotation angle is eliminated, the number of parts is reduced, the manufacturing process is simplified, the length of the end tool is shortened by the size of the auxiliary pulley, and the length of the end tool during pitching motion is also shortened, resulting in the effect of making it easier to perform surgical movements in confined spaces.

[0373] This can be explained in more detail as follows:

[0374] An end tool 100 of a surgical instrument according to one embodiment of the present invention is characterized by the formation of a guide portion 183 on the inner wall of the end tool hub 180 that can change the wire path, thereby changing the wire arrangement path without a separate structure. By forming the guide portion 183 on the end tool hub 180 in this way and changing the arrangement paths of wires 305 and 302 to a certain extent, the tangential direction of wires 305 and 302 is changed, and therefore the rotation angle of fastening members 323 and 326 that connect each wire to the pulley is widened.

[0375] In other words, the fastening member 326 connecting the wire 302 and the pulley 121 can rotate until it is positioned on the common internal tangent line between the pulley 121 and the guide portion 183. Similarly, the fastening member connecting the wire 305 and the pulley 111 (see 323 in Figure 11) can rotate until it is positioned on the common internal tangent line between the pulley 111 and the guide portion 183, thereby increasing the rotation angle of the fastening member (see 323 in Figure 11).

[0376] To explain this from a different perspective, the wires 301 and 305, which are wrapped around the pulley 111 by the guide section 183, are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis. At the same time, the wires 302 and 306, which are wrapped around the pulley 121 by the guide section 183, are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0377] In other words, pulleys 113 and 114 are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis, while pulleys 123 and 124 are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0378] In other words, wire 305 is located on the inner tangent line between pulley 111 and guide portion 183, and the rotation angle of pulley 111 is increased by the guide portion 183. Similarly, wire 302 is located on the inner tangent line between pulley 121 and guide portion 183, and the rotation angle of pulley 121 is increased by the guide portion 183.

[0379] Compared to surgical instruments with separate auxiliary pulleys, the surgical instrument of this embodiment, which has a guide section 183 formed on the inner wall of the end tool hub 180 that allows the wire path to be changed without the formation of auxiliary pulleys, can have a shorter end tool length. By shortening the length of the end tool in this way, it becomes easier for the surgeon to operate when performing surgery in the narrow surgical space inside the human body, and the side effects of surgery can be reduced.

[0380] With this invention, the rotational radii of the first jaw pulley, pulley 111, and the second jaw pulley, pulley 121, are widened, which has the effect of widening the yaw range in which normal opening and closing actuation operations can be performed.

[0381] <Second Embodiment of Endotool for Surgical Instruments>

[0382] The following describes the end tool 1100 of the surgical instrument according to the second embodiment of the present invention. Here, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention differs in the arrangement of the jaw pulley and jaw wire from the end tool of the surgical instrument according to the first embodiment of the present invention (see 100 in Figure 5, etc.). This configuration, which differs from the first embodiment, will be explained in detail later.

[0383] Figures 73 and 74 are perspective views showing an end tool of a surgical instrument according to a second embodiment of the present invention. Figures 75, 76, 77, and 78 are plan views of the end tool of Figure 73. Figures 79, 80, and 81 are side views of the end tool of Figure 73.

[0384] Referring to Figures 73 to 81, the power transmission section 1300 of the end tool 1100 of the surgical instrument according to the second embodiment of the present invention may include wires 1301, 1302, 1303, 1304, 1305, and 1306. In this embodiment, the wires are substantially the same as wires 301, 302, 303, 304, 305, and 306 described in Figure 9 of the first embodiment, so a detailed description thereof is omitted here.

[0385] Furthermore, the power transmission section 1300 of the end tool 1100 of the surgical instrument according to the second embodiment of the present invention may include fastening members 1321, 1322, 1323, 1324, 1326, 1327, and 1329, which are connected to each end of each wire to connect the wire and the pulley. Here, each fastening member can be in various forms as needed, such as ball-shaped or tube-shaped. In this embodiment, the fastening members are substantially the same as the fastening members 321, 322, 323, 324, 326, 327, and 329 described in Figure 9 of the first embodiment, so a detailed explanation thereof is omitted here.

[0386] (End Tool) The following provides a more detailed description of the endotool 1100 of the surgical instruments shown in Figure 73.

[0387] Continuing to refer to Figures 73 to 81, the end tool 1100 of the second embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or the component encompassing the first jaw 1101 and the second jaw 1102, can be referred to as jaw 1103.

[0388] The end tool 1100 may also include pulleys 1111, 1112, 1113, 1114, 1115, 1116, and 1118 related to the rotational motion of the first jaw 1101. Furthermore, the end tool 1100 may also include pulleys 1121, 1122, 1123, 1124, 1125, 1126, and 1128 related to the rotational motion of the second jaw 1102. These pulleys will be described in more detail later.

[0389] Furthermore, the end tool 1100 of the second embodiment of the present invention may include an end tool hub 1106 and a pitch hub 1107.

[0390] The end tool hub 1106 has rotating shafts 1141, 1142, and 1145 inserted through it. The end tool hub 1106 can also accommodate at least a portion of pulleys 1111 and 1121 which are axially coupled to rotating shaft 1141. The end tool hub 1106 can also accommodate at least a portion of pulleys 1112 and 1122 which are axially coupled to rotating shaft 1142. Furthermore, the end tool hub 1106 can accommodate pulleys 1118 and 1128 which are axially coupled to rotating shaft 1145.

[0391] The pitch hub 1107 has rotating shafts 1143 and 1144 inserted through it, and the rotating shaft 1143 can axially connect it to the end tool hub 1106 and the pulley 1131. Therefore, the end tool hub 1106 and the pulley 1131 (formed integrally with it) can be formed to be rotatable relative to the pitch hub 1107 around the rotating shaft 1143.

[0392] Furthermore, the pitch hub 1107 can accommodate at least a portion of the pulleys 1113, 1114, 1123, and 1124 that are axially coupled to the rotating shaft 1143. Additionally, the pitch hub 1107 can accommodate at least a portion of the pulleys 1115, 1116, 1125, and 1126 that are axially coupled to the rotating shaft 1144.

[0393] Furthermore, the end tool 1100 of the second embodiment of the present invention may include rotating shafts 1141, 1142, 1145, 1143, and 1144. As described above, rotating shafts 1141, 1142, and 1145 can be inserted through the end tool hub 1106, and rotating shafts 1143 and 1144 can be inserted through the pitch hub 1107.

[0394] The rotating axes 1141, 1142, 1145, 1143, and 1144 can be arranged sequentially from the distal end 1104 to the proximal end 1105 of the end tool 1100. Therefore, starting from the distal end 1104, the rotating axis 1141 can be referred to as the 1st pin, the rotating axis 1142 as the 2nd pin, the rotating axis 1145 as the 2.5th pin, the rotating axis 1143 as the 3rd pin, and the rotating axis 1144 as the 4th pin.

[0395] Here, the rotating shaft 1141 functions as the jaw pulley rotating shaft, the rotating shaft 1142 functions as the jaw auxiliary pulley rotating shaft, the rotating shaft 1143 functions as the pitch main rotating shaft, and the rotating shaft 1144 can function as the pitch sub-rotating shaft of the end tool 1100. And the rotating shaft 1145, located between the rotating shafts 1142 and 1143, can function as the pitch extra rotating shaft of the end tool 1100.

[0396] In this embodiment, the end tool hub 1106, pitch hub 1107, and each rotation axis 1141, 1142, 1143, 1144, and 1145 are substantially the same as the end tool hub 106, pitch hub 107, and each rotation axis 141, 142, 143, 144, and 145 described in Figure 5 of the first embodiment, so a detailed explanation of them is omitted here.

[0397] On the other hand, one or more pulleys can be fitted to each of the rotating shafts 1141, 1142, 1143, 1144, and 1145, which will be explained in detail below.

