Surgical instruments

Abstract

To provide a surgical instrument that is configured to intuitively match an actual operation of bending an end tool or performing a surgical operation with a corresponding operation of an operator.SOLUTION: A surgical instrument includes: an end tool 120 including a first jaw 121 and a second jaw 122; an operation part 110 including a pitch operation part 111 for controlling a pitch operation of the end tool, a yaw operation part for controlling a yaw operation of the end tool, and an actuation operation part for controlling an actuation operation of the end tool; a power transmission part for transmitting rotation of the yaw operation part or the actuation operation part to the first or second jaw through the first or second jaw wire; and a coupling part for coupling the operation part and the end tool. The pitch operation part is formed rotatably around a Y axis, and at least in any first operation state of the operation part, at least a part of the operation part is formed closer to the end tool than to a rotary axis of itself.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Medically, surgery refers to the operation of cutting or tearing the skin, mucosa, and other tissues using medical devices to cure diseases. In particular, open surgery, which involves incising and opening the skin at the surgical site and treating, shaping, or removing the internal organs, causes problems such as bleeding, side effects, patient pain, and scars. Therefore, recently, surgeries that are performed simply by forming a predetermined hole in the skin and inserting 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 operating on a surgical site by a doctor directly operating by hand or using a robotic arm to operate an end tool provided at one end of a shaft passing through a hole perforated in the skin using a predetermined drive unit. The end tool provided in the surgical instrument performs rotational operations, gripping operations, cutting operations, etc. through a predetermined structure.

[0004] By the way, existing surgical instruments had a problem that the end tool part did not bend, making it difficult to access the surgical site and perform various surgical operations. To complement this, a surgical instrument with a warped end tool part was developed, but the operation of the operation part for bending the end tool and performing surgical operations did not intuitively match the operation of the actual end tool bending and performing surgical operations. From the perspective of the surgeon, intuitive operation was not easy, and it took a long time to master the usage method.

[0005] The aforementioned background technology is technical information that the inventor possessed for the purpose of deriving the present invention or acquired during the process of deriving the present invention, and does not necessarily constitute publicly known technology that was made public before the filing of the present invention. [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] The object of the present invention is to solve the aforementioned problems and to provide a surgical instrument that intuitively matches the bending and surgical movements of an actual end tool with the corresponding operation of a control unit. More specifically, to this end, the present invention provides an end tool with various degrees of freedom, a control unit having a structure that allows for intuitive operation of the end tool, and a power transmission unit that transmits the driving force of the control unit to the end tool so that the end tool can be operated in accordance with the operation of the control unit. [Means for solving the problem]

[0007] One embodiment of the present invention is an end tool including a first jaw and a second jaw, each rotatably formed; a pitch operator for controlling the pitch motion of the end tool; a yaw operator for controlling the yaw motion of the end tool; and an actuation operator for controlling the actuation motion of the end tool. The present invention discloses a surgical instrument comprising: an operating section including an operator; a first jaw wire connected to the first jaw and transmitting the operation of the operating section to the first jaw; a second jaw wire connected to the second jaw and transmitting the operation of the operating section to the second jaw; a power transmission section including one or more differential members that transmit the rotation of the yaw operating section or the actuation operating section to the first jaw or the second jaw via the first jaw wire or the second jaw wire; and a connecting section extending in a first direction (X-axis), with the end tool coupled to one end and the operating section coupled to the other end, connecting the operating section and the end tool; wherein the pitch operating section is formed to be rotatable about a second direction (Y-axis) perpendicular to the first direction, and in at least one operating state of the operating section, at least a part of the operating section is formed closer to the end tool than its own axis of rotation.

[0008] Other embodiments of the present invention include: first jaws and second jaws that are rotatable independently of each other; a J11 pulley coupled to the first jaw and rotatable about a first axis formed in the end tool hub; a J16 pulley formed on one side of the J11 pulley and rotatable about a second axis formed on one side of the first axis; J12 and J14 pulleys formed on one side of the J16 pulley, formed at a predetermined angle with the first axis and rotatable about a third axis formed on one side of the end tool hub; and a J12 pulley coupled to the second jaw and rotatable about an axis substantially identical to or parallel to the first axis. An end tool is disclosed, comprising a J21 pulley, a J26 pulley formed on one side of the J21 pulley and rotatable about an axis substantially identical to or parallel to the second axis, and J22 and J24 pulleys formed on one side of the J26 pulley and rotatable about an axis substantially identical to or parallel to the third axis, wherein the first jaw wire is formed to be in contact with at least a portion of the J12, J11, J16, and J14 pulleys, and the second jaw wire is formed to be in contact with at least a portion of the J22, J21, J26, and J24 pulleys.

[0009] Other aspects, features, and advantages not mentioned above will become clear from the following drawings, claims, and detailed description of the invention. [Effects of the Invention]

[0010] With this invention, the operating direction of the surgical unit and the operating direction of the end tool are intuitively the same, thereby improving the convenience for the surgeon and achieving improved accuracy, reliability, and speed of the surgery. [Brief explanation of the drawing]

[0011] [Figure 1A] This is a conceptual diagram of the pitch operation of a conventional surgical instrument. [Figure 1B] This is a conceptual diagram of the yaw motion of a conventional surgical instrument. [Figure 1C] This is a conceptual diagram of the pitch operation of other conventional surgical instruments. [Figure 1D] This is a conceptual diagram of the yaw motion of other conventional surgical instruments. [Figure 1E] This is a conceptual diagram of the pitch operation of a surgical instrument according to the present invention. [Figure 1F] This is a conceptual diagram of the yaw motion of a surgical instrument according to the present invention. [Figure 2] This is a perspective view showing a surgical instrument according to a first embodiment of the present invention. [Figure 3] Figure 2 is an internal perspective view of the surgical instrument. [Figure 4] Figure 3 is a side view of the surgical instrument. [Figure 5] Figure 3 is a perspective view showing the upper part of the operating section of the surgical instrument. [Figure 6] Figure 3 is a perspective view showing the lower part of the operating section of the surgical instrument. [Figure 7] Figure 3 is a perspective view showing the end tools of the surgical instruments. [Figure 8] Figure 3 is a perspective view showing the end tools of the surgical instruments. [Figure 9A] Figure 3 is a plan view showing the endotool of the surgical instrument. [Figure 9B] This is a plan view showing the endotool of a conventional surgical instrument. [Figure 10] Figure 3 is a conceptual diagram illustrating the pitch operation of the surgical instrument. [Figure 11] Figure 3 is a perspective view showing the pitch motion of the surgical instrument. [Figure 12] Figure 3 is a diagram illustrating the yaw motion of the surgical instrument. [Figure 13] Figure 3 is a diagram illustrating the yaw motion of the surgical instrument. [Figure 14] Figure 3 is a diagram illustrating the actuation motion of the surgical instrument. [Figure 15] The drawing shows the actuation operation of the surgical instrument of FIG. 3. [Figure 16] The perspective view which shows the surgical instrument by the 2nd Embodiment of this invention. [Figure 17] The plan view of the surgical instrument of FIG. 16. [Figure 18] The perspective view which shows the operation part of the surgical instrument of FIG. 16. [Figure 19] The drawing which shows the yaw operation of the surgical instrument of FIG. 16. [Figure 20] The drawing which shows the actuation operation of the surgical instrument of FIG. 16. [Figure 21] The drawing which shows the actuation operation of the surgical instrument of FIG. 16.

BEST MODE FOR CARRYING OUT THE INVENTION

[0012] The present invention can be subjected to various conversions and can have various embodiments, but specific embodiments are illustrated in the drawings and will be described in detail below. However, it should not be construed that the present invention is limited to the specific embodiments, and it should be understood that the present invention includes all conversions, equivalents or alternatives included in the spirit and technical scope of the present invention. In the description of the present invention, when a specific description of related known art is determined to obscure the gist of the present invention, the detailed description thereof will be omitted.

[0013] Terms such as first and second are used in the description of various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

[0014] The terms used in this application are used solely for the purpose of describing 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” should be understood to indicate the existence of features, figures, stages, operations, components, parts, or combinations thereof described in the specification, and not to preemptively exclude the possibility of the existence or addition of one or more other features, figures, stages, operations, components, parts, or combinations thereof.

[0015] Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the description with reference to the accompanying drawings, identical or corresponding components will be given the same drawing number, and redundant descriptions thereof will be omitted.

[0016] Furthermore, in describing the various embodiments of the present invention, it should be understood that each embodiment is not to be interpreted or implemented independently, but rather that the technical ideas described in each embodiment are to be interpreted or implemented in combination with other embodiments described individually.

[0017] <First Embodiment of a Surgical Instrument> One feature of the surgical instrument according to the present invention is that, for at least one of the pitch, yaw, and actuation movements, rotating the operating part in any one direction causes the end tool to rotate in the same direction as the operating direction of the operating part.

[0018] Figure 1A is a conceptual diagram of the pitch motion of a conventional surgical instrument, and Figure 1B is a conceptual diagram of the yaw motion.

