Endoscopic tools for surgical instruments

Abstract

To provide an end tool of a surgical instrument capable of independently and seamlessly performing a pitch motion and a yaw motion / actuation motion by compensating for a motion of a jaw wire that occurs during the pitch motion.SOLUTION: The present disclosure relates to an end tool of a surgical instrument, and more specifically, to an end tool of a surgical instrument that is mountable on a robotic arm or manually operable for use in laparoscopic surgery or various surgeries.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to an end tool of a surgical instrument, and more specifically, to an end tool that is attached to a robotic arm for use in laparoscopic surgery or various surgeries, or is provided in a surgical instrument that can be manually operated.

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 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.

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

[0004] The above-described background art is technical information that the inventor possessed for deriving the present invention or acquired in the process of deriving the present invention, and is not necessarily prior art publicly disclosed to the general public before the filing of the present invention.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention aims to provide an end tool for a surgical instrument 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 wire that occurs during pitching motion is compensated for, thereby enabling smooth and independent pitching motion and yaw / actuation motion. [Means for solving the problem]

[0006] The present invention comprises a first jaw, a second jaw formed to face the first jaw, a first jaw pulley coupled to the first jaw and rotatable about a first axis, a second jaw pulley coupled to the second jaw and rotatable about an axis substantially identical to or parallel to the first axis and formed to face the first jaw pulley, a pair of first jaw pitch main pulleys formed on one side of the first jaw pulley and rotatable about a second axis forming a predetermined angle with the first axis, a pair of second jaw pitch main pulleys formed on one side of the second jaw pulley and rotatable about an axis substantially identical to or parallel to the second axis, and the first jaw pulley and A surgical instrument end tool is provided, comprising: a first jaw pitch extra pulley positioned between the pair of first jaw pitch main pulleys and rotatable about a third axis; 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 fourth axis; a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wrapped around at least a portion of the pair of first jaw pitch main pulleys; and a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley and wrapped around at least a portion of the pair of second jaw pitch main pulleys. [Effects of the Invention]

[0007] This invention compensates for the movement of the jaw wires that occurs during pitch motion, thereby enabling smooth and independent operation of pitch motion and yaw motion / actuation motion. [Brief explanation of the drawing]

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

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

[0010] In 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 two first jaw wires coupled to the first jaw pulley can contact the upper side of the first jaw pitch main pulley, and the other first jaw wire can contact the lower side of the first jaw pitch main pulley.

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

[0012] In 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 two first jaw wires coupled to the first jaw pulley can sequentially contact the lower side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley, while the other of the two first jaw wires coupled to the first jaw pulley can sequentially contact the upper side of the first jaw pitch main pulley and the lower side of the first jaw pitch extra pulley.

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

[0014] In the present invention, the first jaw wire is located on 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 can be increased by the first jaw auxiliary pulley.

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

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

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

[0018] In 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 second axis to perform a pitch motion.

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

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

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

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

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

[0024] In the present invention, the third axis and the fourth axis can be formed at an inclination with respect to the first axis and the second axis, respectively.

[0025] In the present invention, the groove around which the first jaw wire is wound on the first jaw pulley and the groove around which the second jaw wire is wound on the second jaw pulley can be formed at a certain distance from each other.

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

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

[0028] The present invention provides a surgical instrument comprising: an end tool of a surgical instrument according to any one of claims 1 to 20; a drive unit that provides a predetermined driving force necessary for the rotation of the end tool; and a connecting unit that extends in a first direction (X-axis) and connects the drive unit and the end tool, with the end tool connected to one end and the drive unit connected to the other end.

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

[0030] The present invention relates to a first jaw, a second jaw rotatably coupled to the first jaw, an end tool hub formed so as to accommodate at least a portion of the first jaw and the second jaw inside, a pitch hub axially coupled to the end tool hub and formed so as to be rotatable relative to the end tool hub, a first pin inserted through the end tool hub and formed extending along a first direction, a second pin inserted through the end tool hub and formed parallel to the first pin and formed on one side of the first pin, a 2.5 pin inserted through the end tool hub and formed extending along a second direction at a predetermined angle with the first direction and formed on one side of the second pin, and a third pin inserted through the end tool hub and the pitch hub and formed parallel to the 2.5 pin. , a third pin formed on one side of the 2.5 pin, a fourth pin inserted through the pitch hub and formed parallel to the third pin and formed on one side of the third pin, a first jaw pulley coupled to the first jaw and formed rotatably around the first pin, a second jaw pulley coupled to the second jaw and formed rotatably around the first pin, a first jaw auxiliary pulley formed on one side of the first jaw pulley and formed rotatably around the second pin, a second jaw auxiliary pulley formed on one side of the second jaw pulley and formed rotatably around the second pin, one or more first jaw pitch extra pulleys formed on one side of the first jaw auxiliary pulley and formed rotatably around the 2.5 pin, and formed on one side of the second jaw auxiliary pulley, the 2.The present invention provides an end tool for a surgical instrument comprising: one or more second jaw pitch extra pulleys formed rotatably around pin 5; a pair of first jaw pitch main pulleys formed on one side of the first jaw pitch extra pulley and rotatably around pin 3; a pair of second jaw pitch main pulleys formed on one side of the second jaw pitch extra pulley and rotatably around pin 3; one or more first jaw pitch sub-pulleys formed on one side of the first jaw pitch main pulley and rotatably around pin 4; one or more second jaw pitch sub-pulleys formed on one side of the second jaw pitch main pulley and rotatably around pin 4; a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wound around at least a portion of the pair of first jaw pitch main pulleys; and a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley and wound around at least a portion of the pair of second jaw pitch main pulleys.

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

[0032] In the present invention, with reference to a plane perpendicular to the No. 1 pin and passing between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley can contact the upper side of the first jaw pitch main pulley, and the other first jaw wire can contact the lower side of the first jaw pitch main pulley.

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

[0034] In the present invention, with reference to a plane perpendicular to the No. 1 pin and passing between the first jaw pulley and the second jaw pulley, one of the two first jaw wires coupled to the first jaw pulley can sequentially contact the upper side of the first jaw pitch sub-pulley, the lower side of the first jaw pitch main pulley, and the lower side of the first jaw pitch extra pulley, while the other of the two first jaw wires coupled to the first jaw pulley can sequentially contact the lower side of the first jaw pitch sub-pulley, the upper side of the first jaw pitch main pulley, and the lower side of the first jaw pitch extra pulley.

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

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

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

[0038] In the present invention, the first pin, the second pin, the 2.5 pin, the third pin, and the fourth pin can be arranged sequentially from the distal end to the proximal end of the end tool.

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

[0040] In 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 can be increased by the first jaw auxiliary pulley.

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

[0042] In the present invention, the groove around which the first jaw wire is wound on the first jaw pulley and the groove around which the second jaw wire is wound on the second jaw pulley can be formed at a certain distance from each other.