[0398] Pulley 1111 functions as the first jaw pulley, and pulley 1121 functions as the second jaw pulley; these two components can also be collectively referred to as jaw pulleys.

[0399] The jaw pulleys, pulleys 1111 and 1121, are formed to face each other and to rotate independently of each other around a rotation axis 1141, which is the jaw pulley rotation axis. In this figure, pulleys 1111 and 1121 are formed to rotate around one rotation axis 1141, but it goes without saying that each jaw pulley can be formed to rotate around a different axis. Here, the first jaw 1101 is fixedly coupled to pulley 1111 and rotates together with pulley 1111, and the second jaw 1102 is fixedly coupled to pulley 1121 and can rotate together with pulley 1121. Yaw motion and actuation motion of the end tool 1100 are performed in accordance with the rotation of pulleys 1111 and 1121. In other words, when pulleys 1111 and 1121 rotate in the same direction around the rotation axis 1141, a yaw motion is performed, and when pulleys 1111 and 1121 rotate in opposite directions around the rotation axis 1141, an actuation motion is performed.

[0400] Here, the first jaw 1101 and the pulley 1111 can be formed from separate components and joined together, or the first jaw 1101 and the pulley 1111 can be formed as a single unit (one-body). Similarly, the second jaw 1102 and the pulley 1121 can be formed from separate components and joined together, or the second jaw 1102 and the pulley 1121 can be formed as a single unit (one-body).

[0401] Here, the groove 1111a around which the first wires, wire 1301 / wire 1305, are wound from the first jaw pulley, pulley 1111, and the groove 1121a around which the second wires, wire 1302 / wire 1306, are wound from the second jaw pulley, pulley 1121, are positioned adjacent to each other. Therefore, the first jaw wires, wire 1301 / wire 1305, and the second jaw wires, wire 1302 and 1306, are positioned close to each other in the Z-axis direction, and there is no space between the first jaw wires and the second jaw wires for any other structure to be interposed.

[0402] Pulley 1112 functions as the first jaw auxiliary pulley, and pulley 1122 functions as the second jaw auxiliary pulley; these two components can also be collectively referred to as jaw auxiliary pulleys.

[0403] More specifically, the jaw auxiliary pulleys, pulleys 1112 and 1122, can be additionally provided on one side of pulleys 1111 and 1121. In other words, the jaw auxiliary pulley 1112 can be positioned between pulleys 1111 and 1113 / 1114. Similarly, the jaw auxiliary pulley 1122 can be positioned between pulleys 1121 and 1123 / 1124. Pulleys 1112 and 1122 can be formed to rotate independently of each other around the rotation axis 1142. Here, the figure shows pulleys 1112 and 1122 formed to rotate around one rotation axis 1142, but it goes without saying that each of pulleys 1112 and 1122 can be formed to rotate around a different axis. Such auxiliary pulleys will be described in more detail later.

[0404] Pulleys 1113 and 1114 function as the first jaw pitch main pulleys, and pulleys 1123 and 1124 function as the second jaw pitch main pulleys. These two components can also be collectively referred to as pitch main pulleys.

[0405] Pulleys 1115 and 1116 function as first jaw pitch sub-pulleys, and pulleys 1125 and 1126 function as second jaw pitch sub-pulleys. These two components can also be collectively referred to as pitch sub-pulleys.

[0406] On the other hand, the present invention is characterized in that pulleys 1118 and 1128 are further arranged between pulleys 1112 and 1122, which are jaw auxiliary pulleys, and pulleys 1113, 1114, 1123 and 1124, which are pitch main pulleys.

[0407] Pulley 1118 functions as the first jaw pitch extra pulley, and pulley 1128 functions as the second jaw pitch extra pulley; these two components can also be collectively referred to as pitch extra pulleys.

[0408] Furthermore, a rotating shaft 1145 may be provided, which functions as an extra pitch rotating shaft, and the rotating shaft 1145 can be inserted through the end tool hub 1106. Here, the rotating shaft 1145 can be formed substantially parallel to the rotating shaft 1143, which is the main pitch rotating shaft, and the rotating shaft 1144, which is the sub-pitch rotating shaft. In this case, the rotating shaft 1145 is positioned between the rotating shaft 1142, which is the second pin, and the rotating shaft 1143, which is the third pin, and therefore can also be referred to as the 2.5 pin in terms of its position.

[0409] Such extra-pitch pulleys can serve to alter the retraction / extraction path of jaw wires, either entering the end tool from the proximal to the distal end or exiting from the distal to the proximal end. This will be explained in more detail later.

[0410] As a result, the rotation axes 1141, 1142, 1145, 1143, and 1144 can be sequentially arranged as they move from the distal part 1104 toward the proximal part 1105 of the end tool 1100.

[0411] Furthermore, pulleys related to the rotation of the first jaw 1101, namely pulleys 1111, 1112, 1118, 1113 / 1114, and 1115 / 1116, can be arranged sequentially from the distal end 1104 toward the proximal end 1105 of the end tool 1100.

[0412] Furthermore, pulleys 1121, 1122, 1128, 1123 / 1124, and 1125 / 1126, which are pulleys related to the rotation of the second jaw 1102, can be arranged sequentially from the distal part 1104 toward the proximal part 1105 of the end tool 1100.

[0413] The following describes the components related to the rotation of pulley 1111.

[0414] Pulleys 1113 and 1114 form a pair and function as the first jaw pitch main pulleys. That is, pulleys 1113 and 1114 function as the main rotational pulleys for the pitch motion of the first jaw 1101. Here, the first jaw wire, wire 1301, is wound around pulley 1113, and the first jaw wire, wire 1305, is wound around pulley 1114.

[0415] Pulleys 1115 and 1116 form a pair and function as a first jaw pitch sub-pulley. That is, pulleys 1115 and 1116 function as sub-rotating pulleys for the pitch motion of the first jaw 1101. Here, the first jaw wire, wire 1301, is wound around pulley 1115, and the first jaw wire, wire 1305, is wound around pulley 1116.

[0416] Pulley 1118 functions as an extra pulley for the first jaw. That is, pulleys 1117 and 1118 function as extra rotation pulleys for the pitch motion of the first jaw 1101. Here, the wire 1305, which is the first jaw wire, is wound around pulley 1118.

[0417] Here, pulley 1118 is positioned on one side of pulleys 1111 and 1112. Here, pulley 1118 is formed to be rotatable around rotation axis 1145, which is the extra rotation axis for pitch. Also, pulleys 1113 and 1114 are positioned on each side of pulley 1118, facing each other. Here, pulleys 1113 and 1114 are formed to be rotatable independently of each other around rotation axis 1143, which is the main rotation axis for pitch. Also, pulleys 1115 and 1116 are positioned on each side of pulleys 1113 and 1114, facing each other. Here, pulleys 1115 and 1116 are formed to be rotatable independently of each other around rotation axis 1144, which is the sub-rotation axis for pitch. Here, the figure shows pulleys 1118, 1113, 1114, 1115, and 1116 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0418] The first jaw wire, wire 1301, is wound sequentially around pulleys 1115, 1113, and 1111 so that at least a portion of it is in contact with them. Then, wire 1305, which is connected to wire 1301 by fastening member 1323, is wound sequentially around pulleys 1111, 1112, 1118, 1114, and 1116 so that at least a portion of it is in contact with them.

[0419] In other words, the first jaw wires, wire 1301 and wire 1305, are sequentially wound around pulleys 1115, 1113, 1111, 1112, 1118, 1114, and 1116 so that at least a portion of them are in contact with them, and wires 1301 and 1305 are formed so that they can move along the pulleys while the pulleys are rotating.

[0420] Therefore, when wire 1301 is pulled toward arrow 1301 in Figure 77, the fastening member 1323 to which wire 1301 is connected and the pulley 1111 connected thereto will rotate in the direction of arrow L in Figure 77. Conversely, when wire 1305 is pulled toward arrow 1305 in Figure 77, the fastening member 1323 to which wire 1305 is connected and the pulley 1111 connected thereto will rotate in the direction of arrow R in Figure 77.