[0019] Referring to Figure 1A, in the pitching motion of a conventional surgical instrument, the end tool 120a is formed in front of the rotation center 121a of the end tool, and the operating part 110a is formed behind the rotation center 111a of the operating part. When the operating part 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating part 120a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. On the other hand, referring to Figure 1B, in the yaw motion of conventional surgical instruments, the end tool 120a is formed in front of the end tool's rotation center 121a, and the operating part 110a is formed behind the operating part's rotation center 111a. When the operating part 110a is rotated clockwise, the end tool 120a also rotates clockwise, and when the operating part 120a is rotated counterclockwise, the end tool 120a also rotates counterclockwise. In this case, from the perspective of the user's left-right direction, if the user moves the operating part 110a to the left, the end tool 120a moves to the right, and when the user moves the operating part 110a to the right, the end tool 120a moves to the left. As a result, the user's operating direction and the end tool's operating direction are opposite, which can cause user error and makes operation difficult for the user.

[0020] Figure 1C is a conceptual diagram of the pitch motion of another conventional surgical instrument, and Figure 1D is a conceptual diagram of the yaw motion.

[0021] Referring to Figure 1C, some conventional surgical instruments are formed in a mirror-symmetrical configuration. In pitching motions, the end tool 120b is formed in front of the end tool's rotation center 121b, and the operating part 110b is formed behind the operating part's rotation center 111b. When the operating part 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating part 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating part and the end tool, the direction in which the user rotates the operating part 110b and the resulting rotation direction of the end tool 120b are opposite to each other. As a result, this can cause confusion for the user regarding the direction of operation, making joint movements unintuitive and potentially leading to errors. Furthermore, referring to Figure 1D, in yaw motion, the end tool 120b is formed in front of the end tool's rotation center 121b, and the operating part 110b is formed behind the operating part's rotation center 111b. When the operating part 110b is rotated clockwise, the end tool 120b rotates counterclockwise, and when the operating part 110b is rotated counterclockwise, the end tool 120b rotates clockwise. In this case, from the perspective of the rotation direction of the operating part and the end tool, the direction in which the user rotates the operating part 110b and the resulting rotation direction of the end tool 120b are opposite to each other. As a result, this can cause confusion for the user regarding the direction of operation, and the joint movement may not be intuitive, potentially leading to errors.

[0022] To solve these problems, the surgical instrument according to one embodiment of the present invention shown in Figures 1E and 1F is characterized in that the end tool 120c is formed in front of the rotation center 121c of the end tool, and the operating part 110c is also formed in front of the rotation center 111c of the operating part, so that the operation of the operating part 110c and the end tool 120c are intuitively synchronized.

[0023] To express these characteristics differently, unlike existing examples where the operating part is closer to the user (i.e., further from the end tool) relative to its own joint, as shown in Figures 1A, 1B, 1C, and 1D, the surgical instrument according to one embodiment of the present invention, as shown in Figures 1E and 1F, is formed such that for at least one moment of the operation, at least a portion of the operating part is closer to the end tool (than its own joint) relative to its own joint.

[0024] To explain this differently, in conventional surgical instruments like those shown in Figures 1A, 1B, 1C, and 1D, the end tool is located in front of its own center of rotation, while the operating part is formed behind its own center of rotation. With the front fixed, the operation of the operating part moves the end tool, which moves forward while the rear is fixed. Structurally, this is an inconsistent structure. As a result, there is a discrepancy between the operation of the operating part and the operation of the end tool, both in terms of left-right or rotational direction, causing confusion for the user, making it difficult to intuitively and quickly operate the operating part, and leading to errors. In contrast, in the surgical instrument according to one embodiment of the present invention, both the end tool and the operating part move relative to a center of rotation formed at the rear, so structurally, their operations are intuitively consistent. This allows the user to intuitively and quickly control the end tool, significantly reducing the possibility of errors. The specific mechanism that enables this functionality will be described below.

[0025] Figure 2 is a perspective view showing a surgical instrument according to a first embodiment of the present invention, Figure 3 is an internal perspective view of the surgical instrument of Figure 2, and Figure 4 is a side view of the surgical instrument of Figure 3.

[0026] Referring to Figures 2, 3, and 4, the surgical instrument 100 according to the first embodiment of the present invention includes an operating section 110, an end tool 120, a power transmission section 130, and a connecting section 140. Here, the connecting section 140 is formed in the shape of a hollow shaft, and one or more wires (described later) are housed inside it, with the operating section 110 connected to one end and the end tool 120 connected to the other end, thus serving to connect the operating section 110 and the end tool 120.

[0027] In detail, the operating unit 110 is formed at one end of the connecting unit 140 and is equipped with an interface that can be directly operated by a physician, such as a pinch shape, stick shape, or lever shape. When the physician operates it, the end tool 120, which is connected to the interface and inserted into the patient's body during surgery, performs a predetermined operation, thereby performing the surgery. Here, Figure 2 illustrates that the operating unit 110 is formed in the shape of a handle that can be rotated while holding a finger between the fingers. However, the concept of the present invention is not limited to this, and various forms of operating units that can be connected to and operate the end tool 120 are possible.

[0028] The end tool 120 is formed at the other end of the connecting portion 140 and is inserted into the surgical site to perform the actions necessary for the surgery. As an example of such an end tool 120, a pair of jaws 121, 122 for performing a gripping action may be used, as shown in Figure 2. However, the concept of the present invention is not limited thereto, and a variety of surgical devices may be used as the end tool 120. For example, a configuration in which one arm is a cauter may also be used as an end tool. Such an end tool 120 is connected by an operating portion 110 and a power transmission portion 130, and the driving force of the operating portion 110 is transmitted via the power transmission portion 130 to perform actions necessary for the surgery, such as gripping, cutting, and suturing.

[0029] Here, the end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention is formed to be rotatable in at least two directions. For example, the end tool 120 is formed to perform pitch motion around the Y-axis in Figure 2, and simultaneously perform yaw motion and actuation motion around the Z-axis in Figure 2. This will be explained in detail later.

[0030] The power transmission section 130 connects the operating section 110 and the end tool 120, and transmits the driving force of the operating section 110 to the end tool 120. It may include multiple wires, pulleys, links, joints, gears, etc.

[0031] The following provides a more detailed description of the operating section 110, end tool 120, and power transmission section 130 of the surgical instrument 100 shown in Figure 2.

[0032] (Operation unit) Figure 5 is a perspective view showing the upper part of the operating section of the surgical instrument shown in Figure 3, and Figure 6 is a perspective view showing the lower part of the operating section of the surgical instrument shown in Figure 3.

[0033] Referring to Figures 2 to 6, the operating section 110 of the surgical instrument 100 according to the first embodiment of the present invention includes a pitch operator 111 for controlling the pitch motion of the end tool 120, a yaw operator 112 for controlling the yaw motion of the end tool 120, and an actuation operator 113 for controlling the actuation motion of the end tool 120.

[0034] First, to illustrate the usage of the surgical instrument 100 shown in Figure 2, the user can perform pitch motion by rotating the pitch drive handle 1112 while holding the pitch drive handle 1112 of the pitch control unit 111 with the palm of their hand, perform yaw motion by rotating the yaw control unit 112 while inserting their index finger into the yaw control unit 112, and perform actuation motion by rotating the actuation control unit 113 while inserting their thumb into the actuation control unit 113.

[0035] Herein, the pitch motion, yaw motion, and actuation motion used in the present invention are defined as follows.

[0036] First, pitch motion refers to the movement of the end tool 120 rotating vertically relative to the connecting part 140, that is, rotation around the Y-axis in Figure 2. In other words, it refers to the movement of the end tool 120, which extends from the connecting part 140 in the direction of extension of the connecting part 140 (the X-axis direction in Figure 2), rotating vertically around the Y-axis relative to the connecting part 140. Next, yaw motion refers to the movement of the end tool 120 rotating horizontally relative to the connecting part 140, that is, rotation around the Z-axis in Figure 2. In other words, it refers to the movement of the end tool 120, which extends from the connecting part 140 in the direction of extension of the connecting part 140 (the X-axis direction in Figure 2), rotating horizontally around the Z-axis relative to the connecting part 140. On the other hand, actuation motion rotates around the same axis of rotation as yaw motion, but the two jaws 121 and 122 rotate in opposite directions to each other, causing the jaws to constrict and open. In other words, it means that the two jaws 121 and 122 formed on the end tool 120 rotate in opposite directions around the Z axis.

[0037] Here, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that when the operating part 110 is rotated in either direction relative to the connecting part 140, the end tool 120 rotates in the same direction as the operating direction of the operating part 110 relative to the connecting part 140. In other words, when the pitch operating part 111 of the operating part 110 is rotated in either direction, the end tool 120 also rotates in the same direction as the aforementioned direction to perform a pitch motion, and when the yaw operating part 112 of the operating part 110 is rotated in either direction, the end tool 120 also rotates in the same direction as the aforementioned direction to perform a yaw motion. Here, "intuitively the same direction" can be further explained as the direction of movement of the user's index finger holding the operating part 110 and the direction of movement of the end of the end tool 120 being substantially the same direction. Here, "same direction" should be understood as a level of identity that maintains a degree of intuitiveness, even if it does not mean perfectly coinciding directions on a three-dimensional coordinate system. For example, if the user's index finger moves to the left, the end of the end tool 120 also moves to the left, and if the user's index finger moves to the right, the end of the end tool 120 also moves to the right.