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

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

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

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

[0047] The present invention comprises a first jaw, a second jaw rotatably coupled to the first jaw, an end tool hub formed to accommodate at least a portion of the first jaw and the second jaw, a pitch hub axially coupled to the end tool hub and formed to be rotatable relative to the end tool hub, a first pin inserted through the end tool hub and extending along a first direction, a second pin inserted through the end tool hub and extending along a second direction at a predetermined angle with respect to the first direction, and formed on one side of the first pin, a third pin inserted through the end tool hub and the pitch hub and extending along a third direction at a predetermined angle with respect to the first and second directions, and formed on one side of the second pin, a fourth pin inserted through the pitch hub and formed parallel to the third pin, and formed on one side of the third pin, a first jaw pulley coupled to the first jaw and formed to be rotatable around the first pin, and a second jaw coupled to the second jaw and formed to be rotatable around the first pin. A pulley, 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, 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, a first jaw wire coupled to the first jaw pulley to rotate the first jaw pulley and wound around at least a portion of the pair of first jaw pitch main pulleys, and coupled to the second jaw pulley to rotate the second jaw pulley.The present invention provides an end tool for a surgical instrument, including a second jaw wire wrapped around at least a portion of the pair of second jaw pitch main pulleys.

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

[0049] In the present invention, with reference to a plane perpendicular to the No. 1 pin and passing between the first jaw pulley and the second jaw pulley, one of the two first jaw wires connected to the first jaw pulley can contact the upper side of the first jaw pitch main pulley, and the other first jaw wire can contact the lower side of the first jaw pitch main pulley.

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

[0051] In the present invention, with reference to a plane perpendicular to the No. 1 pin and passing between the first jaw pulley and the second jaw pulley, one of the two first jaw wires coupled to the first jaw pulley can sequentially contact the upper side of the first jaw pitch sub-pulley, the lower side of the first jaw pitch main pulley, and the first jaw pulley, while the other of the two first jaw wires coupled to the first jaw pulley can sequentially contact the lower side of the first jaw pitch sub-pulley, the upper side of the first jaw pitch main pulley, the first jaw auxiliary pulley, and the first jaw pulley.

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

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

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

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

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

[0057] In 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 can be increased by the first jaw auxiliary pulley.

[0058] The present invention provides a surgical instrument characterized in that the first jaw and the second jaw rotate around the first pin to perform a yaw motion, and the end tool hub rotates around the third pin to perform a pitch motion.

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

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

[0061] In the present invention, the first jaw wire is characterized in that it passes through the first jaw auxiliary pulley and crosses the first plane, which is perpendicular to the first pin and passes between the first jaw pulley and the second jaw pulley, with reference to the first plane.

[0062] In the present invention, with reference to a first plane perpendicular to the first pin and passing between the first jaw pulley and the second jaw pulley, the first jaw wire can contact the first jaw pitch main pulley on the lower side of the first plane, and the first jaw auxiliary pulley can contact the first jaw auxiliary pulley on the upper side of the first plane.

[0063] Other aspects, features, and advantages not mentioned above will become clear from the following drawings, claims, and detailed description of the invention. [Modes for carrying out the invention]

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] <Surgical Instruments>

[0070] Figure 1 shows an example of the use of an end tool of a surgical instrument according to one embodiment of the present invention. Here, Figure 1A is a conceptual diagram showing a surgical robot system to which the end tool of the surgical instrument according to one embodiment of the present invention is attached, Figure 1B is a perspective view showing the slave robot of the surgical robot system of Figure 1A, and Figure 1C is a perspective view showing the surgical instrument attached to the slave robot of Figure 1A. And Figure 1D is a perspective view showing an example of a handheld surgical instrument to which the end tool according to one embodiment of the present invention is attached.

[0071] Referring to Figures 1A, 1B, and 1C, the surgical robot system 1 includes a master robot 10, a slave robot 20, and surgical instruments 30.

[0072] The master robot 10 includes an operating member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, and 23.

[0073] In detail, the master robot 10 is equipped with operating members 10a so that the surgeon can grasp and operate them with both hands. The display member 10b of the master robot 10 displays the images captured through the laparoscope 50. In addition, a predetermined virtual operating panel can be displayed on the display member 10b together with the images captured through the laparoscope 50, or it can be displayed independently. A detailed explanation of the arrangement and configuration of such a virtual operating panel is omitted.

[0074] 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.

[0075] Here, surgical instruments 30 can be attached to two or more of the robot arm units 21, 22, and 23, and a laparoscope 50 can be attached to one or more of them. The surgeon can then select which robot arm units 21, 22, and 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.

[0076] Continuing to refer to Figure 1C, 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.

[0077] Here, the connecting portion 400 is formed in the shape of a hollow shaft, and can accommodate one or more wires (described later) therein. A drive unit 200 is connected to one end of the connecting portion 400, and an end tool 100 is connected to the other end, serving to connect the drive unit 200 and the end tool 100.

[0078] 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.

[0079] 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 2 and subsequent figures.

[0080] On the other hand, referring to Figure 1D, the handheld surgical instrument 40 may include an end tool 100, a drive unit 200, and a coupling unit 400.

[0081] Here, the connecting portion 400 is formed in the shape of a hollow shaft, and can accommodate one or more wires (described later) therein. A drive unit 200 is connected to one end of the connecting portion 400, and an end tool 100 is connected to the other end, serving to connect the drive unit 200 and the end tool 100.

[0082] The drive unit 200 is formed at one end of the connecting unit 400 and is provided with an interface that can be directly operated by a physician, such as a forceps shape, stick shape, or lever shape. When the physician operates it, the end tool 100, which is connected to the interface and inserted into the patient's body, performs predetermined operations to carry out the surgery. Here, Figure 1D shows that the drive unit 200 is formed in the shape of a handle that can be rotated while holding a finger in place, but the concept of the present invention is not limited to this, and it can be said that various forms of drive unit 200 that can be connected to and operate the end tool 100 are possible.

[0083] 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 2 and subsequent figures.

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

[0085] The following provides a more detailed description of the end tools that can be provided to surgical instruments or handheld surgical instruments in a surgical robot system.

[0086] <First Embodiment of Endotool for Surgical Instruments>

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

[0088] Figures 12 and 13 are perspective views showing the end tool of the surgical instrument in Figure 2 rotated by -90°. Figures 14 and 15 are side views showing the end tool of the surgical instrument in Figure 2 rotated by -90°. Figures 16 and 17 are perspective views showing the end tool of the surgical instrument in Figure 2 rotated by +90°. Figures 18 and 19 are side views showing the end tool of the surgical instrument in Figure 2 rotated by +90°.

[0089] Here, Figure 3 shows the end tool from Figure 2 with the end tool hub 106 removed. Figure 5 is a diagram showing the wire from the end tool from Figure 2, and Figure 6 is a diagram showing the pulley from the end tool from Figure 2. Figures 8 and 9 are cross-sectional views showing the end tool from Figure 7 with the end tool hub 106 removed.

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

[0091] Referring to Figures 2 to 11, 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 2. 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 configuration such as cauterization of one arm can also be used as an end tool. Such an end tool 100 is connected to a drive unit (see 200 in Figure 1C or 200 in Figure 1D) by a power transmission unit 300, and the driving force of the drive unit (see 200 in Figure 1C or 200 in Figure 1D) is transmitted via the power transmission unit 300 to perform the actions necessary for the surgery, such as gripping, cutting, and suturing.

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

[0093] Herein, the pitch, yaw, and actuation operations used in the present invention are defined as follows:

[0094] First, the pitch motion refers to the movement of the end tool 100 rotating vertically with respect to the direction of extension of the continuity 400 (the X-axis direction in Figure 2), that is, the movement of rotation around the Y-axis in Figure 2. In other words, it refers to the movement of the end tool 100, which extends from the connecting portion 400, rotating vertically around the Y-axis relative to the connecting portion 400.

[0095] Next, yaw motion refers to the movement of the end tool 100 rotating left and right with respect to the direction of extension of the continuity 400 (the X-axis direction in Figure 2), that is, rotation around the Z-axis in Figure 2. 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.