[0421] Next, we will describe the components related to the rotation of the pulley 1121.

[0422] Pulleys 1123 and 1124 form a pair and function as the second jaw pitch main pulleys. That is, pulleys 1123 and 1124 function as the main rotation pulleys for the pitch motion of the second jaw 1102. Here, the wire 1306, which is the second jaw wire, is wound around pulley 1123, and the wire 1302, which is the second jaw wire, is wound around pulley 1124.

[0423] Pulleys 1125 and 1126 form a pair and function as a second jaw pitch sub-pulley. That is, pulleys 1125 and 1126 function as sub-rotating pulleys for the pitch motion of the second jaw 1102. Here, the wire 1306, which is the second jaw wire, is wound around pulley 1125, and the wire 1302, which is the second jaw wire, is wound around pulley 1126.

[0424] Pulley 1128 functions as a second jaw pitch extra pulley. That is, pulley 1128 functions as an extra rotation pulley for the pitch motion of the second jaw 1102. Here, the wire 1302, which is the second jaw wire, is wound around pulley 1128.

[0425] Here, pulley 1128 is positioned on one side of pulleys 1121 and 1122. Here, pulley 1128 is formed to be rotatable around rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1123 and 1124 are positioned on each side of pulley 1128, facing each other. Here, pulleys 1123 and 1124 are formed to be rotatable independently of each other around rotation axis 1143, which is the main rotation axis for the pitch. Also, pulleys 1125 and 1126 are positioned on each side of pulleys 1123 and 1124, facing each other. Here, pulleys 1125 and 1126 are formed to be rotatable independently of each other around rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1128, 1123, 1124, 1125, and 1126 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0426] The second jaw wire, wire 1306, is wound sequentially around pulleys 1125, 1123, and 1121 so that at least a portion of it is in contact with them. Then, wire 1302, which is connected to wire 1306 by fastening member 1326, is wound sequentially around pulleys 1121, 1122, 1128, 1124, and 1126 so that at least a portion of it is in contact with them.

[0427] In other words, the second jaw wires, wire 1306 and wire 1302, are sequentially wound around pulleys 1125, 1123, 1121, 1122, 1128, 1124, and 1126 so that at least a portion of them are in contact with them, and wires 1306 and 1302 are formed so that they can move along the pulleys while the pulleys are rotating.

[0428] Therefore, when wire 1306 is pulled in the direction of arrow 1306 in Figure 77, the fastening member 1326 to which wire 1306 is connected and the pulley 1121 connected thereto will rotate in the direction of arrow R in Figure 77. Conversely, when wire 1302 is pulled in the direction of arrow 302 in Figure 77, the fastening member 1326 to which wire 1302 is connected and the pulley 1121 connected thereto will rotate in the direction of arrow L in Figure 77.

[0429] Herein, the present invention is characterized in that the control of pitch motion is facilitated by winding two jaw wires, which are wound around one jaw pulley, around the pitch main pulley in opposite directions.

[0430] Specifically, if we define the +Z axis direction as the upper side and the -Z axis direction as the lower side, using the plane (i.e., the XY plane) passing between the first jaw pulley (pulley 1111) and the second jaw pulley (pulley 1121) as a reference, then one of the two first jaw wires (e.g., wire 1301) can enter the first jaw pitch main pulley (pulley 1113) from the lower side of the XY plane, and the other wire (e.g., wire 1305) can exit the first jaw pitch main pulley (pulley 1114) from the upper side of the XY plane. In other words, the jaw wires can be described as entering from the lower side and exiting from the upper side of the first jaw pitch main pulley. (The second jaw wires enter from the upper side and exit from the lower side of the second jaw pitch main pulley.)

[0431] To put it another way, one of the first jaw wires, wire 1301, contacts the upper side of pulley 1115, then the lower side of pulley 1113, and then contacts pulley 1111. Subsequently, the other first jaw wire, wire 1305, is wrapped around pulleys 1111 and 1112, then contacts the lower side of pulley 1118, the upper side of pulley 1114, and the lower side of pulley 1116, before exiting into the connecting section 400. As a result, the first jaw wire exits the connecting section 400, enters the lower side of pulley 1113, passes through each pulley, and then enters the connecting section 400 again via the upper side of pulley 1114.

[0432] Similarly, one of the second jaw wires, wire 1306, contacts the underside of pulley 1125, then the upper side of pulley 1123, and then contacts pulley 121. Subsequently, the other wire of the second jaw wire, wire 1302, is wrapped around pulleys 1121 and 1122, then contacts the upper side of pulley 1128, the underside of pulley 1124, and the upper side of pulley 1126, before exiting into the coupling section 400. As a result, the second jaw wire exits the coupling section 400, enters the upper side of pulley 1123, passes through each pulley, and then re-enters the coupling section 400 via the underside of pulley 1124.

[0433] In other words, one of the two first jaw wires enters the first jaw pitch main pulley from the connecting portion 1400 toward the end tool 1100 and is wound in either a clockwise or counterclockwise direction, while the other wire enters the first jaw pitch main pulley from the connecting portion 1400 toward the end tool 1100 and is wound in the other clockwise or counterclockwise direction. That is, as seen in Figures 79, 80, and 81, wire 1301 is wound clockwise as it enters the connecting portion 1400 toward the end tool 1100, and wire 1305 is wound counterclockwise as it enters the connecting portion 400 toward the end tool 1100.

[0434] Similarly, it could be said that of the two second jaw wires, one wire enters from the connecting portion 1400 toward the end tool 1100 and is wound around the second jaw pitch main pulley in either a clockwise or counterclockwise direction, while the other wire enters from the connecting portion 1400 toward the end tool 1100 and is wound around the second jaw pitch main pulley in the other clockwise or counterclockwise direction. In other words, as seen in Figures 79, 80, and 81, wire 1302 is wound clockwise as it enters from the connecting portion 1400 toward the end tool 1100, and wire 1306 is wound counterclockwise as it enters from the connecting portion 400 toward the end tool 1100.

[0435] Thus, the end tool 1100 of the surgical instrument according to one embodiment of the present invention has the effect of making it easier to control the pitch motion by having two jaw wires wound around one jaw pulley and wound around the pitch main pulley in opposite directions. That is, when the pitch motion occurs, the first jaw pulley of the drive unit (see 211 and 212 in Figure 21) and the second jaw pulley of the drive unit (see 221 and 222 in Figure 21) rotate while winding and unwinding the jaw wires, thereby providing a kind of compensation for the pitch motion and making the pitch motion of the end tool 1100 executable.

[0436] <First modified form of the second embodiment>

[0437] The following describes the end tool 1100 of a surgical instrument according to the first modified form of the second embodiment of the present invention. Here, the end tool 100 of the surgical instrument according to the first modified form of the second embodiment of the present invention differs from the end tool of the surgical instrument according to the second embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration which has changed compared to the second embodiment.

[0438] Figures 82 and 83 are perspective views showing an end tool of a surgical instrument according to a first modified form of a second embodiment of the present invention. Figures 84 and 85 are plan views of the end tool of Figure 82. Figures 86, 87, and 88 are side views of the end tool of Figure 82. Figures 89 and 90 are plan views of the end tool of Figure 82.

[0439] Referring to Figures 82 to 90, the end tool 1100 according to the first modification of the second embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 1101 and a second jaw 1102. Here, each of the first jaw 1101 and the second jaw 1102, or the component encompassing the first jaw 1101 and the second jaw 1102, can be referred to as jaw 1103.

[0440] Furthermore, the end tool 1100 according to the first modified form of the second embodiment of the present invention may include an end tool hub 1106 and a pitch hub 1107.

[0441] Furthermore, the end tool 1100 of the first variant of the second embodiment of the present invention may include rotating shafts 1141, 1142, 1145, 1143, and 1144. As described above, rotating shafts 1141, 1142, and 1145 can be inserted through the end tool hub 1106, and rotating shafts 1143 and 1144 can be inserted through the pitch hub 1107.