[0038] To that end, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that the operating section 110 and the end tool 120 are formed in the same direction with respect to a plane perpendicular to the extension axis (X-axis) of the connecting section 140. That is, when viewed with respect to the YZ plane in Figure 2, the operating section 110 extends in the +X-axis direction, and at the same time, the end tool 120 also extends in the +X-axis direction. In other words, the direction in which the end tool 120 is formed at one end of the connecting section 140 and the direction in which the operating section 110 is formed at the other end of the connecting section 140 are in the same direction with respect to the YZ plane. Alternatively, the operating section 110 is formed in the direction away from the user's body that grasps it, that is, in the direction in which the end tool 120 is formed.

[0039] In detail, with conventional surgical instruments, the direction in which the user operates the control unit and the actual direction of movement of the end tool are different and do not intuitively coincide. As a result, intuitive operation is not easy from the surgeon's perspective, and it takes many years to become proficient in moving the end tool in the desired direction. In some cases, malfunctions may occur, potentially causing harm to the patient.

[0040] To solve these problems, the surgical instrument 100 according to the first embodiment of the present invention is characterized in that the operating direction of the operating section 110 and the operating direction of the end tool 120 are intuitively the same direction, and for this purpose, the operating section 110 and the end tool 120 are extended in the same direction when viewed with reference to the YZ plane including the pitch operating axis 1111. A further detailed explanation of this is as follows.

[0041] The pitch operation unit 111 includes a pitch drive shaft 1111 and a pitch drive handle 1112. Here, the pitch drive shaft 1111 is formed in a direction parallel to the Y-axis, and the pitch drive handle 1112 is connected to the pitch drive shaft 1111 and is formed to rotate around the pitch drive shaft 1111. For example, if a user holds the pitch drive handle 1112 in their hand and rotates the pitch drive handle 1112, the pitch drive handle 1112 rotates around the pitch drive shaft 1111, and such rotational force is transmitted to the end tool 120 via the power transmission unit 130, the operation unit control member 115, and the end tool control member 123, causing the end tool 120 to rotate in the same direction as the rotation direction of the pitch operation unit 111. In other words, if the pitch control unit 111 rotates clockwise around the pitch drive shaft 1111, the end tool 120 also rotates clockwise around an axis parallel to the pitch drive shaft 1111. Conversely, if the pitch control unit 111 rotates counterclockwise around the pitch drive shaft 1111, the end tool 120 also rotates counterclockwise around an axis parallel to the pitch drive shaft 1111.

[0042] On the other hand, the yaw control section 112 and the actuation control section 113 are formed on one end of the pitch drive handle 1112 of the pitch control section 111. Therefore, if the pitch control section 111 rotates around the pitch drive shaft 1111, the yaw control section 112 and the actuation control section 113 also rotate together with the pitch control section 111. That is, Figure 2 and others show a state in which the pitch drive handle 1112 of the pitch control section 111 is positioned perpendicular to the connecting section 140, whereas Figure 11 and others, which will be described later, show a state in which the pitch drive handle 1112 of the pitch control section 111 rotates around the pitch drive shaft 1111 and is positioned so that it forms a predetermined angle with respect to the connecting section 140.

[0043] As a result, the coordinate systems of the yaw control unit 112 and the actuation control unit 113 are not fixed, but continuously change relative to each other due to the rotation of the pitch control unit 111. That is, in Figure 2, the yaw drive shaft 1121 of the yaw control unit 112 is shown to be parallel to the Z-axis, and the actuation drive shaft 1131 of the actuation control unit 113 is shown to be parallel to the Y-axis. However, if the pitch control unit 111 rotates, the yaw drive shaft 1121 of the yaw control unit 112 will no longer be parallel to the Z-axis. In other words, the coordinate systems of the yaw control unit 112 and the actuation control unit 113 have changed due to the rotation of the pitch control unit 111. However, for the sake of explanation, unless otherwise explained, the coordinate systems of the yaw control unit 112 and the actuation control unit 113 will be described based on the state in which the pitch drive handle 1112 is positioned perpendicular to the connecting part 140, as shown in Figure 2.

[0044] The yaw operating section 112 includes a yaw operating axis 1121 and a yaw operating member 1122. The operating axis 1121 is formed to make a predetermined angle with the XY plane on which the connecting section 140 is formed. For example, the yaw operating axis 1121 is formed in a direction parallel to the Z axis, as shown in Figure 3, and in that state, when the pitch operating section 111 rotates, the coordinate system of the yaw operating section 112 changes relatively, as described above. However, the concept of the present invention is not limited thereto, and it goes without saying that the yaw operating axis 1121 can be formed in various directions to suit the hand structure of the user gripping the yaw operating section 112 through ergonomic design.

[0045] On the other hand, the yaw drive unit 1122 is formed to be rotatable around the yaw drive shaft 1121. For example, if a user inserts their index finger into the yaw drive unit 1122 and rotates it, the yaw drive unit 1122 will rotate around the yaw drive shaft 1121, and this rotational force will be transmitted to the end tool 120 via the power transmission unit 130, causing the two jaws 121 and 122 of the end tool 120 to rotate left and right in the same direction as the rotation of the yaw drive unit 1122. For this purpose, a pulley 1121a is formed on the yaw rotating axis 1121. A yaw wire 130Y is connected to the pulley 1121a, and rotational force is transmitted to the end tool 120 via the power transmission unit 130, which includes the yaw wire 130Y, causing the two jaws 121 and 122 of the end tool 120 to perform a yaw motion.

[0046] The actuation operation unit 113 includes an actuation rotating axis 1131 and an actuation rotating member 1132. Here, the actuation rotating axis 1131 is formed to make a predetermined angle with the XZ plane on which the connecting portion 140 is formed. For example, as shown in Figure 2, the actuation rotating axis 1131 is formed in a direction parallel to the Y axis, and in this state, when the pitch operation unit 111 rotates, the coordinate system of the actuation operation unit 113 changes relatively, as described above. However, the concept of the present invention is not limited thereto, and it goes without saying that the actuation rotating axis 1131 can be formed in various directions to suit the hand structure of the user gripping the actuation operation unit 113 through ergonomic design.

[0047] On the other hand, the actuation drive unit 1132 is formed to be rotatable around the actuation drive shaft 1131. For example, if a user inserts their thumb into the actuation drive unit 1132 and rotates the actuation drive unit 1132, the actuation drive unit 1132 rotates around the actuation drive shaft 1131, and such rotational force is transmitted to the end tool 120 via the power transmission unit 130, causing the two jaws 121 and 122 of the end tool 120 to perform the actuation operation. Here, the actuation operation refers to the operation of opening and closing the jaws 121 and 122 while the two jaws 121 and 122 rotate in opposite directions to each other, as described above. In other words, when the actuation operating unit 113 is rotated in one direction, the first jaw 121 rotates counterclockwise and the second jaw 122 rotates clockwise, closing the end tool 120. Conversely, when the actuation operating unit 113 is rotated in the opposite direction, the first jaw 121 rotates clockwise and the second jaw 122 rotates counterclockwise, opening the end tool 120.

[0048] On the other hand, a pulley 1131a is formed at one end of the actuation operating axis 1131. An actuation wire 130A is connected to the pulley 1131a.

[0049] Next, referring to Figure 3, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch drive shaft 1111 of the pitch operating section 111 and the end tool 120 are formed on the same axis (X axis) or parallel axes. That is, the pitch drive shaft 1111 of the pitch operating section 111 is formed at one end of the connecting section 140, and the end tool 120 is formed at the other end of the connecting section 140. Here, although the drawing shows the connecting section 140 as being formed in a straight line, the concept of the present invention is not limited thereto, and the connecting section 140 may be formed by curving to have a predetermined curvature or by bending one or more times as needed, and even in such cases, the pitch operating section 111 and the end tool 120 can be said to be formed on substantially the same or parallel axes. Furthermore, although Figure 3 shows the pitch control unit 111 and the end tool 120 formed on the same axis (X-axis), the concept of the present invention is not limited thereto, and the pitch control unit 111 and the end tool 120 may be formed on different axes.

[0050] As described above, in the surgical instrument 100 according to the first embodiment of the present invention, the end tool 120 and the operating section 110 are extended in the same direction so that the joint movements (pitch movement, yaw movement) of the end tool 120 and the operating section 110 are intuitively consistent with each other.

[0051] In other words, as illustrated in Figures 1E and 1F, the operating part 110c is formed in front of the rotation center 111c of the operating part, just as the end tool 120c is formed in front of the rotation center 121c of the end tool.

[0052] Furthermore, the yaw control unit 112 is formed at one end of the pitch control unit 111. When the pitch control unit 111 rotates around the pitch drive shaft 1111, the yaw control unit 112 also moves around the pitch drive shaft 1111. At the same time, the end tool 120 also rotates along with it, so that the direction of the yaw control unit 112 and the direction of the end tool 120 are the same, without compromising intuitiveness.

[0053] In other words, even if the extension direction of the yaw control unit 112 differs from the +X axis direction as shown in Figure 2 due to the pitch movement of the pitch control unit 111, the end tool 120 also performs pitch rotation, so the direction of the yaw control unit 112 and the direction of the end tool 120 are the same, and this does not impair the intuitiveness.