[0096] 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 from each other, causing the jaws to close or 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 from each other around the Z axis.

[0097] From another 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, 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.

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

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

[0100] (Power transmission section)

[0101] The power transmission section 300 of the end tool of the surgical instrument shown in Figure 2 will be described in more detail below.

[0102] Referring to Figures 5, 6, and 10, 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.

[0103] Here, wires 301 and 305 can function as a first jaw wire as a pair. Wires 302 and 306 can function as a second jaw wire as a pair. 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. In addition, wires 303 and 304 can function as a pitch wire as a pair.

[0104] Here, the drawings show 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 thereto. For example, a pair of wires could be associated with yaw motion and a pair of wires could be associated with actuation motion.

[0105] 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, 326, 327, and 329, which are connected to each end of each wire in order to connect the wire and the pulley. Here, each fastening member can take various forms as needed, such as ball-shaped or tube-shaped.

[0106] Here, fastening member 321, which is a pitch wire fastening member, is connected 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 connected 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, pitch wire drive unit fastening member 329 can be connected to the drive unit (see 200 in Figure 1) side ends of wires 303 and 304, which are pitch wires.

[0107] On the other hand, the fastening member 323, which is the first jaw wire fastening member, can be 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 first jaw wire drive unit fastening member 324 can be connected to the drive unit (see 200 in Figure 1) side end of the first jaw wires, wire 301 and wire 305.

[0108] On the other hand, the fastening member 326, which is the second jaw wire fastening member, can be connected to the end tool 100 side end of the second jaw wires, wire 302 and wire 306, and can function as the second jaw wire end tool fastening member. On the other hand, the second jaw wire drive unit fastening member 327 can be connected to the drive unit (see 200 in Figure 1) side end of the second jaw wires, wire 302 and wire 306.

[0109] Here, each fastening member is classified as being included in the power transmission section 300, but it is also possible to classify the fastening members on the end tool 100 side as being included in the end tool 100, and the fastening members on the drive section (see 200 in Figure 1) side as being included in the drive section (see 200 in Figure 1).

[0110] The relationship between the wire, fastening member, and pulley can be described in detail as follows:

[0111] First, the second jaw wires, wire 302 and wire 306, can be a single wire. A fastening member 326, which is a second jaw wire end tool fastening member, is fitted to the midpoint of the single second jaw wire, and after the fastening member 326 is crimped to fix it in place, the two ends of the second jaw wire can be referred to as wire 302 and wire 306, respectively, with the fastening member 326 at the center.

[0112] Alternatively, the second jaw wires, wire 302 and wire 306, can be formed from separate wires, and wire 302 and wire 306 can be connected by a fastening member 326.

[0113] Then, 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 depending on whether the wires 302 and 306 are pulled or unwound.

[0114] On the other hand, the ends opposite to the positions where the fastening member 326 is fastened with wires 302 and 306 can be connected to the second jaw wire drive fastening member 327. That is, the opposite ends of wires 302 and 306 can be fitted into the second jaw wire drive fastening member 327, and by applying pressure (crimping) to this fastening member 327, wires 302 and 306 and the second jaw wire drive fastening member 327 can be fixed in place.

[0115] Then, the second jaw wire drive fastening member 327, which is connected to wires 302 and 306, is connected to the pulley 221, thereby fixing wires 302 and 306 to the pulley 221. As a result, when the pulley 221 is rotated by a motor or by hand, wires 302 and 306 are pulled or unwound, allowing the pulley 121 of the end tool 100 to rotate.

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

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

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

[0119] As a result, the wires 301 and 305, which are the two reinforcing wires of the first jaw wire, can be connected to the fastening member 323 and the first jaw wire drive fastening member 324, which are the fastening members of the first jaw wire end tool, and can be formed to form a closed loop as a whole. Similarly, the second jaw wire and the pitch wire can also be formed to form closed loops.

[0120] (End Tool)

[0121] The following provides a more detailed description of the endotool 100 of the surgical instruments shown in Figure 2.

[0122] Continuing to refer to Figures 2 to 11, 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 referred to as jaw 103.

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

[0124] Here, the figure shows that one group of pulleys is related to the rotational motion of the first jaw 101 and another 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, one group of pulleys in the end tool may be related to yaw motion and another 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.

[0125] Here, the diagram shows opposing pulleys formed parallel to each other, but the concept of the present invention is not limited to this, and it can be said that each pulley can be formed in various positions and sizes suitable for the configuration of the end tool.

[0126] 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.

[0127] 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 be coupled with pulleys 117 / 118 and 127 / 128 that are axially coupled to the rotating shaft 145.

[0128] For details, as shown in Figure 8, the end tool hub 106 includes a first jaw pulley coupling portion 106a, a second jaw pulley coupling portion 106b, a guide portion 106c, a pitch excess pulley housing portion 106d, and a pitch pulley coupling portion 106e.

[0129] In detail, the first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b are formed to face each other, and 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.

[0130] The first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b are connected by a guide portion 106c. That is, the first jaw-pulley coupling portion 106a and the second jaw-pulley coupling portion 106b, which are parallel to each other, are connected by a guide portion 106c that is formed in a direction that is roughly perpendicular to them, so that the first jaw-pulley coupling portion 106a, the second jaw-pulley coupling portion 106b and the guide portion 106c are roughly in the shape of a "U", and the pulleys 111, 112, 121 and 122 are housed inside.

[0131] 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 wires, wires 302 and 306.

[0132] On the other hand, a pitch excess pulley housing portion 106d can be formed on the proximal side of the guide portion 106c of the end tool hub 106. The pitch excess pulleys, which are pulleys 117, 118, 127, and 128, can be housed in this pitch excess pulley housing portion 106d, and these pitch excess pulleys can be axially coupled to the end tool hub 106 by a rotating shaft 145.

[0133] On the other hand, a pulley 131 that functions as an end tool pitch pulley can be formed at the pitch pulley coupling portion 106e at one end of the end tool hub 106. Here, the pulley 131 can be formed integrally (one-body) with the end tool hub 106. That is, one end of the end tool hub 106 can be formed in the shape of a disc or semicircle, 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 106 and coupled to the end tool hub 106. The aforementioned wires 303 and 304 are coupled to the pulley 131 that functions as an end tool pitch pulley, and this pulley 131 rotates around the rotation axis 143 while performing a pitch motion.

[0134] 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 around the rotating shaft 143.

[0135] 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, 116, 125, and 126 that are axially coupled to the rotating shaft 144.

[0136] 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 can be inserted through the end tool hub 106, and rotating shafts 143 and 144 can be inserted through the pitch hub 107.

[0137] 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. Therefore, starting from the distal end 104, the rotating axis 141 can be referred to as the 1st pin, the rotating axis 142 as the 2nd pin, the rotating axis 145 as the 2.5th pin, the rotating axis 143 as the 3rd pin, and the rotating axis 144 as the 4th pin.

[0138] 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.

[0139] One or more pulleys can be fitted to each of these rotating shafts 141, 142, 143, 144, and 145, which will be explained in detail below.

[0140] Pulley 111 functions as the first jaw pulley, and pulley 121 functions as the second jaw pulley; these two components can also be collectively referred to as jaw pulleys.