[0442] In this modified form, the end tool hub 1106, pitch hub 1107, and each rotation axis 1141, 1142, 1143, 1144, and 1145 are substantially the same as the end tool hub 1106, pitch hub 1107, and each rotation axis described in Figure 73 of the second embodiment, so a detailed explanation of them is omitted here.

[0443] On the other hand, the end tool 1100 may include pulleys 1111, 1112, 1113, 1114, 1115, and 1118 related to the rotational motion of the first jaw 1101. Furthermore, the end tool 1100 may include pulleys 1121, 1122, 1123, 1124, 1125, and 1128 related to the rotational motion of the second jaw 1102.

[0444] Herein, the end tool 1100 of the surgical instrument according to the first modified form of the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley each include only one pulley.

[0445] More specifically, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention, as shown in Figure 73, comprises a pair of pulleys, pulley 1115 and pulley 1116, as the first jaw pitch sub-pulley, and a pair of pulleys, pulley 1125 and pulley 1126, as the second jaw pitch sub-pulley.

[0446] In contrast, the end tool 1100 of the surgical instrument according to the first modified form of the second embodiment of the present invention is differentiated from the second embodiment of the present invention shown in Figure 73 and the like in that it is equipped with a single pulley of pulley 1115 as the first jaw pitch sub-pulley and a single pulley of pulley 1125 as the second jaw pitch sub-pulley.

[0447] As a result, pulleys 1111, 1112, 1118, 1113 / 1114, and 1115, which are pulleys associated with the rotation of the first jaw 1101, can be arranged sequentially from the distal part 1104 to the proximal part 1105 of the end tool 1100.

[0448] Furthermore, pulleys 1121, 1122, 1128, 1123 / 1124, and 1125, which are pulleys related to the rotation of the second jaw 1102, can be arranged sequentially from the distal part 1104 to the proximal part 1105 of the end tool 1100.

[0449] Here, the pulleys 1116 and 1126 of the end tool 1100 of the second embodiment of the present invention, as shown in Figure 73, are not pulleys around which the wire is wound, but rather pulleys that graze the wire in a straight line, making it possible to omit the pulleys as in this modified form.

[0450] In other words, the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of two rows, whereas the first modified form of the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of one row.

[0451] Here, pulley 1118 is positioned on one side of pulleys 1111 and 1112. Here, pulley 1118 is formed to be rotatable around rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1113 and 1114 are positioned on one side of pulleys 1117 / 1118, facing each other. Here, pulleys 1113 and 1114 are formed to be rotatable independently of each other around rotation axis 1143, which is the main rotation axis for the pitch. Furthermore, pulley 1115 is positioned on one side of each of pulleys 1113 and 1114. Here, pulley 1115 is formed to be rotatable around rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1118, 1113, 1114, and 1115 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0452] The first jaw wire, wire 1301, is wound sequentially around pulleys 1115, 1113, and 1111 so that at least a portion of it is in contact with them. Then, wire 1305, which is connected to wire 1301 by fastening member 1323, is wound sequentially around pulleys 1111, 1112, 1118, and 1114 so that at least a portion of it is in contact with them.

[0453] In other words, the first jaw wires, wire 1301 and wire 1305, are sequentially wound around pulleys 1115, 1113, 1111, 1112, 1118, and 1114 so that at least a portion of them are in contact with them, and wires 1301 and 1305 are formed so that they can move along the pulleys while the pulleys are rotating.

[0454] On the other hand, pulley 1128 is positioned on one side of pulleys 1121 and 1122. Here, pulley 1128 is formed to be rotatable around rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1123 and 1124 are positioned on one side of pulley 1128, facing each other. Here, pulleys 1123 and 1124 are formed to be rotatable independently of each other around rotation axis 1143, which is the main rotation axis for the pitch. Furthermore, pulley 1125 is positioned on one side of each of pulleys 1123 and 1124. Here, pulley 1125 is formed to be rotatable around rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1128, 1123, 1124, 1125, and 1126 all formed to be rotatable around the Y-axis; however, the concept of the present invention is not limited to this, and the axis of rotation of each pulley can be formed in various directions to suit its configuration.

[0455] The second jaw wire, wire 1306, is wound sequentially around pulleys 1125, 1123, and 1121 so that at least a portion of it is in contact with them. Then, wire 1302, which is connected to wire 1306 by fastening member 1326, is wound sequentially around pulleys 1121, 1122, 1128, and 1124 so that at least a portion of it is in contact with them.

[0456] In other words, the second jaw wires, wire 1306 and wire 1302, are sequentially wound around pulleys 1125, 1123, 1121, 1122, 1128, and 1124 so that at least a portion of them are in contact with them, and wire 1306 and wire 1302 are formed so that they can move along the pulleys while the pulleys are rotating.

[0457] As a result, in the second embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of two rows, whereas in the first modified form of the second embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of one row, thereby reducing the number of parts and simplifying the manufacturing process.

[0458] <Third Embodiment of Endotool for Surgical Instruments>

[0459] The following describes the end tool 2100 of the surgical instrument according to the third embodiment of the present invention. Here, the end tool 2100 of the surgical instrument according to the third embodiment of the present invention differs in the arrangement of the jaw pulley and jaw wire from the end tool of the surgical instrument according to the first embodiment of the present invention (see 100 in Figure 5, etc.). This configuration, which differs from the first embodiment, will be explained in detail later.

[0460] Figures 91, 92, 93, and 94 are perspective views showing the end tool of a surgical instrument according to a third embodiment of the present invention. Figures 95 and 96 are plan views of the end tool of Figure 91. Figures 97, 98, and 99 are side views of the end tool of Figure 91. Figures 100 and 101 are plan views of the end tool of Figure 91. Figure 102 is a perspective view of the end tool hub of the end tool of Figure 91, Figure 103 is a front view of the end tool hub of the end tool of Figure 91, and Figure 104 is a side view of the end tool hub of the end tool of Figure 91.

[0461] Referring to Figures 91 to 104, the power transmission section 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention may include wires 2301, 2302, 2303, 2304, 2305, and 2306. In this embodiment, the wires are substantially the same as wires 301, 302, 303, 304, 305, and 306 described in Figure 9 of the first embodiment, so a detailed description thereof is omitted here.

[0462] Furthermore, the power transmission section 2300 of the end tool 2100 of the surgical instrument according to the third embodiment of the present invention may include fastening members 2321, 2322, 2323, and 2326, which are connected to each end of each wire to connect the wire and the pulley. Here, each fastening member can be in various forms as needed, such as ball-shaped or tube-shaped. In this embodiment, the fastening members are substantially the same as the fastening members 321, 322, 323, and 326 described in 59 of the first embodiment, so a detailed description thereof is omitted here.

[0463] (End Tool) The following section provides a more detailed description of the endotool 2100 of the surgical instruments shown in Figure 91.

[0464] Continuing to refer to Figures 91 to 104, the end tool 2100 of the third embodiment of the present invention comprises a pair of jaws for performing a gripping action, namely a first jaw 2101 and a second jaw 2102. Here, each of the first jaw 2101 and the second jaw 2102, or the component encompassing the first jaw 2101 and the second jaw 2102, can be referred to as jaw 2103.

[0465] The end tool 2100 may also include pulleys 2111, 2112, 2113, 2114, 2115, and 2116 related to the rotational motion of the first jaw 2101. Furthermore, the end tool 2100 may also include pulleys 2121, 2122, 2123, 2124, 2125, and 2126 related to the rotational motion of the second jaw 2102. These pulleys will be described in more detail later.

[0466] Furthermore, the end tool 2100 of the third embodiment of the present invention may include an end tool hub 2180 and a pitch hub 2107. The end tool hub 2180 will be described in more detail later.

[0467] Here, the end tool hub 2180 can accommodate at least a portion of the pulleys 2111 and 2121 which are axially coupled to the rotating shaft 2141. Furthermore, the end tool hub 2180 can accommodate at least a portion of the pulleys 2112 and 2122 which are axially coupled to the rotating shaft 2142.