[0054] Therefore, although Figure 2 illustrates the concept of the present invention, which is that "the operating part extends toward the end tool side," in a state where the joint is not rotating, from the perspective described above, it will be understood that the concept of "the operating part extending toward the end tool side" remains the same even when the joint is rotated.

[0055] In other words, the shape of one operating part, where it extends towards the end tool, changes depending on the operation of other operating parts. This must be understood from the perspective described above, and such a shape, where the operating part extends towards the end tool, will be satisfied by at least one of the various operating conditions of the operating parts.

[0056] In other words, if we express the characteristic that the operating part 110 extends toward the end tool 120 side in a different way, we can say that a part of the operating part 110, with respect to its own joint, becomes closer to the end tool 120 (than its own joint) for at least one instant during operation.

[0057] On the other hand, the operating section 110 of the surgical instrument 100 according to the first embodiment of the present invention further comprises an operating section control member 115 that is linked to the pitch drive shaft 1111 of the pitch operating section 111. Since the configuration of such an operating section control member 115 is substantially the same as that of the end tool control member 123 which will be described later, the relationship between the operating section control member 115 and the end tool control member 123 and the other components of the operating section 110 will be described later.

[0058] (Power transmission section) Next, referring to Figures 2 to 6, the power transmission section 130 of the surgical instrument 100 according to the first embodiment of the present invention includes a yaw wire 130Y, an actuation wire 130A, a pitch wire 130P, a first jaw wire 130J1, a second jaw wire 130J2, and a power transmission assembly 135. Here, the power transmission assembly 135 is housed within a pitch drive handle 1112.

[0059] First, let's describe the power transmission assembly 135 of the power transmission unit 130.

[0060] As described above, the yaw control unit 112 and the actuation control unit 113 are formed on one end of the pitch drive handle 1112 of the pitch control unit 111. Therefore, when the pitch control unit 111 rotates around the pitch drive shaft 1111, the yaw control unit 112 and the actuation control unit 113 also rotate together with the pitch control unit 111. Furthermore, the yaw control unit 112 is connected to the first jaw 121 and the second jaw 122 and drives the first jaw 121 and the second jaw 122, and the actuation control unit 113 is also connected to the first jaw 121 and the second jaw 122 and drives the first jaw 121 and the second jaw 122. By the way, if the yaw control unit 112 is rotated, the first jaw 121 and the second jaw 122 must rotate in the same direction relative to each other, while if the actuation control unit 113 is rotated, the first jaw 121 and the second jaw 122 must rotate in opposite directions relative to each other. Therefore, a separate structure is required to realize such operation.

[0061] Therefore, both rotational inputs, the yaw control unit 112 and the actuation control unit 113, must act on a single jaw. To achieve this, a structure is needed that can receive two or more inputs, output rotation for a single jaw, and operate differently depending on each input. In this case, the two input rotations must not move each other.

[0062] To this end, the surgical instrument 100 according to the first embodiment of the present invention is characterized by comprising a power transmission assembly 135 that receives driving force from the yaw control unit 112 and the actuation control unit 113 and transmits it to the first jaw 121 and the second jaw 122, respectively.

[0063] More specifically, the power transmission assembly 135 includes a yaw pulley 135YP, a yaw drive bar 135B, a first gear 135G1, and a fourth gear 135G4, which are connected to the yaw operating section 112 via a yaw wire 130Y and rotate together with the yaw operating section 112. The yaw pulley 135YP, yaw drive bar 135B, first gear 135G1, and fourth gear 135G4 rotate together. It also includes a first jaw drive unit 135J1 that transmits driving force to rotate the first jaw 121 by the rotation of the yaw operating section 112 and the actuation operating section 113, and a second jaw drive unit 135J2 that transmits driving force to rotate the second jaw 122 by the rotation of the yaw operating section 112 and the actuation operating section 113. The system further includes an actuation gear 135AG that rotates together with the actuation operating section 113; a first gear 135G1 and a second gear 135G2 interposed between the actuation gear 135AG and the actuation gear 135AG; and a third gear 135G3 interposed between the actuation gear 135AG and a fourth gear 135G4. In this system, the first gear 135G1, the second gear 135G2, the third gear 135G3, and the fourth gear 135G4 are stacked in order in the Z-axis direction and are formed to rotate around the pitch operating section central axis 1113. Here, the actuation gear 135AG rotates around the actuation gear central axis 135AG1 which is fixed in a direction perpendicular to the Z-axis. The actuation gear 135AG is connected to the actuation wire 130A and is formed to rotate together with the pulley 1131a of the actuation operating section 113. To explain this in more detail, please see below.

[0064] The first jaw drive unit 135J1 includes a first jaw drive gear 135J11, a first jaw connecting member 135J12, a first jaw drive pulley 135J13, and a first jaw drive gear central axis 135J14. The first jaw drive gear 135J11 is a bevel gear and is interposed between the third gear 135G3 and the fourth gear 135G4. It is formed to rotate on its own axis around the first jaw drive gear central axis 135J14 or revolve around the pitch operating unit central axis 1113 due to the relative movement of the third gear 135G3 or the fourth gear 135G4. The first jaw connecting member 135J12 is formed to connect the first jaw drive gear central shaft 135J14 and the first jaw drive pulley 135J13, causing the first jaw drive gear 135J11, the first jaw drive gear central shaft 135J14, the first jaw connecting member 135J12, and the first jaw drive pulley 135J13 to rotate together around the pitch operation unit central shaft 1113. The first jaw drive pulley 135J13 is connected to the first jaw wire 130J1 and transmits the rotation of the yaw operation unit 112 and the actuation operation unit 113 to the first jaw 121.

[0065] On the other hand, the second jaw drive unit 135J2 includes a second jaw drive gear 135J21, a second jaw connecting member 135J22, a second jaw drive pulley 135J23, and a second jaw drive gear central axis 135J24. The second jaw drive gear 135J21 is a bevel gear and is interposed between the first gear 135G1 and the second gear 135G2. It is formed to rotate on its own axis around the second jaw drive gear central axis 135J24 or revolve around the pitch operation unit central axis 1113 due to the relative movement of the first gear 135G1 or the second gear 135G2. The second jaw connecting member 135J22 is formed to connect the second jaw drive gear central shaft 135J24 and the second jaw drive pulley 135J23, causing the second jaw drive gear 135J21, the second jaw drive gear central shaft 135J24, the second jaw connecting member 135J22, and the second jaw drive pulley 135J23 to rotate together around the pitch operation unit central shaft 1113. The second jaw drive pulley 135J23 is connected to the second jaw wire 130J2 and transmits the rotation of the yaw operation unit 112 and the actuation operation unit 113 to the second jaw 122.

[0066] Such a power transmission assembly 135 can be described in more detail as follows. The first jaw 121 and the second jaw 122 must rotate in response to two rotational inputs, the yaw control unit 112 and the actuation control unit 113. However, the first jaw 121 and the second jaw 122 must operate differently in response to the operation of the yaw control unit 112 and the actuation control unit 113, respectively. That is, when the yaw control unit 112 is rotated, the first jaw 121 and the second jaw 122 must rotate in the same direction, while when the actuation control unit 113 is rotated, the first jaw 121 and the second jaw 122 must rotate in opposite directions.

[0067] To realize such operation, a structure is required that determines the movement of the first jaw 121 in response to two rotational inputs, the yaw control unit 112 and the actuation control unit 113. This structure consists of a first jaw drive gear 135J11, a fourth gear 135G4, and a third gear 135G3 (hereinafter referred to as the first differential member).

[0068] On the other hand, the structure that determines the operation of the second jaw 122 in response to the two rotational inputs from the yaw control unit 112 and the actuation control unit 113 consists of a second jaw drive gear 135J21, a first gear 135G1, and a second gear 135G2 (hereinafter referred to as the second differential member).

[0069] These structures (the first differential member and the second differential member) are each composed of two input gears and one output gear.

[0070] More specifically, the first differential member takes the rotation of the fourth gear 135G4 and the third gear 135G3 as input and outputs the rotation of the first jaw drive gear 135J11, while the second differential member takes the rotation of the first gear 135G1 and the second gear 135G2 as input and outputs the rotation of the second jaw drive gear 135J21.

[0071] Each drive system rotates the output gear in response to the rotational input from two input gears. As the output gear rotates, the entire drive assembly (first jaw drive unit 135J1 or second jaw drive unit 135J2), including the output gear, revolves around the pitch control unit central axis 1113 in the same direction as the unidirectional rotation of the input gears. Therefore, each drive system can receive two inputs and rotate the output gear without affecting the other input.

[0072] In other words, the first differential member can rotate the first jaw 121 by rotational input from the yaw operation unit 112 or the actuation operation unit 113, and the second differential member can rotate the second jaw 122 by rotation from the yaw operation unit 112 or the actuation operation unit 113. It can be rotated.

[0073] At that time, if the yaw control unit 112 rotates, the first jaw 121 and the second jaw 122 will rotate in the same direction, while if the actuation control unit 113 rotates, the first jaw 121 and the second jaw 122 must rotate in different directions.