[0141] The jaw pulleys, pulleys 111 and 121, are formed to face each other and to rotate independently of each other around a rotation axis 141, which is the jaw pulley rotation axis. In this figure, pulleys 111 and 121 are formed to rotate around one rotation axis 141, but it goes without saying that each jaw pulley can be formed to rotate around a different axis. Here, the first jaw 101 is fixedly coupled to pulley 111 and rotates together with pulley 111, and the second jaw 102 is fixedly coupled to pulley 121 and can rotate together 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. In other words, when pulleys 111 and 121 rotate in the same direction around the rotation axis 141, a yaw motion is performed, and when pulleys 111 and 121 rotate in opposite directions around the rotation axis 141, an actuation motion is performed.

[0142] Here, the first jaw 101 and the pulley 111 can be formed from separate components and joined together, or the first jaw 101 and the pulley 111 can be formed as a single unit (one-body). Similarly, the second jaw 102 and the pulley 121 can be formed from separate components and joined together, or the second jaw 102 and the pulley 121 can be formed as a single unit (one-body).

[0143] Here, the groove 111a around which the first wires, wire 301 / wire 305, are wound from 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 groove 121a around which the second wires, wire 302 / wire 306, are wound from the second jaw pulley, pulley 121, is positioned 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, wires 302 and 306. In this way, by positioning the first jaw wires, wire 301 / wire 305, and the second jaw wires, wires 302 and 306, so that they are separated from each other, the wires can be wound around each pulley while maintaining a straight line.

[0144] Pulley 112 functions as the first jaw auxiliary pulley, and pulley 122 functions as the second jaw auxiliary pulley; these two components can also be collectively referred to as jaw auxiliary pulleys.

[0145] More specifically, the jaw auxiliary pulleys, pulleys 112 and 122, can be additionally provided on one side of pulleys 111 and 121. In other words, the jaw auxiliary pulley 112 can be positioned between pulley 111 and pulleys 113 / 114. Similarly, the jaw auxiliary pulley 122 can be positioned between pulley 121 and pulleys 123 / 124. Pulleys 112 and 122 can be formed to rotate independently of each other 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 each of pulleys 112 and 122 can be formed to rotate around a different axis. Such auxiliary pulleys will be described in more detail later.

[0146] 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.

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

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

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

[0150] Furthermore, a rotating shaft 145 may be provided that functions as an extra pitch rotating shaft, and the rotating shaft 145 can be inserted through the end tool hub 106. Here, the rotating shaft 145 can 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 also be referred to as the 2.5 pin in terms of its position.

[0151] 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.

[0152] 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.

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

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

[0155] Below, we will describe in more detail the pulleys 112 and 122, which serve as auxiliary pulleys.

[0156] 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.

[0157] 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 adding auxiliary pulleys, pulleys 112 and 122, the maximum rotation angle can be increased by θ as seen in Figure 6. This makes it possible for the two jaws of the end tool 120 to open for actuation when they 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 6. Similarly, actuation is possible even when the two jaws have yaw-rotated in the R direction. In other words, the pulleys 112 and 122 have the characteristic of expanding the range of yaw rotation in which actuation is possible.

[0158] To explain this in more detail, it is as follows:

[0159] If no auxiliary pulleys are installed, the first jaw wire is fixedly connected to the first jaw pulley, and the second jaw wire is fixedly connected to the second jaw pulley, so the first and second jaw pulleys can only rotate up to 90° each. In this case, if actuation is performed with the first and second jaws positioned at the 90° line, the first jaw will open, but the second jaw will not be able to rotate beyond 90°. Therefore, there was a problem in that actuation was not performed smoothly when the first and second jaws were yawing beyond a certain angle.

[0160] To solve these problems, in the surgical instrument end tool 100 of the present invention, auxiliary pulleys, pulleys 112 and 122, are additionally placed on one side of pulleys 111 and 121. By arranging pulleys 112 and 122 in this way and changing the arrangement paths of the first jaw wire, wire 305, and the second jaw wire, wire 302 to a certain extent, the tangential direction of wires 305 and 302 is changed, and therefore the fastening member 326 that connects wire 302 and pulley 121 can rotate up to line N in Figure 6. That is, the fastening member 326, which is the connection part between wire 302 and pulley 121, becomes rotatable 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, becomes rotatable 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.

[0161] In other words, pulley 112 positions wires 301 and 305, which are the two first jaw wires wound around pulley 111, on 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 second jaw wires wound around pulley 121, on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0162] In other words, pulleys 113 and 114 are perpendicular to the Y-axis and positioned on one side with respect to a plane passing through the X-axis, while pulleys 123 and 124 are perpendicular to the Y-axis and positioned on the other side with respect to a plane passing through the X-axis.

[0163] 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.

[0164] With this invention, the rotational radius of jaws 101 and 102 is increased, which has the effect of widening the yaw range in which normal opening and closing actuation operations can be performed.

[0165] The following describes the components related to the rotation of the pulley 111.

[0166] Pulleys 113 and 114 form a pair and function as the first jaw pitch main pulleys. That is, pulleys 113 and 114 function as the main rotational pulleys 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.

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

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

[0169] Here, pulleys 117 and 118 are arranged on one side of pulleys 111 and 112 so as to face each other. Here, pulleys 117 and 118 are formed to be rotatable independently of each other around the rotation axis 145, which is the extra rotation axis for the pitch. Also, pulleys 113 and 114 are arranged on one side of each of pulleys 117 and 118 so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other around the rotation axis 143, which is the main rotation axis for the pitch. Also, pulleys 115 and 116 are arranged on one side of each of pulleys 113 and 114 so as to face each other. Here, pulleys 115 and 116 are formed to be rotatable independently of each other around 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; 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.

[0170] 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, 114, and 116 so that at least a portion of it is in contact with them.

[0171] In other words, the first jaw wires, wire 301 and wire 305, are sequentially wound around pulleys 115, 113, 117, 111, 112, 118, 114, and 116, at least partially in contact with them, and wires 301 and 305 are formed to move along the pulleys while the pulleys are rotating.

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

[0173] Next, we will describe the components related to the rotation of the pulley 121.

[0174] Pulleys 123 and 124 form a pair and function as the second jaw pitch main pulleys. That is, pulleys 123 and 124 function as the main rotation pulleys 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.

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

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

[0177] Here, pulleys 127 and 128 are positioned on one side of pulleys 121 and 122, facing each other. 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 each 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 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.

[0178] 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, 124, and 126 so that at least a portion of it is in contact with them.

[0179] In other words, the second jaw wires, wire 306 and wire 302, are sequentially wound around pulleys 125, 123, 127, 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.

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

[0181] 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.

[0182] 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 111) and the second jaw pulley (pulley 121) as a reference, then one of the two first jaw wires (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 wire (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 wires can be described as entering from the lower side of the first jaw pitch main pulley and exiting from the upper side. (The second jaw wires enter from the upper side of the second jaw pitch main pulley and exit from the lower side.)

[0183] To put it another way, wire 301, one of the first jaw wires, contacts the upper side of pulley 115, the lower side of pulley 113, and the lower side of pulley 117 in sequence, before contacting pulley 111. Subsequently, wire 305, the other of the first jaw wires, is wrapped around pulleys 111 and 112, then contacts the lower side of pulley 118, the upper side of pulley 114, and the lower side of pulley 116 in sequence, 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 113, passes through each pulley, and then enters the connecting section 400 again via the upper side of pulley 114.