[0468] The pitch hub 2107 has rotating shafts 2143 and 2144 inserted through it, and the rotating shaft 2143 can axially connect it to the end tool hub 2180 and the pulley 21131. Therefore, the end tool hub 2180 and the pulley 2131 (formed integrally with it) can be formed to be rotatable relative to the pitch hub 2107 around the rotating shaft 2143.

[0469] Furthermore, the pitch hub 2107 can accommodate at least a portion of the pulleys 2113, 2114, 2123, and 2124 which are axially coupled to the rotating shaft 2143. Additionally, the pitch hub 2107 can accommodate at least a portion of the pulleys 2115, 2116, 2125, and 2126 which are axially coupled to the rotating shaft 2144.

[0470] Furthermore, the end tool 2100 of the third embodiment of the present invention may include rotating shafts 2141, 2142, 2143, and 2144.

[0471] The rotating axes 2141, 2142, 2143, and 2144 can be arranged sequentially from the distal end 2104 to the proximal end 2105 of the end tool 2100. Therefore, the rotating axis 2141 can be referred to as the 1st pin, the rotating axis 2142 as the 2nd pin, the rotating axis 2143 as the 3rd pin, and the rotating axis 2144 as the 4th pin, starting from the distal end 2104.

[0472] Here, the rotating shaft 21141 functions as the jaw pulley rotating shaft, the rotating shaft 21142 is the jaw auxiliary pulley rotating shaft and also functions as the pitch extra rotating shaft, the rotating shaft 2143 functions as the pitch main rotating shaft, and the rotating shaft 2144 can function as the pitch sub-rotating shaft of the end tool 2100.

[0473] In the following, the end tool hub 2180 of the third embodiment of the present invention will be described in more detail, with a particular emphasis on the rotating shaft 2142 of the end tool hub 2180, which serves as the rotating shaft for the special jaw auxiliary pulley.

[0474] Referring to Figures 102 to 104, the end tool hub 2180 includes a first jaw pulley coupling 2181, a second jaw pulley coupling 2182, a rotating shaft 2142, a pitch pulley coupling 2185, and a guide portion 2186. The rotating shaft 2142 may include a first sub-shaft 2142a and a second sub-shaft 2142b.

[0475] In detail, the first jaw-pulley coupling portion 2181 and the second jaw-pulley coupling portion 2182 are formed to face each other, and pulleys 2111, 2112, 2121, and 2122 are housed inside them. Furthermore, through holes are formed in each jaw-pulley coupling portion 2181 and 2182, and the rotating shaft 2141 passes through the jaw-pulley coupling portions 2181 and 2182 and the pulleys 2111 and 2121, axially coupling them together.

[0476] The first jaw-pulley coupling portion 2181 and the second jaw-pulley coupling portion 2182 are connected by a guide portion 2186. That is, the first jaw-pulley coupling portion 2181 and the second jaw-pulley coupling portion 2182, which are parallel to each other, are connected by a guide portion 2186 that is formed in a direction that is roughly perpendicular to them, so that the first jaw-pulley coupling portion 2181, the second jaw-pulley coupling portion 2182 and the guide portion 2186 are roughly in the shape of a "U", and the pulleys 2111, 2112, 2121 and 2122 are housed inside.

[0477] In other words, it can be considered that the first jaw-pulley coupling portion 2181 and the second jaw-pulley coupling portion 2182 are formed extending in the X-axis direction from both ends of the guide portion 2186, which is formed to be long in the Z-axis direction.

[0478] A first sub-shaft 2142a can be formed on the inner surface of the first jaw-pulley coupling portion 2181, and a second sub-shaft 2142b can be formed on the second jaw-pulley coupling portion 2182. In other words, the second rotating shaft 2142, which is the jaw auxiliary pulley rotating shaft, can be described as being formed by dividing it into two parts: the first sub-shaft 2142a and the second sub-shaft 2142b.

[0479] Specifically, the first sub-axis 2142a and the second sub-axis 2142b can be formed with a certain degree of inclination. In other words, the first sub-axis 2142a and the second sub-axis 2142b can be formed at an angle, not parallel to any of the X, Y, or Z axes.

[0480] A pulley 2112 can be coupled to the first sub-shaft 2142a, and a pulley 2122 can be coupled to the second sub-shaft 2142b. Here, pulley 2112 can function as both a first jaw auxiliary pulley and a first extra-pitch pulley. Similarly, pulley 2122 can function as both a second jaw auxiliary pulley and a second extra-pitch pulley. This will be explained later.

[0481] On the other hand, a pulley 2131, which serves as an end tool pitch pulley, can be formed at the pitch pulley coupling portion 2185 at one end of the end tool hub 2180. Here, the pulley 2131 can be formed integrally (one-body) with the end tool hub 2180. That is, one end of the end tool hub 2180 can be formed in a disc shape or semicircular shape, and a groove for winding the wire can be formed on its outer circumference, forming a kind of guide channel. Alternatively, the pulley 2131 can be formed from a separate component from the end tool hub 2180 and coupled to the end tool hub 2180. The aforementioned wires 2303 and 2304 are coupled to the pulley 2131, which serves as an end tool pitch pulley, and this pulley 2131 rotates around the rotation axis 2143 while performing a pitch motion.

[0482] On the other hand, one or more pulleys can be fitted to each of the rotating shafts 2141, 2142, 2143, and 2144, which will be explained in detail below.

[0483] Pulley 2111 functions as the first jaw pulley, and pulley 2121 functions as the second jaw pulley; these two components can also be collectively referred to as jaw pulleys.

[0484] The jaw pulleys, pulleys 2111 and 2121, are formed to face each other and to rotate independently of each other around the rotation axis 2141, which is the jaw pulley rotation axis. In this figure, pulleys 2111 and 2121 are formed to rotate around one rotation axis 2141, but it goes without saying that each jaw pulley can be formed to rotate around a different axis. Here, the first jaw 2101 is fixedly coupled to pulley 2111 and rotates together with pulley 2111, and the second jaw 2102 is fixedly coupled to pulley 2121 and can rotate together with pulley 2121. Yaw motion and actuation motion of the end tool 2100 are performed in accordance with the rotation of pulleys 2111 and 2121. In other words, when pulleys 2111 and 2121 rotate in the same direction around the rotation axis 2141, a yaw motion is performed, and when pulleys 2111 and 2121 rotate in opposite directions around the rotation axis 2141, an actuation motion is performed.

[0485] Here, the first jaw 2101 and the pulley 2111 can be formed from separate components and joined together, or the first jaw 2101 and the pulley 2111 can be formed as a single unit (one-body). Similarly, the second jaw 2102 and the pulley 2121 can be formed from separate components and joined together, or the second jaw 2102 and the pulley 2121 can be formed as a single unit (one-body).

[0486] Pulley 2112 functions as a first jaw auxiliary pulley, and pulley 2122 functions as a second jaw auxiliary pulley; these two components can also be collectively referred to as jaw auxiliary pulleys. Simultaneously, pulley 2112 can function as a first extra-pitch pulley, and pulley 2122 can function as a second extra-pitch pulley.

[0487] More specifically, the jaw auxiliary pulleys, pulleys 2112 and 2122, can be additionally provided on one side of pulleys 2111 and 2121. In other words, the jaw auxiliary pulley 2112 can be positioned between pulley 2111 and pulleys 2113 / 2114. Similarly, the jaw auxiliary pulley 2122 can be positioned between pulley 2121 and pulleys 2123 / 2124. Pulley 2112 can rotate around the first sub-axis 2142a of the rotation axis 2142, and pulley 2122 can be formed to rotate around the second sub-axis 2142b of the rotation axis 2142.

[0488] Pulleys 2113 and 2114 function as the first jaw pitch main pulleys, and pulleys 2123 and 2124 function as the second jaw pitch main pulleys. These two components can also be collectively referred to as pitch main pulleys.