[0074] Therefore, the rotational operation of the yaw control unit 112 is configured to rotate one input gear of the first differential member and the second differential member in the same direction, while the rotational operation of the actuation control unit 113 is configured to rotate the other input gear of the first differential member and the second differential member in opposite directions.

[0075] To achieve this, the rotational movement of the yaw control unit 112 is configured such that the yaw drive bar 135B is connected to the first gear 135G1 and the fourth gear 135G4, causing the rotational movement of the yaw control unit 112 to rotate the first gear 135G1 and the fourth gear 135G4 in the same direction, thereby causing the first jaw drive gear 135J11 and the second jaw drive gear 135J21 to rotate in the same direction, and as a result, the first jaw 121 and the second jaw 122 rotate in the same direction, thereby performing the yaw operation.

[0076] On the other hand, the rotational movement of the actuation operation unit 113 is configured such that the actuation gear 135AG rotates the second gear 135G2 and the third gear 135G3, which are the input gears of the two drive systems, in opposite directions. As a result, the first jaw drive gear 135J11 and the second jaw drive gear 135J21 rotate in opposite directions, and as a result, the first jaw 121 and the second jaw 122 rotate in opposite directions, thereby performing the actuation operation. On the other hand, in this embodiment, gears are exemplified as a drive system that extracts one output from two inputs, but the concept of the present invention is not limited to this, and various drive systems that can extract one output from two inputs can be applied.

[0077] Here, the drawing shows that the first gear 135G1, the second gear 135G2, the third gear 135G3, and the fourth gear 135G4 are sequentially stacked along the pitch control unit central axis 1113. However, the concept of the present invention is not limited to this, and it goes without saying that the gears are formed along the pitch control unit central axis 1113 and a separate differential member central axis.

[0078] (End Tool) Figures 7 and 8 are perspective views showing the endotool of the surgical instrument shown in Figure 3, and Figure 9A is a plan view showing the endotool of the surgical instrument shown in Figure 3.

[0079] Referring to Figures 7, 8, and 9A, the end tool 120 of the first embodiment of the present invention includes an end tool control member 123, the end tool control member 123 includes J11 pulley 123J11, J12 pulley 123J12, J13 pulley 123J13, J14 pulley 123J14, and J15 pulley 123J15 which are involved in the rotational motion of the first jaw 121, and J21 pulley 123J21, J22 pulley 123J22, J23 pulley 123J23, J24 pulley 123J24, and J25 pulley 123J25 which are involved in the rotational motion of the second jaw 122. Here, the first jaw 121, J11 pulley 123J11, J12 pulley 123J12, J14 pulley 123J14, the second jaw 122, J21 pulley 123J21, J22 pulley 123J22, and J24 pulley 123J24 are all formed to rotate around the end tool pitch drive shaft 123PA.

[0080] On the other hand, at one end of the connecting portion 140 that connects to the end tool 120, there is a connecting portion hub 141. The J12 pulley 123J12, J13 pulley 123J13, J14 pulley 123J14, J15 pulley 123J15, J22 pulley 123J22, J23 pulley 123J23, J24 pulley 123J24, and J25 pulley 123J25 are then connected to the connecting hub 141.

[0081] Here, the drawings show opposing pulleys formed parallel to each other, but the concept of the present invention is not limited to this, and each pulley can be formed in a variety of positions and sizes suitable for the configuration of the end tool.

[0082] The J11 pulley 123J11 and the J21 pulley 123J21 are formed to face each other and to rotate independently of each other around the jaw rotation axis 123JA. Here, the first jaw 121 is coupled to the J11 pulley 123J11 and rotates together with the J11 pulley 123J11, and the second jaw 122 is coupled to the J21 pulley 123J21 and can rotate together with the J21 pulley 123J21. The rotation of the J11 pulley 123J11 and the J21 pulley 123J21 performs the yaw motion and actuation motion of the end tool 120. In other words, if the J11 pulley 123J11 and the J21 pulley 123J21 rotate in the same direction, a yaw motion is performed, and if the J11 pulley 123J11 and the J21 pulley 123J21 rotate in opposite directions, an actuation motion is performed.

[0083] On the other hand, auxiliary pulleys, J16 pulley 123J16 and J26 pulley 123J26, are additionally provided on one side of the J11 pulley 123J11 and J21 pulley 123J21, and such auxiliary pulleys are formed to rotate freely around the auxiliary pulley shaft 123S. Here, in the drawing, the J16 pulley 123J16 and J26 pulley 123J26 are formed to rotate around one auxiliary pulley shaft 123S, but it goes without saying that each auxiliary pulley is formed to rotate freely around a separate shaft. In other words, the auxiliary pulley J16 pulley 123J16 is positioned between the J11 pulley 123J11 and the J12 pulley 123J12 / J14 pulley 123J14. Furthermore, the auxiliary pulley, J26 pulley 123J26, is positioned between the J21 pulley 123J21 and the J22 pulley 123J22 / J24 pulley 123J24. Such auxiliary pulleys will be explained in more detail later.

[0084] The following describes the components involved in the rotation of the J11 pulley 123J11.

[0085] On one side of the J11 pulley 123J11, the J12 pulley 123J12 and the J14 pulley 123J14 are positioned opposite each other. Here, the J12 pulley 123J12 and the J14 pulley 123J14 are formed to rotate independently of each other around the Y-axis direction. Furthermore, on one side of each of the J12 pulley 123J12 and the J14 pulley 123J14, the J13 pulley 123J13 and the J15 pulley 123J15 are positioned opposite each other. Here, the J13 pulley 123J13 and the J15 pulley 123J15 are formed to rotate independently of each other around the Y-axis direction. Here, the drawings show that the J12 pulley 123J12, J13 pulley 123J13, J14 pulley 123J14, and J15 pulley 123J15 are all formed to be rotatable around the Y-axis direction. However, the concept of the present invention is not limited to this, and the axis of rotation of each pulley may be formed in various directions as appropriate for its configuration.

[0086] The first jaw drive wire 130J1 is wound so that at least a portion of it is in contact with the J13 pulley 123J13, J12 pulley 123J12, J11 pulley 123J11, J16 pulley 123J16, J14 pulley 123J14, and J15 pulley 123J15, so that the first jaw drive wire 130J1 moves by the pulleys as the pulleys rotate. It is formed in this way.

[0087] Therefore, when the first jaw drive wire 130J1 is pulled in the direction of arrow J1R in Figure 9A, the first jaw drive wire 130J1 rotates the J15 pulley 123J15, J14 pulley 123J14, J16 pulley 123J16, J11 pulley 123J11, J12 pulley 123J12, and J13 pulley 123J13, and at that time, the J11 pulley 123J11 rotates in the direction of arrow R in Figure 9A, and together with it rotates the first jaw 121.

[0088] Conversely, if the first jaw drive wire 130J1 is pulled in the direction of arrow J1L in Figure 9A, the first jaw drive wire 130J1 rotates the J13 pulley 123J13, J12 pulley 123J12, J11 pulley 123J11, J16 pulley 123J16, J14 pulley 123J14, and J15 pulley 123J15. At the same time, the J11 pulley 123J11 rotates in the direction of arrow L in Figure 9A, and together with it, the first jaw 121 rotates.

[0089] The auxiliary pulleys 123J16 and 123J26 will be explained in more detail below.

[0090] The auxiliary pulleys 123J16 and 123J26 contact the first jaw wire 130J1 and the second jaw wire 130J2, and by changing the arrangement path of the first jaw wire 130J1 and the second jaw wire 130J2 to a certain extent, they can increase the rotation radius of the first jaw 121 and the second jaw 122, respectively. That is, as shown in Figure 9B, if the auxiliary pulleys are not provided, the first jaw 121' and the second jaw 122' can only rotate up to a right angle, but in one embodiment of the present invention, by adding the auxiliary pulleys 123J16 and 123J26, as can be seen in Figure 9A, the effect can be obtained in which the maximum rotation angle increases by θ. A further detailed explanation of this is as follows.

[0091] Referring to Figure 9B, the first jaw wire 130J1' is fixedly coupled to the J11 pulley 123J11', and the second jaw wire 130J2' is fixedly coupled to the J21 pulley (not shown). Therefore, if no auxiliary pulleys are provided, the J11 pulley 123J11' and the J21 pulley (not shown) can only rotate up to the M line in Figure 9B. In other words, the coupling between the first jaw wire 130J1' and the J11 pulley 123J11' can rotate up to the tangential direction of the first jaw wire 130J1'. In that case, if the actuation operation is performed with the first jaw 121' and the second jaw 122' positioned on the M line in Figure 9B, one jaw will open, but the other jaw will not open because it cannot rotate beyond the M line. Therefore, when the first jaw 121' and the second jaw 122' were performing a yaw motion beyond a certain angle, there was a problem in that the actuation motion could not be performed smoothly.