[0184] Similarly, one of the second jaw wires, wire 306, contacts the underside of pulley 125, the upper side of pulley 123, and the upper side of pulley 127 in sequence before contacting pulley 121. Subsequently, the other wire of the second jaw wire, wire 302, is wrapped around pulleys 121 and 122, then contacts the upper side of pulley 128, the underside of pulley 124, and the upper side of pulley 126 in sequence 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 123, passes through each pulley, and then re-enters the coupling section 400 via the underside of pulley 124.

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

[0186] Similarly, it can be said that of the two wires of the second jaw, 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 of clockwise or counterclockwise. That is, as shown in Figure 10, wire 302 is wound clockwise as it enters from the connecting portion 400 toward the end tool 100 side, and wire 306 is wound counterclockwise as it enters from the connecting portion 400 toward the end tool 100 side.

[0187] In this way, by winding the two jaw wires, 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.

[0188] On the other hand, from the perspective of the XZ plane, the two jaw wires of each jaw are positioned on the same side with respect to the XZ plane. More specifically, if we define the +Y axis direction as the first side and the -Y axis direction as the second 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 XZ plane), then one of the two first jaw wires (e.g., wire 301) can be positioned on the first side of the XZ plane, and the other one (e.g., wire 305) can also be positioned on the same first side. Similarly, one of the two second jaw wires (e.g., wire 306) can be positioned on the second side of the XZ plane, and the other one (e.g., wire 302) can also be positioned on the same second side. In other words, this can be described as a structure where one jaw wire enters from the first side and exits from the first side. (Also, the other jaw wire can be described as a structure where it enters from the second side and exits from the second side.)

[0189] (Pitch movement)

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

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

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

[0193] However, when the drive unit pitch pulley 231 rotates to perform this pitching motion, if the drive unit does not provide separate pitch compensation for the jaw wire, the end tool will rotate not only with the pitching motion but also around the rotation axis 141, which is the rotation axis of the jaw pulley. As a result, there is a problem in that pure pitching motion cannot be performed.

[0194] The following provides a more detailed explanation of this type of pitch compensation.

[0195] Figures 9, 10, and 11 are conceptual diagrams illustrating the pitch operation of the surgical instrument shown in Figure 2. More specifically, Figure 9 shows the surgical instrument in a neutral state, Figure 10 shows the surgical instrument without pitch compensation, and Figure 11 shows the surgical instrument with pitch compensation. For the sake of explanation, Figures 9A, 10A, and 11A mainly show the pulleys and wires related to the rotation of the first jaw, while Figures 9B, 10B, and 11B mainly show the pulleys and wires related to the rotation of the second jaw.

[0196] Herein, the surgical instrument according to one embodiment of the present invention is characterized in that, during pitching, the first jaw pulley 211 and the second jaw pulley 221 of the drive unit rotate while winding and unwinding the jaw wire, thereby enabling the pitching motion of the end tool 100.

[0197] As described above, when the drive unit rotates the drive unit pitch pulley 231 to perform pitching motion, if the drive unit does not provide separate pitch compensation for the jaw wire, the end tool will rotate not only with the pitching motion but also around the rotation axis 141, which is the rotation axis of the jaw pulley, and as a result, pure pitching motion cannot be performed.

[0198] In detail, referring to Figures 9 and 10, when the drive unit pitch pulley 231 of the drive unit (see 200 in Figure 1) rotates in order for the pitch motion of the end tool to be performed, the rotation of the drive unit pitch pulley 231 is transmitted via wires 303 and 304 to the pulley 131 of the end tool 100, causing the pulley 131 to rotate as well, and as a result the end tool 100 performs a pitch motion while rotating.

[0199] In other words, when the drive unit pitch pulley 231 rotates in the direction of arrow P1 in Figure 10A, the rotation of the drive unit pitch pulley 231 is transmitted to the pulley 131 of the end tool 100 via wires 303 and 304, causing the pulley 131 to rotate in the direction of arrow P2 in Figure 10A, thereby causing the end tool hub (see 106 in Figure 2) to rotate relative to the pitch hub (see 107 in Figure 2). 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 2), also rotate relative to the pitch hub (see 107 in Figure 2) together with the end tool hub (see 106 in Figure 2).

[0200] By the way, at this time, the jaw wires, wire 301 and wire 302, are connected to pulley 113 / pulley 114. JPEG0007900854000001.jpg614 is wrapped around it further, and wires 305 and 306 are connected to pulley 114 / pulley 114 Only JPEG0007900854000002.jpg614 will be further unwound.

[0201] 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 10B, and the second jaw pulley 121 will rotate to a certain extent in the direction of arrow J2 in Figure 10A.

[0202] 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, a pure pitch motion will not occur, and a mixture of pitch and yaw motion will result, which is a problem.

[0203] Thus, in order to compensate for the motion of pitching, the surgical instrument according to one embodiment of the present invention is characterized in that, during pitching, the first jaw pulley 211 and the second jaw pulley 221 of the drive unit rotate while winding and unwinding the jaw wire, thereby compensating for a type of pitching motion and enabling the pitching motion of the end tool 100 to be performed.

[0204] In other words, during pitching, the drive unit's first jaw pulley 211 rotates to a certain extent in the direction of arrow A1 in Figure 11B. Then, the wire 301 rotates to a certain extent on the drive unit's first jaw pulley 211. (JPEG0007900854000003.jpg834) The wire is unwound, and as a result, it is wrapped around the first jaw pitch main pulley 113. At the same time, the wire 305 is wound around the drive unit first jaw pulley 211 to a certain extent. JPEG0007900854000004.jpg835 will be wrapped around, and as a result, the first jaw pitch main pulley 114 will unwind accordingly.

[0205] Similarly, during pitching, the second jaw pulley 221 of the drive unit rotates to a certain extent in the direction of arrow A2 in Figure 11A. Then, the wire 302 is driven by the second jaw pulley 221 of the drive unit to a certain extent. JPEG0007900854000005.jpg835 will be unwound, and that amount will be wrapped around the second jaw pitch main pulley 123. At the same time, the wire 306 will be wound around the drive unit second jaw pulley 221 to a certain extent. JPEG0007900854000006.jpg835 will be wrapped around, and as a result, the second jaw pitch main pulley 124 will unwind accordingly.

[0206] In other words, when the drive unit pitch pulley 231 rotates, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 also rotate, which changes the length of the jaw wires wrapped around the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221. That is, the rotation of the drive unit pitch pulley 231 causes the jaw wires that are wrapped around the end tool 100 to be unwound by the same amount on the drive unit side (see 200 in Figure 1), and the jaw wires that are unwound on the end tool 100 to be wrapped by the same amount on the drive unit side (see 200 in Figure 1), so that the pitch motion does not affect the yaw motion.

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

[0208] In this way, for the end tool 100 of the surgical instrument according to an embodiment of the present invention, the two joystick wires wound around one jaw pulley are wound around the pitch main pulley in opposite directions to each other, so that the effect of facilitating the control of the pitch operation can be obtained. That is, when performing a pitch operation, the drive unit first jaw pulley 211 and the drive unit second jaw pulley 221 rotate, and by winding or unwinding the joystick wire, a kind of compensation for the pitch operation is performed, and the effect that the pitch operation of the end tool 100 can be executed can be obtained.

[0209] <First modified form of the first embodiment>

[0210] Hereinafter, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention will be described. Here, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention is characteristically different in that a part of the pulley is omitted as compared with the end tool of the surgical instrument according to the first embodiment of the present invention described above. Hereinafter, the configuration that is different from the first embodiment in this way will be described in detail.