[0489] Pulleys 2115 and 2116 function as first jaw pitch sub-pulleys, and pulleys 2125 and 2126 function as second jaw pitch sub-pulleys. These two components can also be collectively referred to as pitch sub-pulleys.

[0490] As a result, the rotation axes 2141, 2142, 2143, and 2144 can be sequentially arranged from the distal part 2104 toward the proximal part 2105 of the end tool 2100.

[0491] Furthermore, pulleys 2111, 2112, 2113 / 2114, and 2115 / 2116, which are pulleys related to the rotation of the first jaw 2101, can be arranged sequentially from the distal part 2104 to the proximal part 2105 of the end tool 2100.

[0492] Furthermore, pulleys 2121, 2122, 2123 / 2124, and 2125 / 2126, which are pulleys related to the rotation of the second jaw 2102, can be arranged sequentially from the distal part 2104 to the proximal part 2105 of the end tool 2100.

[0493] The following sections will provide a more detailed explanation of pulleys 2112 and 2122.

[0494] First, pulley 2112 can function as a first jaw auxiliary pulley, and pulley 2122 can function as a second jaw auxiliary pulley. Pulleys 2112 and 2122 can increase the rotation angles of the first jaw 2101 and the second jaw 2102 by contacting the first jaw wire, wire 2305, and the second jaw wire, wire 2302, and changing the arrangement path of wires 2305 and 2302 to a certain extent. This role as a jaw auxiliary pulley is similar to that described in the first embodiment of the present invention.

[0495] Simultaneously, pulley 2112 can function as a first extra-pitch pulley, and pulley 2122 can function as a second extra-pitch pulley. Such extra-pitch pulleys can serve to alter the retraction / extraction path of the jaw wire, either entering the end tool from the proximal to the distal end or exiting from the distal to the proximal end.

[0496] Here, we define the plane passing between the first jaw pulley, pulley 2111, and the second jaw pulley, pulley 2121 (i.e., the XY plane) as the first plane, and with respect to the first plane, we define the direction in the +Z axis direction as the upper side and the direction in the -Z axis direction as the lower side.

[0497] The first jaw wire, wire 2305, is positioned above the first plane when passing through the first jaw pitch main pulley, pulley 2114. Its path changes as it passes through the first pitch extra pulley, pulley 2112, and it is positioned below the first plane when passing through the first jaw pulley, pulley 2111.

[0498] Here, the first sub-shaft 2142a and the pulley 2112 coupled thereto are formed at an inclination with respect to the first plane, and serve to guide the path of the wire 2305 so that when the wire 2305 is in contact with the pulley 2114 it is located above the first plane, and when the wire 2305 is in contact with the pulley 2111 it is located below the first plane.

[0499] That is, as shown in Figure 103, the first sub-shaft 2142a and the pulley 2112 coupled to it can be formed with a certain degree of inclination on the YZ plane. At the same time, as shown in Figure 104, the first sub-shaft 2142a and the pulley 2112 coupled to it can be formed with a certain degree of inclination on the XZ plane.

[0500] Similarly, the second jaw wire, wire 2302, is positioned below the first plane when passing through the second jaw pitch main pulley, pulley 2124. Its path is changed as it passes through the second pitch extra pulley, pulley 2122, and it is positioned above the first plane when it passes through the second jaw pulley, pulley 2121.

[0501] Here, the second sub-shaft 2142b and the pulley 2122 coupled thereto are formed at an inclination with respect to the first plane, and serve to guide the path of the wire 2302 so that when the wire 2302 is in contact with the pulley 2124 it is located below the first plane, and when the wire 2302 is in contact with the pulley 2121 it is located above the first plane.

[0502] That is, as shown in Figure 103, the second sub-shaft 2142b and the pulley 2122 coupled to it can be formed with a certain degree of inclination on the YZ plane. At the same time, as shown in Figure 104, the second sub-shaft 2142b and the pulley 2122 coupled to it can be formed with a certain degree of inclination on the XZ plane.

[0503] The following describes the components related to the rotation of pulley 2111.

[0504] Pulleys 2113 and 2114 form a pair and function as the first jaw pitch main pulleys. That is, pulleys 2113 and 2114 function as the main rotational pulleys for the pitch motion of the first jaw 2101. Here, the first jaw wire, wire 2301, is wound around pulley 2113, and the first jaw wire, wire 2305, is wound around pulley 2114.

[0505] Pulleys 2115 and 2116 form a pair and function as a first jaw pitch sub-pulley. That is, pulleys 2115 and 2116 function as sub-rotating pulleys for the pitch motion of the first jaw 2101. Here, the first jaw wire, wire 2301, is wound around pulley 2115, and the first jaw wire, wire 2305, is wound around pulley 2116.

[0506] Here, pulleys 2113 and 2114 are arranged on one side of pulleys 2111 and 2112 so as to face each other. Here, pulleys 2113 and 2114 are formed to rotate independently of each other around the rotation axis 2143, which is the main pitch rotation axis. Also, pulleys 2115 and 2116 are arranged on one side of each of pulleys 2113 and 2114 so as to face each other. Here, pulleys 2115 and 2116 are formed to rotate independently of each other around the rotation axis 2144, which is the sub-pitch rotation axis. Here, the figure shows that pulleys 2113, 2114, 2115 and 2116 are all formed to rotate around the Y-axis direction, but the concept of the present invention is not limited to this, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0507] The first jaw wire, wire 2301, is sequentially wound around pulleys 2115, 2113, and 2111 so that at least a portion of it is in contact with them. Then, wire 2305, which is connected to wire 2301 by fastening member 2323, is sequentially wound around pulleys 2111, 2112, 2114, and 2116 so that at least a portion of it is in contact with them.

[0508] In other words, the first jaw wires, wires 2301 and 2305, are sequentially wound around pulleys 2115, 2113, 2111, 2112, 2114, and 2116 so that at least a portion of them are in contact with them, and wires 2301 and 2305 are formed so that they can move along the pulleys while the pulleys are rotating.

[0509] Therefore, when wire 2301 is pulled in the direction of arrow 2301 in Figure 100, the fastening member 2323 to which wire 2301 is connected and the pulley 2111 connected thereto will rotate in the direction of arrow L in Figure 100. Conversely, when wire 2305 is pulled in the direction of arrow 2305 in Figure 100, the fastening member 2323 to which wire 2305 is connected and the pulley 2111 connected thereto will rotate in the direction of arrow R in Figure 100.

[0510] Next, we will describe the components related to the rotation of pulley 2121.

[0511] Pulleys 2123 and 2124 form a pair and function as the second jaw pitch main pulleys. That is, pulleys 2123 and 2124 function as the main rotation pulleys for the pitch motion of the second jaw 2102. Here, the wire 2306, which is the second jaw wire, is wound around pulley 2123, and the wire 2302, which is the second jaw wire, is wound around pulley 2124.

[0512] Pulleys 2125 and 2126 form a pair and function as a second jaw pitch sub-pulley. That is, pulleys 2125 and 2126 function as sub-rotating pulleys for the pitch motion of the second jaw 2102. Here, the wire 2306, which is the second jaw wire, is wound around pulley 2125, and the wire 2302, which is the second jaw wire, is wound around pulley 2126.

[0513] Here, pulleys 2123 and 2124 are arranged on one side of pulleys 2121 and 2122 so as to face each other. Here, pulleys 2123 and 2124 are formed to rotate independently of each other around the rotation axis 2143, which is the main pitch rotation axis. Also, pulleys 2125 and 2126 are arranged on one side of each of pulleys 2123 and 2124 so as to face each other. Here, pulleys 2125 and 2126 are formed to rotate independently of each other around the rotation axis 2144, which is the sub-pitch rotation axis. Here, the figure shows that pulleys 2123, 2124, 2125 and 2126 are all formed to rotate around the Y-axis direction, but the concept of the present invention is not limited to this, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0514] The second jaw wire, wire 2306, is wound sequentially around pulleys 2125, 2123, and 2121 so that at least a portion of it is in contact with them. Then, wire 2302, which is connected to wire 2306 by fastening member 2326, is wound sequentially around pulleys 2121, 2122, 2124, and 1126 so that at least a portion of it is in contact with them.