[0092] To solve these problems, a surgical instrument 100 according to one embodiment of the present invention is characterized by the addition of auxiliary pulleys, J16 pulley 123J16 and J26 pulley 123J26, to one side of the J11 pulley 123J11 and J21 pulley 123J21. By arranging the J16 pulley 123J16 and J26 pulley 123J26 in this way and changing the arrangement paths of the first jaw wire 130J1 and the second jaw wire 130J2 to a certain extent, the tangential direction of the first jaw wire 130J1 and the second jaw wire 130J2 is changed, and consequently, the connection between the first jaw wire 130J1 and the J11 pulley 123J11, and the connection between the second jaw wire 130J2 and the J21 pulley 123J21, rotate to the N line in Figure 9A. In other words, the connection between the first jaw wire 130J1 and the J11 pulley 123J11 becomes rotatable until it lies on the common internal tangent line between the J11 pulley 123J11 and the J16 pulley 123J16. Similarly, the connection between the second jaw wire 130J2 and the J21 pulley 123J21 becomes rotatable until it lies on the common internal tangent line between the J21 pulley 123J21 and the J The 26 pulley can rotate until it is positioned on the common internal tangent line with the 123J26 pulley.

[0093] With this invention, the rotational radius of the first jaw 121 and the second jaw 122 is increased, thereby providing the effect of expanding the working range in which normal opening and closing actuation operations can be performed.

[0094] Next, we will explain the components involved in the rotation of the J21 pulley 123J21.

[0095] On one side of the J21 pulley 123J21, the J22 pulley 123J22 and the J24 pulley 123J24 are positioned opposite each other. Here, the J22 pulley 123J22 and the J24 pulley 123J24 are formed to rotate independently of each other around the Y-axis direction. Furthermore, on one side of each of the J22 pulley 123J22 and the J24 pulley 123J24, the J23 pulley 123J23 and the J25 pulley 123J25 are positioned opposite each other. Here, the J23 pulley 123J23 and the J15 pulley 123J25 are formed to rotate independently of each other around the Y-axis direction. Here, the drawings show that the J22 pulley 123J22, J23 pulley 123J23, J24 pulley 123J24, and J25 pulley 123J25 are all formed to be rotatable around the Y-axis direction. However, the concept of the present invention is not limited to this, and the rotation axis of each pulley may be formed in a variety of directions as appropriate for its configuration.

[0096] The second jaw drive wire 130J2 is wound so that at least a portion of it is in contact with the J23 pulley 123J23, J22 pulley 123J22, J21 pulley 123J21, J26 pulley 123J26, J24 pulley 123J24, and J25 pulley 123J25, and is formed so that the second jaw drive wire 130J2 moves by the pulleys while rotating them.

[0097] Therefore, when the second jaw drive wire 130J2 is pulled in the direction of arrow J2R in Figure 9A, the second jaw drive wire 130J2 rotates the J25 pulley 123J25, J24 pulley 123J24, J21 pulley 123J21, J26 pulley 123J26, J22 pulley 123J22, and J23 pulley 123J23, and at that time, the J21 pulley 123J21 rotates in the direction of arrow R in Figure 9A, and together with it rotates the second jaw 122.

[0098] Conversely, if the second jaw drive wire 130J2 is pulled in the direction of arrow J2L in Figure 9A, the second jaw drive wire 130J2 will rotate the J23 pulley 123J23, J22 pulley 123J22, J21 pulley 123J21, J26 pulley 123J26, J24 pulley 123J24, and J25 pulley 123J25. At the same time, the J21 pulley 123J21 will rotate in the direction of arrow L in Figure 9A, and together with it, the second jaw 122 will rotate.

[0099] On the other hand, if one end of the first jaw drive wire 130J1 is pulled toward the arrow J1R in Figure 9A, and simultaneously the other end of the first jaw drive wire 130J1 is pulled toward the arrow J1L in Figure 9A (i.e., if both ends of the first jaw drive wire 130J1 are pulled), the end tool hub 123a, and the first jaw 121 and second jaw 122 connected to it, will rotate counterclockwise around the end tool pitch drive shaft 123PA, and as a result, the end tool 120 will perform a pitch motion while rotating downwards.

[0100] Conversely, if one end of the second jaw drive wire 130J2 is pulled toward the arrow J2R in Figure 9A, and the other end of the second jaw drive wire 130J2 is pulled toward the arrow J2L in Figure 9A, the end tool hub 123a, and the first jaw 121 and second jaw 122 connected to it, will rotate clockwise around the end tool pitch drive shaft 123PA, and as a result, the end tool 120 will perform a pitch motion while rotating upward.

[0101] On the other hand, the end tool 120 of the surgical instrument 100b of the present invention further comprises a pitch pulley 123P, the operating section 110 (Figure 11) further comprises a pitch pulley 115P (Figure 11), and the power transmission section 130 further comprises a pitch wire 130P. In detail, the pitch pulley 123P of the end tool 120 is fixedly coupled to the end tool hub 123a and is rotatable together with the end tool hub 123a around the end tool pitch drive shaft 123PA. On the other hand, the pitch pulley 115P of the operating section 110 is fixedly coupled to the operating section hub 115a and is rotatable together with the operating section hub 115a around the pitch drive shaft 1111. Furthermore, the pitch wire 130P can serve to connect the pitch pulley 123P of the end tool 120 and the pitch pulley 115P of the operating section 110.

[0102] Therefore, when a user holds the pitch drive handle 1112 of the pitch control unit 111 of the control unit 110 in their hand and rotates the pitch drive handle 1112 around the pitch drive shaft 1111, the control unit hub 115a connected to the pitch drive handle 1112 and the pitch pulley 115P connected to it rotate around the pitch drive shaft 1111. The rotation of the pitch pulley 115P is transmitted via the pitch wire 130P to the pitch pulley 123P of the end tool 120, causing the pitch pulley 123P to rotate as well. As a result, the end tool 120 rotates while performing a pitch motion.

[0103] In other words, the surgical instrument 100 according to the first embodiment of the present invention comprises a pitch pulley 123P for the end tool 120, a pitch pulley 115P for the operating section 110, and a pitch wire 130P for the power transmission section 130, thereby improving operational reliability by ensuring that the driving force of the pitch operation of the pitch operating section 111 is transmitted more perfectly to the end tool 120.

[0104] (Pitch motion control and wire mirroring) Figure 10 is a conceptual diagram showing the pitch motion of the surgical instrument in Figure 3, and Figure 11 is a perspective view showing the pitch motion of the surgical instrument in Figure 3.

[0105] As described above, the operating section 110 of the surgical instrument 100 according to the first embodiment of the present invention further comprises an operating section control member 115 connected to the pitch drive shaft 1111 of the pitch operating section 111. Such an operating section control member 115 is substantially identical in configuration to the end tool control member 123 described above, and the end tool control member 123 and the operating section control member 115 are arranged symmetrically with respect to each other around the YZ plane in Figure 3. In other words, the end tool control member 123 and the operating section control member 115 can also be described as being mirrored around the YZ plane in Figure 3.

[0106] More specifically, the operating section control member 115 includes the J11 pulley 135J13, J12 pulley 115J12, J13 pulley 115J13, J14 pulley 115J14, and J15 pulley 115J15 which are involved in the rotational motion of the first jaw 121, and the J21 pulley 135J23, J22 pulley 115J22, J23 pulley 115J23, J24 pulley 115J24, and J25 pulley 115J25 which are involved in the rotational motion of the second jaw 122.

[0107] The first jaw drive wire 130J1 is wound so that at least a portion of it is in contact with the J13 pulley 115J13, J12 pulley 115J12, J11 pulley 135J13, J14 pulley 115J14, and J15 pulley 115J15 of the operating unit control member 115, and is formed so that the first jaw drive wire 130J1 moves by the pulleys while rotating them.

[0108] The second jaw drive wire 130J2 is wound so that at least a portion of it is in contact with the J23 pulley 115J23, J22 pulley 115J22, J21 pulley 135J23, J24 pulley 115J24, and J25 pulley 115J25 of the operating unit control member 115, and is formed so that the second jaw drive wire 130J2 moves by the pulleys while rotating them.

[0109] Here, the rotation axes of the J12 pulley 115J12, J14 pulley 115J14, J22 pulley 115J22, and J24 pulley 115J24 become the pitch operating axis 1111 of the pitch operating unit 111. And the parts extending from the rotation axes of the J11 pulley 135J13 and J21 pulley 135J23 become the pitch drive handles 1112 of the pitch operating unit 111.

[0110] In this first embodiment of the present invention, the pitch operation is performed specifically as follows.

[0111] With the user holding the pitch drive handle 1112 (Figure 2) of the pitch control unit 111 of the operating unit 110, if the user rotates the pitch handle 1112 (Figure 2) around the pitch drive shaft 1111 in the direction of the arrow OP (operator pitch) in Figure 10, the first jaw drive wire 130J1 is pulled towards the operating unit 110 as a whole and moves in the direction of the arrow PJ1 in Figure 10. At the same time, the second jaw drive wire 130J2 is released from the operating unit 110 as a whole, moves towards the end tool 120, and moves in the direction of the arrow PJ2 in Figure 10. As a result, the more the first jaw drive wire 130J1 is pulled toward the operating section 110, the more the J12 pulley 123J12 and J14 pulley 123J14 rotate counterclockwise around the end tool pitch drive shaft 123PA. Simultaneously, the more the second jaw drive wire 130J2 is released toward the end tool 120, the more the J22 pulley 123J22 and J24 pulley 123J24 rotate counterclockwise around the end tool pitch drive shaft 123PA. Consequently, the end tool hub 123a, and the first jaw 121 and second jaw 122 connected to it, perform a pitch motion while rotating downwards.