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

[0212] Referring to FIGS. 20 to 26, the end tool 100 according to the first modified form of the first embodiment of the present invention includes a pair of jaws for performing a grip operation, that is, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102 can be referred to as a jaw 103.

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

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

[0215] 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 2 of the first embodiment, so a detailed explanation is omitted here.

[0216] 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.

[0217] Herein, the end tool 100 of the surgical instrument according to the first 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.

[0218] More specifically, the end tool 100 of the surgical instrument according to the first embodiment of the present invention, as shown in Figure 6, comprises 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.

[0219] In contrast, the end tool 100 of the surgical instrument according to the first modified form of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in Figure 6 and the like by comprising a single pulley pulley 118 as the first jaw pitch extra pulley and a single pulley pulley 128 as the second jaw pitch extra pulley.

[0220] As a result, pulleys 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.

[0221] 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.

[0222] Here, the pulleys 117 and 127 of the end tool 100 in the first embodiment of the present invention, as shown in Figure 6, 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.

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

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] 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.

[0230] As a result, in the first embodiment of the present invention, the first jog pitch extra pulley and the second jog pitch extra pulley are each composed of two rows, whereas in the first modified form of the first embodiment of the present invention, the first jog pitch extra pulley and the second jog pitch extra pulley are each composed of one row, so that the number of parts is reduced and the manufacturing process can be simplified.

[0231] <Second modified form of the first embodiment>

[0232] Hereinafter, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention will be described. Here, the end tool 100 of the surgical instrument according to the second modified form of the first embodiment of the present invention is characteristically different in the configuration of the end tool hub as compared with the end tool of the surgical instrument according to the first embodiment of the present invention described above. Hereinafter, the configuration that is different from the first embodiment will be described in detail.

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

[0234] Referring to Figures 27 to 41, 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.

[0235] 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.

[0236] Furthermore, the end tool 100 of the second 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.

[0237] 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.

[0238] 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.

[0239] 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 2 of the first embodiment, so a detailed explanation of them is omitted here.

[0240] The following describes in more detail the end tool hub 180 of the second modified form of the first embodiment of the present invention, 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.

[0241] 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.

[0242] 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.

[0243] 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.

[0244] 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.

[0245] 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.

[0246] 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.

[0247] 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.

[0248] 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.

[0249] 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.

[0250] 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.

[0251] <Third modified form of the first embodiment>

[0252] The following describes the end tool 100 of a surgical instrument according to a 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 from the end tool of the surgical instrument according to the first embodiment of the present invention described above in that a part of the pulley is omitted. The following describes in detail the configuration which has changed from the first embodiment.

[0253] Figures 42 and 43 are perspective views showing the end tool of a surgical instrument according to a third modification of the first embodiment of the present invention. Figures 44 and 45 are plan views of the end tool of Figure 42. Figures 46, 47, and 48 are side views of the end tool of Figure 42. Figures 49 and 50 are plan views of the end tool of Figure 42. Figures 51 and 52 are perspective views showing the end tool of the surgical instrument of Figure 42 rotated by -90°. Figures 53 and 54 are side views showing the end tool of the surgical instrument of Figure 42 rotated by -90°. Figures 55 and 56 are perspective views showing the end tool of the surgical instrument of Figure 42 rotated by +90°. Figures 57 and 58 are side views showing the end tool of the surgical instrument of Figure 42 rotated by +90°.

[0254] Referring to Figures 42 to 58, 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.

[0255] 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.

[0256] Furthermore, the end tool 100 of the third 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.

[0257] 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 2 of the first embodiment, so a detailed explanation is omitted here.

[0258] 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.

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

[0260] More specifically, the end tool 100 of the surgical instrument according to the first embodiment of the present invention, as shown in Figure 6, 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.

[0261] In contrast, the end tool 100 of the surgical instrument according to the third modified form of the first embodiment of the present invention is differentiated from the first embodiment of the present invention shown in Figure 6 and the like in that it is equipped with 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.

[0262] 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.

[0263] 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.

[0264] Here, the pulleys 116 and 126 of the end tool 100 of the first embodiment of the present invention, as shown in Figure 6, 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.

[0265] In other words, the first embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each composed of two rows, whereas the third modified form 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.

[0266] 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.

[0267] 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.

[0268] 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.

[0269] 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.

[0270] 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.

[0271] 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.

[0272] As a result, in 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 modified form 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.

[0273] <Second Embodiment of Endotool for Surgical Instruments>

[0274] 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 2, etc.). This configuration, which differs from the first embodiment, will be explained in detail later.

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

[0276] Referring to Figures 59 to 76, 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 5 of the first embodiment, so a detailed explanation thereof is omitted here.

[0277] Furthermore, the power transmission section 1300 of the end tool 100 of the surgical instrument according to the second embodiment of the present invention may include fastening members 1321, 1322, 1323, 1324, 1326, 1327, and 1329, which are 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 5 of the first embodiment, so a detailed explanation thereof is omitted here.

[0278] (End Tool)

[0279] The following section provides a more detailed description of the endotool 1100 of the surgical instruments shown in Figure 59.

[0280] Continuing to refer to Figures 59 to 76, 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.

[0281] The end tool 1100 may also include pulleys 1111, 1112, 1113, 1114, 1115, 1116, 1117, 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, 1127, and 1128 related to the rotational motion of the second jaw 1102. These pulleys will be described in more detail later.

[0282] 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.

[0283] 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 1117 / 1118 and 1127 / 1128 which are axially coupled to rotating shaft 1145.

[0284] 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.

[0285] 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.

[0286] 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.

[0287] 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.

[0288] 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.

[0289] 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 1106, pitch hub 1107, and each rotation axis 1141, 1142, 1143, 1144, and 1145 described in Figure 2 of the first embodiment, so a detailed explanation of them is omitted here.

[0290] 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.

[0291] 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.

[0292] 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.

[0293] 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).

[0294] 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.

[0295] 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.

[0296] 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.

[0297] 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.

[0298] 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.

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

[0300] Pulleys 1117 and 1118 function as first jaw pitch extra pulleys, and pulleys 1127 and 1128 function as second jaw pitch extra pulleys. These two components can also be collectively referred to as pitch extra pulleys.

[0301] 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.

[0302] 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.

[0303] 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.

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

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

[0306] The following describes the components related to the rotation of pulley 1111.

[0307] 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.

[0308] 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.

[0309] Pulleys 1117 and 1118 form a pair and function as extra pulleys 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 1301, which is the first jaw wire, is wound around pulley 1117, and the wire 1305, which is the first jaw wire, is wound around pulley 1118.

[0310] Here, pulleys 1117 and 1118 are positioned opposite each other on one side of pulleys 1111 and 1112. Here, pulleys 1117 and 1118 are formed to rotate independently of each other around the rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1113 and 1114 are positioned opposite each other on one side of pulleys 1117 and 1118. Here, pulleys 1113 and 1114 are formed to rotate independently of each other around the rotation axis 1143, which is the main rotation axis for the pitch. Also, pulleys 1115 and 1116 are positioned opposite each other on one side of pulleys 1113 and 1114. Here, pulleys 1115 and 1116 are formed to rotate independently of each other around the rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1117, 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.

[0311] The first jaw wire, wire 1301, is wound sequentially around pulleys 1115, 1113, 1117, 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.

[0312] In other words, the first jaw wires, wire 1301 and wire 1305, are sequentially wound around pulleys 1115, 1113, 1117, 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.