[0515] In other words, the second jaw wires, wire 2306 and wire 2302, are sequentially wound around pulleys 2125, 2123, 2121, 2122, 2124, and 2116 so that at least a portion of them are in contact with them, and wires 2306 and 2302 are formed so that they can move along the pulleys while the pulleys are rotating.

[0516] Therefore, when wire 2306 is pulled in the direction of arrow 2306 in Figure 100, the fastening member 2326 to which wire 2306 is connected and the pulley 2121 connected thereto will rotate in the direction of arrow R in Figure 100. Conversely, when wire 2302 is pulled in the direction of arrow 2302 in Figure 100, the fastening member 2326 to which wire 2302 is connected and the pulley 2121 connected thereto will rotate in the direction of arrow L in Figure 100.

[0517] Herein, the present invention is characterized in that the control of pitch motion is facilitated by winding two jaw wires, which are wound around one jaw pulley, around the pitch main pulley in opposite directions.

[0518] Specifically, if we define the +Z axis direction as the upper side and the -Z axis direction as the lower side, using the plane (i.e., the XY plane) passing between the first jaw pulley (pulley 2111) and the second jaw pulley (pulley 2121) as a reference, then one of the two first jaw wires (e.g., wire 2301) can enter the first jaw pitch main pulley (pulley 2113) from the lower side of the XY plane, and the other wire (e.g., wire 2305) can exit the first jaw pitch main pulley (pulley 2114) from the upper side of the XY plane. In other words, the structure can be described as the first jaw wire entering from the lower side and exiting from the upper side of the first jaw pitch main pulley. (The second jaw wire enters from the upper side and exits from the lower side of the second jaw pitch main pulley.)

[0519] To put it another way, wire 2301, one of the first jaw wires, contacts the upper side of pulley 2115 and the lower side of pulley 2113 in sequence before contacting pulley 2111. Subsequently, wire 2305, the other of the first jaw wires, is wrapped around pulleys 2111 and 2112, then contacts the upper side of pulley 2114 and the lower side of pulley 2116 in sequence before exiting into the connecting section 400. As a result, the first jaw wire exits the connecting section 2400, enters the lower side of pulley 2113, passes through each pulley, and then re-enters the connecting section 400 via the upper side of pulley 2114.

[0520] Similarly, one of the second jaw wires, wire 2306, contacts the underside of pulley 2125, then the upper side of pulley 2123, and then contacts pulley 2121. Subsequently, the other wire of the second jaw wire, wire 2302, is wrapped around pulleys 2121 and 2122, then contacts the underside of pulley 2124, then the upper side of pulley 2126, and then exits into the coupling section 400. As a result, the second jaw wire exits the coupling section 400, enters the upper side of pulley 2123, passes through each pulley, and then enters the coupling section 2400 again via the underside of pulley 2124.

[0521] In other words, one of the two first jaw wires enters the first jaw pitch main pulley from the connecting section 2400 toward the end tool 2100 and is wound in either a clockwise or counterclockwise direction, while the other wire enters the first jaw pitch main pulley from the connecting section 2400 toward the end tool 2100 and is wound in the other clockwise or counterclockwise direction. That is, as seen in Figures 97, 98, and 99, wire 2301 is wound clockwise as it enters the connecting section 2400 toward the end tool 2100, and wire 2305 is wound counterclockwise as it enters the connecting section 400 toward the end tool 2100.

[0522] Similarly, it could be said that of the two second jaw wires, one wire enters from the connecting portion 2400 toward the end tool 2100 and is wound around the second jaw pitch main pulley in either a clockwise or counterclockwise direction, while the other wire enters from the connecting portion 2400 toward the end tool 2100 and is wound around the second jaw pitch main pulley in the other clockwise or counterclockwise direction. That is, as seen in Figures 97, 98, and 99, wire 2302 is wound clockwise as it enters from the connecting portion 2400 toward the end tool 2100, and wire 2306 is wound counterclockwise as it enters from the connecting portion 400 toward the end tool 2100.

[0523] Thus, the end tool 2100 of the surgical instrument according to one embodiment of the present invention has the effect of making it easier to control the pitch motion by having two jaw wires wound around one jaw pulley and wound around the pitch main pulley in opposite directions. That is, when the pitch motion occurs, the first jaw pulley of the drive unit (see 211 and 212 in Figure 21) and the second jaw pulley of the drive unit (see 221 and 222 in Figure 21) rotate while winding and unwinding the jaw wires, thereby providing a kind of compensation for the pitch motion and making the pitch motion of the end tool 2100 executable.

[0524] Thus, the present invention has been described with reference to one embodiment shown in the figures, but this is merely illustrative, and a person with ordinary skill in the art will understand that various modifications and changes to the embodiments are possible. Therefore, the true scope of technical protection of the present invention should be determined by the technical idea of ​​the appended claims. [Industrial applicability]

[0525] The present invention relates to an end tool for surgical instruments, and more specifically, can be used as an end tool attached to a robotic arm for use in laparoscopic surgery or a variety of other surgical procedures, or provided on a manually operated surgical instrument.

Claims

1. An end tool comprising a first jaw, a second jaw facing the first jaw, a first jaw pulley coupled to the first jaw and rotatable about a first axis, and a second jaw pulley coupled to the second jaw and rotatable about an axis identical or parallel to the first axis, and positioned facing the first jaw pulley, and formed to allow at least pitch rotation and yaw rotation, A jaw wire having a first jaw wire connected to the first jaw pulley and rotating the first jaw pulley, and a second jaw wire connected to the second jaw pulley and rotating the second jaw pulley, A connecting portion having a shaft that extends in one direction, through which the first jaw wire and the second jaw wire pass, and to which the end tool is connected at one end, It includes a base plate on one side to which the other end of the shaft is coupled, and a drive unit that controls the pitch rotation and yaw rotation of the end tool, The aforementioned drive unit is A drive unit first jaw pulley, which is coupled to the first jaw wire and rotates around a second axis positioned perpendicular to the other surface of the base plate to move the first jaw wire, A drive unit second jaw pulley, which is coupled to the second jaw wire and rotates around a second-first axis that is parallel to the second axis and perpendicular to the other surface of the base plate, moves the second jaw wire; It includes a drive unit pitch pulley formed to be rotatable around a third axis that is parallel to the second axis and perpendicular to the other surface of the base plate, The second axis and the second-first axis are arranged symmetrically with respect to a virtual plane that includes the third axis and is parallel to the longitudinal direction of the shaft. In the drive unit, the extension paths of the first jaw wire and the second jaw wire are formed symmetrically with respect to a virtual plane that includes the third axis and is parallel to the longitudinal direction of the shaft. A surgical instrument characterized in that the first jaw pulley and the second jaw pulley of the drive unit rotate in the same manner to compensate for the amount of movement of the first jaw wire and the second jaw wire due to the pitch rotation of the end tool when the pitch pulley of the drive unit rotates for the pitch rotation of the end tool.

2. The surgical instrument according to claim 1, characterized in that the relative positions of the first jaw pulley of the drive unit, the second jaw pulley of the drive unit, and the pitch pulley of the drive unit are kept constant.

3. The surgical instrument according to claim 2, characterized in that when the pitch pulley of the drive unit rotates around the third axis, the length of the first jaw wire in the drive unit is changed as the first jaw pulley of the drive unit rotates around the second axis.

4. By changing the length of the first jaw wire within the drive unit due to the rotation of the first jaw pulley of the drive unit, The surgical instrument according to claim 3, characterized in that the length of the first jaw wire in the end tool is also changed.

5. Even if the length of the first jaw wire in the drive unit is changed by the rotation of the first jaw pulley of the drive unit, The surgical instrument according to claim 3, characterized in that the total length of the first jaw wire is kept constant.