[0112] In this way, the end tool control member 123 and the operating unit control member 115 form a mirroring structure in which they are arranged symmetrically with respect to each other around the YZ plane in Figure 3, thereby achieving the effect of easily realizing pitch motion. That is, the effect of being able to perform pitch motion regardless of yaw motion and actuation motion can be obtained. Here, yaw motion refers to the motion in which the J11 pulley 135J13 and J21 pulley 135J23 of the operating unit control member 115 rotate around the pitch operating unit central axis 1113, and as a result the J11 pulley 123J11 and J21 pulley 123J21 of the end tool control member 123 rotate around the jaw rotation axis 123JA, causing the two jaws 121 and 122 to rotate.

[0113] (Overall operation of the first embodiment) In the following, referring to what has been described above, the overall configuration of the pitch, yaw, and actuation movements of the surgical instrument 100 according to the first embodiment of the present invention will be summarized.

[0114] In this embodiment, the configuration of the end tool 120 requires a power transmission unit 130 that can separate the operation input at the operation unit 110 into pitch, yaw, and actuation operations in order to perform the pitch, yaw, and actuation operations of the end tool 120. As described above, through a structure in which the end tool control member 123 and the operation unit control member 115 are arranged symmetrically to each other, the rotational operation of the pitch operation unit 111 enables the pitch operation of the end tool 120, regardless of the operation of the yaw operation unit 112 and the actuation operation unit 113. Furthermore, by providing a power transmission assembly 135 so that the operation of the yaw operation unit 112 and the actuation operation unit 113 is converted into the operation of the two jaws of the end tool 120, the operation of the yaw operation unit 112 and the actuation operation unit 113 is linked to the yaw and actuation operations of the end tool 120. In other words, the rotation of the yaw control unit 112 by the power transmission assembly 135 causes the two jaws to rotate in the same direction, while the rotation of the actuation control unit 113 causes the two jaws to rotate in different directions from each other.

[0115] To explain this in more detail, please see below.

[0116] First, the pitch movement is as follows:

[0117] As described above, when the user holds the pitch drive handle 1112 of the pitch operation unit 111 of the operation unit 110 in their hand, and rotates the pitch drive handle 1112 around the pitch drive shaft 1111 in the direction of arrow OP in Figure 10, the operation unit control member 115 also rotates around the pitch drive shaft 1111. As a result, the first jaw drive wire 130J1 wound around the operation unit control member 115 is pulled towards the operation unit 110 and moves in the direction of arrow PJ1 in Figure 10. At the same time, the second jaw drive wire 130J2 wound around the operation unit control member 115 is unwound from the operation unit control member 115 and moves in the direction of arrow PJ2 in Figure 10. As a result, the end tool control member 123, which is connected to the first jaw drive wire 130J1 and the second jaw drive wire 135J23, performs a pitch motion while rotating around the end tool pitch drive shaft 1231 in the direction of EP in Figure 10.

[0118] Next, we will explain the yaw motion. Figures 12 and 13 are diagrams illustrating the yaw motion of the surgical instrument shown in Figure 3.

[0119] Referring to Figures 5, 6, 12, and 13, when the yaw control unit 112 rotates in the direction of arrow Y in Figure 13, the yaw pulley 135YP connected to the yaw control unit 112 rotates around its own axis via the pulley 1121a and yaw wire 130Y of the yaw control unit 112. Furthermore, when the yaw pulley 135YP rotates, the first gear 135G1 and the fourth gear 135G4 rotate around the central axis 1113 of the pitch control unit via the yaw drive bar 135B.

[0120] Then, when the first gear 135G1 and the fourth gear 135G4 rotate around the pitch control unit central axis 1113, first the first gear 135G1 rotates in the direction of arrow Y relative to the second gear 135G2, and the second jaw drive gear 135J21 formed on the second jaw drive unit 135J2 rotates in the direction of C with respect to the second jaw drive gear central axis 135J24, and at the same time the entire second jaw drive unit 135J2 rotates in the direction of arrow Y around the pitch control unit central axis 1113.

[0121] Furthermore, since the fourth gear 135G4 is integrally connected to the first gear 135G1, it also rotates in the Y direction. At that time, the first jaw drive gear 135J11 formed on the first jaw drive unit 135J1 rotates in the B direction with respect to the first jaw drive gear central axis 135J14, and simultaneously, the entire first jaw drive unit 135J1 rotates in the Y direction around the pitch operation unit central axis 1113.

[0122] Therefore, the first jaw drive unit 135J1 and the second jaw drive unit 135J2 rotate in the same direction, and the first jaw 121, which is connected to the first jaw drive unit 135J1 via the first jaw wire 130J1, and the second jaw 122, which is connected to the second jaw drive unit 135J2 via the second jaw wire 130J2, rotate in the same direction, thereby performing a yaw motion.

[0123] Next, we will explain the actuation process. Figures 14 and 15 are diagrams illustrating the actuation process of the surgical instrument shown in Figure 3.

[0124] Referring to Figures 5, 6, 14, and 15, when the actuation operating unit 113 rotates in the direction of arrow A in Figure 15, the actuation gear 135AG connected to the actuation operating unit 113 via the pulley 1131a and actuation wire 130A rotates in the direction of arrow A, each around its own axis.

[0125] As the actuation gear 135AG rotates around the actuation gear central axis 135AG1, the second gear 135G2, which is meshed with the upper side of the actuation gear 135AG, rotates in the direction of J2 in Figure 15. Simultaneously, the second jaw drive gear 135J21, which is meshed between the first gear 135G1 and the second gear 135G2, rotates in the direction of E with respect to the second jaw drive gear central axis 135J24, and the entire second jaw drive unit 135J2 rotates in the direction of arrow J2 around the pitch operation unit central axis 1113.

[0126] Furthermore, when the actuation gear 135AG rotates around the actuation gear central axis 135AG1, the third gear 135G3, which is meshed with the lower side of the actuation gear 135AG, rotates in the direction of J1 in Figure 15. Simultaneously, the first jaw drive gear 135J11, which is meshed between the third gear 135G3 and the fourth gear 135G4, rotates in the direction of F with respect to the first jaw drive gear central axis 135J14, and the entire first jaw drive unit 135J1 rotates in the direction of arrow J1 around the pitch operation unit central axis 1113.

[0127] Therefore, the first jaw 121, which is connected via the first jaw drive unit 135J1 and the first jaw wire 130J1, and the second jaw 122, which is connected via the second jaw drive unit 135J2 and the second jaw wire 130J2, rotate in opposite directions, and an actuation motion is performed in which the two jaws open to each other.

[0128] This invention makes it possible to realize a surgical instrument that performs the output operation of an end tool through independent inputs to a pitch drive unit, a yaw drive unit, and an actuation drive unit, using only a purely mechanical configuration without the use of motors, electronic controls, or software. In other words, by separating the pitch, yaw, and actuation operations, which influence each other, using only simple mechanical devices, the configuration of the surgical instrument is significantly simplified.

[0129] Furthermore, the effect of transmitting the rotational force of the operating unit 110 to the end tool 120 can be obtained with only a minimal gear, wire, and pulley structure. In particular, in this invention, since the operating direction of the operating unit 110 and the operating direction of the end tool 120 are intuitively the same direction, the convenience for the surgeon is improved and the accuracy of the surgery is improved. Moreover, by arranging the end tool control member 123 and the operating unit control member 115 in a mirroring structure so that they are symmetrical with respect to each other around the YZ plane in Figure 10, the effect of easily realizing pitch motion can be obtained. That is, the effect of being able to perform pitch motion regardless of yaw motion and actuation motion can be obtained.

[0130] <Second Embodiment of Surgical Instrument> The following describes a surgical instrument 200 according to a second embodiment of the present invention. Here, the surgical instrument 200 according to the second embodiment of the present invention differs from the surgical instrument 100 according to the first embodiment of the present invention (Figure 2) in the configuration of the power transmission assembly 235 of the surgical instrument 200. The configuration that has changed compared to the first embodiment will be described in detail later.

[0131] Figure 16 is a perspective view showing a surgical instrument according to a second embodiment of the present invention, Figure 17 is a plan view of the surgical instrument of Figure 16, and Figure 18 is a perspective view showing the operating section of the surgical instrument of Figure 16.

[0132] Referring to Figures 16, 17, and 18, the surgical instrument 200 according to the second embodiment of the present invention includes an operating section 210, an end tool 220, a power transmission section 230, and a connecting section 240.

[0133] The operating unit 210 includes a pitch operating unit 211 for controlling the pitch motion of the end tool 220, a yaw operating unit 212 for controlling the yaw motion of the end tool 220, and an actuation operating unit 213 for controlling the actuation motion of the end tool 220.

[0134] The pitch control unit 211 includes a pitch drive shaft 2111 and a pitch drive handle (not shown). The yaw control unit 212 includes a yaw drive shaft 2121 and a yaw drive unit 2122. The actuation control unit 213 includes an actuation drive shaft 2131 and an actuation drive unit 2132.