[0313] Therefore, when wire 1301 is pulled toward arrow 1301 in Figure 64, 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 64. Conversely, when wire 1305 is pulled toward arrow 1305 in Figure 64, 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 64.

[0314] Next, we will describe the components related to the rotation of the pulley 1121.

[0315] 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.

[0316] 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.

[0317] Pulleys 1127 and 1128 form a pair and function as extra pulleys for the second jaw pitch. That is, pulleys 1127 and 1128 function as extra 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 1127, and the wire 1302, which is the second jaw wire, is wound around pulley 1128.

[0318] Here, pulleys 1127 and 1128 are positioned opposite each other on one side of pulleys 1121 and 1122. Here, pulleys 1127 and 1128 are formed to rotate independently of each other around the rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1123 and 1124 are positioned opposite each other on one side of pulleys 1127 and 1128. Here, pulleys 1123 and 1124 are formed to rotate independently of each other around the rotation axis 1143, which is the main rotation axis for the pitch. Also, pulleys 1125 and 1126 are positioned opposite each other on one side of pulleys 1123 and 1124. Here, pulleys 1125 and 1126 are formed to rotate independently of each other around the rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1127, 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.

[0319] The second jaw wire, wire 1306, is wound sequentially around pulleys 1125, 1123, 1127, 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.

[0320] In other words, the second jaw wires, wire 1306 and wire 1302, are sequentially wound around pulleys 1125, 1123, 1127, 1121, 1122, 1128, 1124, and 1126, so that at least a portion of them are in contact with them, and wire 1306 and wire 1302 are formed to move along the pulleys while the pulleys are rotating.

[0321] Therefore, when wire 1306 is pulled in the direction of arrow 1306 in Figure 64, 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 64. Conversely, when wire 1302 is pulled in the direction of arrow 302 in Figure 64, 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 64.

[0322] 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.

[0323] 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.)

[0324] To put it another way, one of the first jaw wires, wire 1301, contacts the upper side of pulley 1115, the lower side of pulley 1113, and the lower side of pulley 1117 in sequence, before contacting pulley 1111. Subsequently, the other of the first jaw wires, 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 in sequence, 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.

[0325] Similarly, one of the second jaw wires, wire 1306, contacts the underside of pulley 1125, the upper side of pulley 1123, and the upper side of pulley 1127 in sequence, before contacting 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 in sequence, 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.

[0326] 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 66, 67, and 68, 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.

[0327] 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 as it enters from the connecting portion 1400 toward the end tool 1100, and the other wire is wound around the second jaw pitch main pulley in either a clockwise or counterclockwise direction as it enters from the connecting portion 1400 toward the end tool 1100. In other words, as seen in Figures 66, 67, and 68, 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.

[0328] 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 in Figure 11) and the second jaw pulley of the drive unit (see 221 in Figure 11) 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.

[0329] <First modified form of the second embodiment>

[0330] 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 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 from the first embodiment.

[0331] Figures 77 and 78 are perspective views showing the end tool of a surgical instrument according to the first modified form of the second embodiment of the present invention. Figures 79 and 80 are plan views of the end tool of Figure 77. Figures 81, 82 and 83 are side views of the end tool of Figure 77. Figures 84 and 85 are plan views of the end tool of Figure 77. Figures 86 and 87 are perspective views showing the end tool of the surgical instrument of Figure 77 rotated by -90°. Figures 88 and 89 are side views showing the end tool of the surgical instrument of Figure 77 rotated by -90°. Figures 90 and 91 are perspective views showing the end tool of the surgical instrument of Figure 77 rotated by +90°. Figures 92 and 93 are side views showing the end tool of the surgical instrument of Figure 77 rotated by +90°.

[0332] Referring to Figures 77 to 93, 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.

[0333] 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.

[0334] 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.

[0335] 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 2 of the first embodiment, so a detailed explanation of them is omitted here.

[0336] On the other hand, the end tool 1100 may include pulleys 1111, 1112, 1113, 1114, 1115, 1117, 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, 1127, and 1128 related to the rotational motion of the second jaw 1102.

[0337] 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.

[0338] More specifically, the end tool 1100 of the surgical instrument according to the second embodiment of the present invention, as shown in Figure 60, 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.

[0339] 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 60 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.

[0340] As a result, pulleys 1111, 1112, 1117 / 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.

[0341] Furthermore, pulleys related to the rotation of the second jaw 1102, namely pulleys 1121, 1122, 1127 / 1128, 1123 / 1124, and 1125, can be arranged sequentially from the distal end 1104 to the proximal end 1105 of the end tool 1100.

[0342] Here, the pulleys 1116 and 1126 of the end tool 1100 of the second embodiment of the present invention, as shown in Figure 60, 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.

[0343] In other words, the second embodiment of the present invention is characterized in that the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each 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.

[0344] Here, pulleys 1117 and 1118 are positioned on one side of pulleys 1111 and 1112. Here, pulleys 1117 and 1118 are formed to be rotatable around a rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1113 and 1114 are positioned on one side of pulleys 1117 and 1118, facing each other. Here, pulleys 1113 and 1114 are formed to be rotatable independently of each other around a 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 a rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1117, 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.

[0345] The first jaw wire, wire 1301, is wound sequentially around pulleys 1115, 1113, 1117, 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.

[0346] In other words, the first jaw wires, wire 1301 and wire 1305, are sequentially wound around pulleys 1115, 1113, 1117, 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.

[0347] On the other hand, pulleys 1127 and 1128 are positioned on one side of pulleys 1121 and 1122. Here, pulleys 1127 and 1128 are formed to be rotatable around the rotation axis 1145, which is the extra rotation axis for the pitch. Also, pulleys 1123 and 1124 are positioned on one side of pulleys 1127 and 1128, facing each other. Here, pulleys 1123 and 1124 are formed to be rotatable independently of each other around the 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 the rotation axis 1144, which is the sub-rotation axis for the pitch. Here, the figure shows pulleys 1127, 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.

[0348] The second jaw wire, wire 1306, is wound sequentially around pulleys 1125, 1123, 1127, 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.

[0349] In other words, the second jaw wires, wire 1306 and wire 1302, are sequentially wound around pulleys 1125, 1123, 1127, 1121, 1122, 1128, and 1124 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.

[0350] As a result, in the second embodiment of the present invention, the first jaw pitch sub-pulley and the second jaw pitch sub-pulley are each 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.

[0351] <Third Embodiment of Endotool for Surgical Instruments>

[0352] 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 2, etc.). This configuration, which differs from the first embodiment, will be explained in detail later.

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

[0354] Referring to Figures 94 to 115, 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 5 of the first embodiment, so a detailed description thereof is omitted here.

[0355] 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 Figure 5 of the first embodiment, so a detailed explanation thereof is omitted here.

[0356] (End Tool)

[0357] The following section provides a more detailed description of the endotool 2100 of the surgical instruments shown in Figure 94.

[0358] Continuing to refer to Figures 94 to 115, 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.

[0359] 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.

[0360] 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.

[0361] 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.

[0362] 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.

[0363] 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.

[0364] Furthermore, the end tool 2100 of the third embodiment of the present invention may include rotating shafts 2141, 2142, 2143, and 2144.

[0365] 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.

[0366] 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.

[0367] 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.

[0368] Referring to Figures 113 to 115, 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.

[0369] In detail, the first jaw-pulley coupling portion 2181 and the second jaw-pulley coupling portion 2182 are formed to face each other, and 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.