6. The aforementioned end tool is A pair of first jaw pitch main pulleys are formed on one side of the first jaw pulley and are rotatable about a fourth axis that makes a predetermined angle with the first axis, A pair of second jaw pitch main pulleys are formed on one side of the second jaw pulley and are rotatable about an axis that is the same as or parallel to the fourth axis, A first jaw pitch extra pulley is positioned between the first jaw pulley and the pair of first jaw pitch main pulleys and is formed to be rotatable about a fifth axis, It includes a second jaw pitch extra pulley, which is positioned between the second jaw pulley and the pair of second jaw pitch main pulleys and is formed to be rotatable about a sixth axis, The first jaw wire is wound around at least a portion of the pair of first jaw pitch main pulleys, The surgical instrument according to claim 1, characterized in that the second jaw wire is wrapped around at least a portion of the pair of second jaw pitch main pulleys.

7. The end tool moves from the proximal end toward the distal end, Of the first jaw wires of both reins connected to the first jaw pulley, One of the first jaw wires is wrapped around the first jaw pitch main pulley in either a clockwise or counterclockwise direction. The surgical instrument according to claim 6, characterized in that the first jaw wire of the other muscle is wound around the first jaw pitch main pulley in one direction, either clockwise or counterclockwise.

8. With reference to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, Of the first jaw wires of both reins connected to the first jaw pulley, One of the first jaw wires contacts the upper side of the first jaw pitch main pulley. The surgical instrument according to claim 6, characterized in that the first jaw wire of the other muscle contacts the lower side of the first jaw pitch main pulley.

9. The first jaw wire is, The end tool moves from the proximal end toward the distal end, The surgical instrument according to claim 6, characterized in that it sequentially contacts the first jaw pitch main pulley and the first jaw pitch extra pulley.

10. With reference to a plane that is perpendicular to the first axis and passes between the first jaw pulley and the second jaw pulley, One of the two first jaw wires connected to the first jaw pulley sequentially contacts the lower side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley. The surgical instrument according to claim 9, characterized in that the first jaw wire of the other of the two first jaw wires of the muscles connected to the first jaw pulley sequentially contacts the upper side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley.

11. A first jaw auxiliary pulley formed between the first jaw pulley and the first jaw pitch extra pulley, The surgical instrument according to claim 6, further comprising a second jaw auxiliary pulley formed between the second jaw pulley and the second jaw pitch extra pulley.

12. The surgical instrument according to claim 11, characterized in that the first jaw wire is located on the common internal tangent line between the first jaw pulley and the first jaw auxiliary pulley, and the rotation angle of the first jaw pulley is increased by the first jaw auxiliary pulley.

13. One or more first jaw pitch sub-pulleys are formed on one side of the first jaw pitch main pulley and are rotatable about an axis parallel to the fourth axis, The surgical instrument according to claim 6, further comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatably formed about an axis parallel to the fourth axis.

14. The surgical instrument according to claim 13, characterized in that the first jaw pitch sub-pulley or the second jaw pitch sub-pulley includes only one pulley.

15. An end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed inside, The surgical instrument according to claim 6, further comprising a pitch hub axially coupled to the end tool hub and formed to be rotatable relative to the end tool hub.

16. The first jaw and the second jaw rotate around the first axis to perform a yaw motion. The surgical instrument according to claim 15, characterized in that the end tool hub rotates about the fourth axis to perform a pitch motion.

17. An end tool pitch pulley formed at the proximal end of the end tool hub, The surgical instrument according to claim 15, further comprising a pitch wire coupled to the end tool pitch pulley for rotating the end tool pitch pulley.

18. When the end tool pitch pulley rotates due to the pitch wire, The surgical instrument according to claim 17, characterized in that the length of the first jaw wire wrapped around the first jaw pitch main pulley and the second jaw pitch main pulley changes as the entire end tool hub rotates together with the end tool pitch pulley.

19. The surgical instrument according to claim 18, characterized in that, when the end tool pitch pulley rotates due to the pitch wire, the first jaw wire moves by an external force to a certain extent in order to compensate for the change in the length of the first jaw wire that is wrapped around the first jaw pitch main pulley and the second jaw pitch main pulley.

20. The surgical instrument according to claim 15, characterized in that the first jaw pitch extra pulley or the second jaw pitch extra pulley is integrally formed with the end tool hub.

21. The surgical instrument according to claim 6, characterized in that the fifth axis and the sixth axis are substantially parallel to the fourth axis.

22. The surgical instrument according to claim 6, characterized in that the fifth axis and the sixth axis are formed at an inclination with respect to the first axis and the fourth axis, respectively.

23. The surgical instrument according to claim 6, characterized in that the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley are formed to be separated from each other by a certain degree.

24. The surgical instrument according to claim 6, characterized in that the groove around which the first jaw wire is wound in the first jaw pulley and the groove around which the second jaw wire is wound in the second jaw pulley are formed to be adjacent to each other.

25. The surgical instrument according to claim 6, characterized in that the first jaw pitch extra pulley or the second jaw pitch extra pulley includes only one pulley.

26. An end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed inside, A pitch hub is axially coupled to the end tool hub and is formed to be rotatable relative to the end tool hub, A pin 1 is inserted through the end tool hub and is formed to extend along a first direction, A second pin is inserted through the end tool hub, formed parallel to the first pin, and formed on one side of the first pin, A 2.5 pin is formed, which is inserted through the end tool hub and extends along a second direction that forms a predetermined angle with the first direction, and is formed on one side of the 2nd pin, The end tool hub and the pitch hub are inserted through each other, and the third pin is formed parallel to the 2.5 pin and is formed on one side of the 2.5 pin. A fourth pin is inserted through the pitch hub, is formed parallel to the third pin, and is formed on one side of the third pin, A first jaw auxiliary pulley is formed on one side of the first jaw pulley and is rotatably formed around the second pin, A second jaw auxiliary pulley is formed on one side of the second jaw pulley and is rotatable around the second pin, One or more extra first jaw pitch pulleys are formed on one side of the first jaw auxiliary pulley and are rotatable around the 2.5 pin, One or more second jaw pitch extra pulleys are formed on one side of the second jaw auxiliary pulley and are rotatable around the 2.5 pin, A pair of first jaw pitch main pulleys are formed on one side of the first jaw pitch extra pulley and are rotatable around the third pin, A pair of second jaw pitch main pulleys are formed on one side of the second jaw pitch extra pulley and are rotatable around the third pin, One or more first jaw pitch sub-pulleys are formed on one side of the first jaw pitch main pulley and are rotatable around the fourth pin, The surgical instrument according to claim 1, comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatably formed around the fourth pin.

27. An end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed inside, A pitch hub is axially coupled to the end tool hub and is formed to be rotatable relative to the end tool hub, A pin 1 is inserted through the end tool hub and is formed to extend along a first direction, A second pin is formed which is inserted through the end tool hub and extends along a second direction that forms a predetermined angle with the first direction, and is formed on one side of the first pin, A third pin is formed that is inserted through the end tool hub and the pitch hub, extends along a third direction that forms a predetermined angle with the first and second directions, and is formed on one side of the second pin, A fourth pin is inserted through the pitch hub, is formed parallel to the third pin, and is formed on one side of the third pin, A first jaw auxiliary pulley is formed on one side of the first jaw pulley and is rotatably formed around the second pin, A second jaw auxiliary pulley is formed on one side of the second jaw pulley and is rotatable around the second pin, A pair of first jaw pitch main pulleys are formed on one side of the first jaw auxiliary pulley and are rotatable around the third pin, A pair of second jaw pitch main pulleys are formed on one side of the second jaw auxiliary pulley and are rotatable around the third pin, One or more first jaw pitch sub-pulleys are formed on one side of the first jaw pitch main pulley and are rotatable around the fourth pin, The surgical instrument according to claim 1, comprising one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatably formed around the fourth pin.

Images