[0135] The power transmission unit 230 includes a yaw wire 230Y, an actuation wire 230A, a pitch wire (not shown), a first jaw wire 230J1, a second jaw wire 230J2, and a power transmission assembly 235. Here, the power transmission assembly 235 is housed within the pitch drive handle 2112.

[0136] First, the power transmission assembly 235 of the power transmission unit 230 will be described. The power transmission assembly 235 receives driving force from the yaw operation unit 212 and the actuation operation unit 213, and transmits it to the first jaw 221 and the second jaw 222, respectively.

[0137] More specifically, the power transmission assembly 235 includes a yaw pulley 235YP, a first gear 235G1, and a fourth gear 235G4, which are connected to the yaw operating section 212 via a yaw wire 230Y and rotate together with the yaw operating section 212. The yaw pulley 235YP, the first gear 235G1, and the fourth gear 235G4 are connected to each other by a yaw drive bar 235B and rotate together. It also includes a first jaw drive unit 235J1 that transmits driving force to rotate the first jaw 221 by the rotation of the yaw operating section 212 and the actuation operating section 213, and a second jaw drive unit 235J2 that transmits driving force to rotate the second jaw 222 by the rotation of the yaw operating section 212 and the actuation operating section 213. The system further includes an actuation gear 235AG that rotates together with the actuation operating section 213, a second gear 235G2 interposed between the first gear 235G1 and the actuation gear 235AG, and a third gear 235G3 interposed between the actuation gear 235AG and the fourth gear 235G4. In this system, the first gear 235G1, the second gear 235G2, the third gear 235G3, and the fourth gear 235G4 are sequentially stacked in the direction of the pitch operating section central axis 2113 and are formed to rotate around the pitch operating section central axis 2113. Here, the actuation gear 235AG rotates around the actuation gear central axis 235AG1, which is fixed in a direction perpendicular to the Z-axis. The actuation gear 235AG is connected to the actuation wire 230A and is formed to rotate together with the pulley 2131a of the actuation operating section 213. To explain this in more detail, please see below.

[0138] The first jaw drive unit 235J1 includes a first jaw drive gear 235J11, a first jaw connecting member 235J12, a first jaw drive pulley 235J13, and a first jaw drive gear central axis 235J14. The first jaw drive gear 235J11 is a bevel gear and is interposed between the first gear 235G1 and the second gear 235G2. It is formed to rotate on its own axis around the first jaw drive gear central axis 235J14 or revolve around the pitch operating unit central axis 2113 due to the relative movement of the first gear 235G1 or the second gear 235G2. The first jaw connecting member 235J12 is formed to connect the first jaw drive gear central shaft 235J14 and the first jaw drive pulley 235J13. The first jaw drive gear 235J11, the first jaw drive gear central shaft 235J14, the first jaw connecting member 235J12, and the first jaw drive pulley 235J13 all rotate around the pitch operating section central shaft 2113. The first jaw drive pulley 235J13 is connected to the first jaw wire 230J1 and transmits the rotation of the yaw operating section 212 and the actuation operating section 213 to the first jaw 221.

[0139] Here, the first jaw connecting member 235J12 is formed to be inserted into the pitch operating section central axis 2113 and is formed in the form of a bar that extends from the pitch operating section central axis 2113 in two different directions, one of which is connected to the first jaw drive gear 235J11 and the other bar is connected to the first jaw drive pulley 235J13. At that time, the bar connected to the first jaw drive pulley 235J13 is formed to be further away from the pitch operating section central axis 2113 than the second jaw connecting member 235J22. Therefore, the first jaw connecting member 235J12 and the second jaw connecting member 235J22 do not collide with each other. In other words, by forming the bar connected to the first jaw drive pulley 235J13 far from the pitch control unit central axis 2113, the first jaw drive unit 235J1 and the second jaw drive unit 235J2 can rotate freely without interfering with each other.

[0140] On the other hand, the second jaw drive unit 235J2 includes a second jaw drive gear 235J21, a second jaw connecting member 235J22, a second jaw drive pulley 235J23, and a second jaw drive gear central axis 235J24. The second jaw drive gear 235J21 is a bevel gear and is interposed between the first gear 235G1 and the second gear 235G2. It is formed to rotate on its own axis around the second jaw drive gear central axis 235J24 or revolve around the pitch operation unit central axis 2113 due to the relative movement of the third gear 235G3 or the fourth gear 235G4. The second jaw connecting member 235J22 is formed to connect the second jaw drive gear central shaft 235J24 and the second jaw drive pulley 235J23, causing the second jaw drive gear 235J21, the second jaw drive gear central shaft 235J24, the second jaw connecting member 235J22, and the second jaw drive pulley 235J23 to rotate together around the pitch operation unit central shaft 2113. The second jaw drive pulley 235J23 is connected to the second jaw wire 230J2 and transmits the rotation of the yaw operation unit 212 and the actuation operation unit 213 to the second jaw 222.

[0141] Thus, although the present invention has been described with reference to an embodiment illustrated in the drawings, these are merely illustrative, and those skilled in the art will understand that a variety of modifications and variations of embodiments are possible. Therefore, the true scope of technical protection of the present invention is determined by the technical idea of ​​the claims. [Industrial applicability]

[0142] The present invention is available as a manually operated surgical instrument for use in laparoscopic surgery or many other types of surgery.

Claims

1. A surgical instrument comprising an end tool capable of pitch motion, yaw motion and actuation motion, A first jaw and a second jaw that can rotate independently of each other, A J11 pulley is coupled to the first jaw and is formed to rotate freely around a first axis formed in the end tool hub, A pulley J16 is formed on one side of the J11 pulley and is rotatable around a second shaft formed on one side of the first shaft, J12 pulley and J14 pulley are formed adjacent to each other and are rotatable about a third axis formed on one side of the end tool hub, and are formed on one side of the J16 pulley so as to be at a predetermined angle with the first axis, A pulley J21 is coupled to the second jaw and is formed to be rotatable about an axis substantially identical to or parallel to the first axis, A pulley J26 is formed on one side of the J21 pulley and is rotatable about an axis substantially identical to or parallel to the second axis, The J26 pulley is formed on one side, and the J22 and J24 pulleys are formed to be rotatable about an axis substantially identical to or parallel to the third axis, and are adjacent to each other. A first plane that is perpendicular to the first axis and passes between the J11 pulley and the J21 pulley is used as a reference. The two first jaw wires connected to the J11 pulley are in contact with one of the upper and lower surfaces of the J12 pulley and the J14 pulley. A surgical instrument characterized in that two second jaw wires connected to the J21 pulley contact one side of the upper and lower sides of the J22 pulley and the J24 pulley, respectively.

2. The first jaw wire is formed such that at least a portion of it is in contact with the J12 pulley, J11 pulley, J16 pulley, and J14 pulley, The surgical instrument according to claim 1, characterized in that the second jaw wire is formed so as to be in contact with at least a portion of the J22 pulley, J21 pulley, J26 pulley, and J24 pulley.

3. The two first jaw wires wound around the J11 pulley are perpendicular to the third axis and arranged on one side with respect to a plane passing through the first axis, The surgical instrument according to claim 1, characterized in that, by the J26 pulley, the two second jaw wires wound around the J21 pulley are perpendicular to the third axis and positioned on the other side with respect to a plane passing through the first axis.

4. With respect to the J11 pulley, the J16 pulley is positioned on the opposite side of the first jaw and the second jaw, The surgical instrument according to claim 1, characterized in that the J26 pulley is positioned on the opposite side of the first jaw and the second jaw with respect to the J21 pulley.

5. The diameter of the J16 pulley is smaller than the diameter of the J11 pulley, The surgical instrument according to claim 1, characterized in that the diameter of the J26 pulley is formed to be smaller than the diameter of the J21 pulley.

6. A connecting hub is formed on one side of the end tool hub, which is rotatable about the third axis relative to the end tool hub. The surgical instrument according to claim 1, characterized in that the J12 pulley, J14 pulley, J22 pulley, and J24 pulley are formed on the shared side between the end tool hub and the connecting hub.

7. Both strands of the first jaw wire wound around the J11 pulley are arranged on the same side with respect to the second axis, The surgical instrument according to claim 1, characterized in that both ends of the second jaw wire wound around the J21 pulley are arranged on the same side with respect to the second axis.

8. Either one side of the first jaw wire wound around the J11 pulley is formed to pass between the J11 pulley and the J16 pulley, The surgical instrument according to claim 1, characterized in that one side of the second jaw wire wound around the J21 pulley is formed to pass between the J21 pulley and the J26 pulley.

9. The first jaw wire and the J11 pulley are fixedly connected by a coupling portion, The surgical instrument according to claim 1, characterized in that the arrangement path of the first jaw wire is changed to a certain extent by the J16 pulley, thereby expanding the rotation radius of the joint.

10. Moving from the proximal end of the end tool toward the circular end, The two first jaw wires connected to the J11 pulley are wound around the J12 pulley and the J14 pulley in the first direction of clockwise and counterclockwise directions. The surgical instrument according to claim 1, characterized in that the two second jaw wires connected to the J21 pulley are wound around the J22 pulley and the J24 pulley in directions different from the first direction.

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