[0370] The first jaw-pulley coupling 2181 and the second jaw-pulley coupling 2182 are connected by a guide portion 2186. That is, the first jaw-pulley coupling 2181 and the second jaw-pulley coupling 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 2181, the second jaw-pulley coupling 2182 and the guide portion 2186 form a roughly "U" shape, and the pulleys 2111, 2112, 2121 and 2122 are housed inside.

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

[0372] 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.

[0373] 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.

[0374] 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.

[0375] 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.

[0376] 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.

[0377] 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 a jaw pulley.

[0378] 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.

[0379] 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).

[0380] 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.

[0381] 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.

[0382] 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.

[0383] 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.

[0384] 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.

[0385] 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.

[0386] 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.

[0387] The following sections will provide a more detailed explanation of pulleys 2112 and 2122.

[0388] 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.

[0389] 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.

[0390] 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.

[0391] 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.

[0392] 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.

[0393] That is, as shown in Figure 114, 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 115, 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.

[0394] 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.

[0395] 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.

[0396] That is, as shown in Figure 114, 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 115, 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.

[0397] The following describes the components related to the rotation of pulley 2111.

[0398] 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.

[0399] 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.

[0400] 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.

[0401] 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.

[0402] 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.

[0403] Therefore, when wire 2301 is pulled in the direction of arrow 2301 in Figure 103, 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 103. Conversely, when wire 2305 is pulled in the direction of arrow 2305 in Figure 103, 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 103.

[0404] Next, we will describe the components related to the rotation of pulley 2121.

[0405] 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.

[0406] 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.

[0407] 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.

[0408] 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.

[0409] 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.

[0410] Therefore, when wire 2306 is pulled in the direction of arrow 2306 in Figure 103, 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 103. Conversely, when wire 2302 is pulled in the direction of arrow 2302 in Figure 103, 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 103.

[0411] 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.

[0412] 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.)

[0413] 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.

[0414] 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.

[0415] 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 100, 101, and 102, 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.

[0416] 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 as it enters from the connecting portion 2400 toward the end tool 2100, and the other wire is wound around the second jaw pitch main pulley in either a clockwise or counterclockwise direction as it enters from the connecting portion 2400 toward the end tool 2100. In other words, as seen in Figures 100, 101, and 102, wire 2302 is wound around clockwise as it enters from the connecting portion 2400 toward the end tool 2100, and wire 2306 is wound around counterclockwise as it enters from the connecting portion 400 toward the end tool 2100.

[0417] 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 in Figure 11) and the second jaw pulley of the drive unit (see 221 in Figure 11) 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.

[0418] 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]

[0419] 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 various other surgeries, or provided on a manually operated surgical instrument.

Claims

1. First Joe and, A second jaw rotatably coupled to the first jaw, An end tool hub formed so that at least a portion of the first jaw and the second jaw can be housed 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 extending along a first direction, A second pin is inserted through the end tool hub, is formed parallel to the first pin, and is 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 third pin is inserted through the end tool hub and pitch hub, 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, formed parallel to the third pin, and formed on one side of the third pin, A first jaw pulley is coupled to the first jaw and is formed to be rotatable around the first pin, A second jaw pulley is coupled to the second jaw and is formed to be rotatable around the first pin, A first jaw auxiliary pulley is formed on one side of the first jaw pulley and is rotatable 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, One or more second jaw pitch sub-pulleys are formed on one side of the second jaw pitch main pulley and are rotatable around the fourth pin, A first jaw wire is coupled to the first jaw pulley to rotate the first jaw pulley and is wound around at least a portion of the pair of first jaw pitch main pulleys, An end tool for a surgical instrument, comprising a second jaw wire coupled to the second jaw pulley to rotate the second jaw pulley and wrapped around at least a portion of the pair of second jaw pitch main pulleys.

2. Moving from the proximal end of the aforementioned end tool toward the distal end, Of the two first jaw wires 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. The end tool of a surgical instrument according to claim 1, characterized in that the other first jaw wire is wound around the first jaw pitch main pulley in one direction other than clockwise or counterclockwise.

3. Perpendicular to the aforementioned pin 1, and with reference to a plane passing between the first jaw pulley and the second jaw pulley, Of the two first jaw wires connected to the first jaw pulley, One of the first jaw wires contacts the upper side of the first jaw pitch main pulley. The end tool of a surgical instrument according to claim 1, characterized in that the other first jaw wire is in contact with the lower side of the first jaw pitch main pulley.

4. The first jaw wire is, Moving from the proximal end of the aforementioned end tool toward the distal end, An end tool for a surgical instrument according to claim 1, characterized in that it sequentially contacts the first jaw pitch sub-pulley, the first jaw pitch main pulley, and the first jaw pitch extra pulley.

5. Perpendicular to the aforementioned pin 1, and with reference to a plane passing 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 upper side of the first jaw pitch sub-pulley, the lower side of the first jaw pitch main pulley, and the lower side of the first jaw pitch extra pulley. The end tool of a surgical instrument according to claim 4, characterized in that one of the two first jaw wires coupled to the first jaw pulley sequentially contacts the lower side of the first jaw pitch sub-pulley, the upper side of the first jaw pitch main pulley, and the lower side of the first jaw pitch extra pulley.

6. An end tool pitch pulley formed at the proximal end of the end tool hub, The end tool of a surgical instrument according to claim 1, further comprising a pitch wire coupled to the end tool pitch pulley for rotating the end tool pitch pulley.

7. When the end tool pitch pulley rotates due to the pitch wire, The end tool for a surgical instrument according to claim 6, characterized in that the entire end tool hub rotates together with the end tool pitch pulley, and the length of the first jaw wire wrapped around the first jaw pitch main pulley and the second jaw pitch main pulley changes.

8. The end tool of a surgical instrument according to claim 7, characterized in that, when the end tool pitch pulley is rotated by 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.

9. The end tool of a surgical instrument according to claim 1, characterized in that the first pin, the second pin, the 2.5 pin, the third pin, and the fourth pin are arranged sequentially from the distal end to the proximal end of the end tool.

10. The end tool of a surgical instrument according to claim 1, characterized in that the first jaw pulley, the first jaw auxiliary pulley, the first jaw pitch extra pulley, the first jaw pitch main pulley, and the first jaw pitch sub-pulley are arranged sequentially from the distal end to the proximal end of the end tool.

11. The end tool of a surgical instrument according to claim 1, 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.

12. The first jaw and the second jaw rotate around the first pin to perform a yaw motion. The end tool for a surgical instrument according to claim 1, characterized in that the end tool hub rotates around the third pin to perform a pitch motion.

13. The end tool of a surgical instrument according to claim 1, characterized in that the groove around which the first jaw wire is wound on the first jaw pulley and the groove around which the second jaw wire is wound on the second jaw pulley are formed at a certain distance from each other.

14. The end tool of a surgical instrument according to claim 1, characterized in that the groove around which the first jaw wire is wound on the first jaw pulley and the groove around which the second jaw wire is wound on the second jaw pulley are formed to be adjacent to each other.

15. The end tool of a surgical instrument according to claim 1, characterized in that the first jaw pitch extra pulley or the second jaw pitch extra pulley comprises only one pulley.

16. The end tool of a surgical instrument according to claim 1, characterized in that the first jaw pitch extra pulley or the second jaw pitch extra pulley is integrally formed with the end tool hub.

17. The end tool of a surgical instrument according to claim 1, characterized in that the first jaw pitch sub-pulley or the second jaw pitch sub-pulley includes only one pulley.

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