End tool for Surgical instrument

Abstract

The present invention relates to an end tool for a surgical instrument, and more specifically, to a manually operable end tool for a surgical instrument for use in laparoscopic surgery or various other surgeries.

Description

Technology Field

[0001] The present invention relates to an end tool for a surgical instrument, and more specifically, to a manually operable end tool for a surgical instrument for use in laparoscopic surgery or various other surgeries. Background Technology

[0002] Medically, surgery refers to the process of curing a disease by cutting, incising, or manipulating the skin, mucous membranes, or other tissues using medical devices. In particular, open surgery, which involves incising the skin at the surgical site to treat, reshape, or remove internal organs, causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgeries performed by creating a specific opening in the skin and inserting only medical devices, such as laparoscopes, surgical instruments, or microsurgery microscopes, or surgeries performed using robots, are gaining popularity as alternatives.

[0003] A surgical instrument is a tool for operating on a surgical site by manipulating an end tool, which is equipped at one end of a shaft passing through a hole perforated in the skin, either directly by a doctor's hand or using a robotic arm with a predetermined drive unit. The end tool equipped on the surgical instrument performs rotational movements, gripping movements, cutting movements, etc., through a predetermined structure.

[0004] However, existing surgical instruments had a problem in that the end tool portion was not flexible, making it difficult to access the surgical site and perform various surgical operations. To address this, surgical instruments with flexible end tools were developed; however, the operation of the control unit for bending the end tool or performing surgical operations did not intuitively match the actual bending or surgical movements. Consequently, intuitive operation was not easy for the surgeon, and mastering the usage method required a long time.

[0005] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0006] The objective of the present invention is to solve the aforementioned problems by providing an end tool for a surgical instrument that ensures that the actual movement of the end tool bending or performing a surgical operation intuitively matches the operation of the corresponding control unit. More specifically, to this end, the invention provides an end tool having multiple degrees of freedom, a control unit having a structure that allows the operation of the end tool to be intuitively controlled, and a power transmission unit that transmits the driving force of the control unit to the end tool so that the end tool can operate according to the control unit's operation. means of solving the problem

[0007] One embodiment of the present invention comprises: a first jaw and a second jaw that are rotatable independently of each other; a J11 pulley that is coupled to the first jaw and is formed to be rotatable about a first axis, and has a first jaw wire first coupling portion to which one end of the first jaw wire is coupled and a first jaw wire second coupling portion to which the other end of the first jaw wire is coupled; a J12 pulley and a J14 pulley formed on one side of the J11 pulley and formed to be rotatable about a second axis formed to form a predetermined angle with the first axis; and a J21 pulley that is coupled to the second jaw and is formed to be rotatable about an axis substantially identical or parallel to the first axis, and has a second jaw wire first coupling portion to which one end of the second jaw wire is coupled and a second jaw wire second coupling portion to which the other end of the second jaw wire is coupled. The present invention provides an end tool for a surgical instrument comprising: a J22 pulley and a J24 pulley formed on one side of the J21 pulley and formed to be rotatable about an axis substantially identical to or parallel to the second axis; wherein a first wire is formed to contact at least a portion of the J12 pulley, J11 pulley, and J14 pulley, and a second wire is formed to contact at least a portion of the J22 pulley, J21 pulley, and J24 pulley.

[0008] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention. Effects of the invention

[0009] With the present invention, since the direction of operation of the operating part by the surgeon and the direction of operation of the end tool are intuitively the same, the convenience of the operator is improved, and the accuracy, reliability, and speed of the surgery can be enhanced. Brief explanation of the drawing

[0010] FIG. 1a is a conceptual diagram of the pitch motion of a conventional surgical instrument, and FIG. 1b is a conceptual diagram of the yaw motion. FIG. 1c is a conceptual diagram of the pitch motion of another conventional surgical instrument, and FIG. 1d is a conceptual diagram of the yaw motion. FIG. 1e is a conceptual diagram of the pitch motion of a surgical instrument according to the present invention, and FIG. 1f is a conceptual diagram of the yaw motion. FIG. 2 is a perspective view showing a surgical instrument according to a first embodiment of the present invention. FIG. 3 is a side view of the surgical instrument of FIG. 2. FIGS. 4 and FIGS. 5 are perspective views showing the end tool of the surgical instrument of FIG. 2. FIG. 6a is a plan view showing the end tool of the surgical instrument of FIG. 2. FIG. 6b is a plan view showing the end tool of a conventional surgical instrument. FIG. 6c is a drawing showing a variation of the end tool of FIG. 6a. FIG. 6d is a drawing showing a variation of the end tool of FIG. 6a. FIGS. 7a and FIGS. 7b are perspective views showing the operating part of the surgical instrument of FIG. 2. FIG. 8 is a simplified drawing showing only the configuration of the pulley and wire constituting the joint of a surgical instrument according to one embodiment of the present invention shown in FIG. 7. FIG. 9 is a figure illustrating the configuration of pulleys and wires related to the actuation and yaw movements of a surgical instrument according to one embodiment of the present invention shown in FIG. 7, broken down for each of the first and second sets. FIG. 10 is a perspective view showing the operation of the surgical instrument of FIG. 7. FIG. 11 is a figure illustrating the configuration of a pulley and a wire related to the pitch movement of a surgical instrument according to one embodiment of the present invention shown in FIG. 7, broken down for each of the first and second sets. FIG. 12 is a perspective view showing the pitch movement of the surgical instrument of FIG. 7. Figure 13 is a diagram showing an example of a direct joint of the lumbar joint. Figure 14 is a diagram showing an example of an indirect joint of the lumbar joint. Figure 15 is a drawing showing an example of an indirect joint of a pitch joint. Figure 16 is a drawing showing an example of a direct joint of a pitch joint. FIG. 17 is a figure illustrating the configuration of a pulley and a wire related to the operation of the first set of a surgical instrument according to one embodiment of the present invention shown in FIG. 9, and variations thereof. FIG. 18 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 19 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 20 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 21 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 22 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 23 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 24 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 25 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 26 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 27 is a drawing showing another variation of the embodiment disclosed in FIG. 17. FIG. 28 is a drawing showing another variation of the embodiment disclosed in FIG. 8. FIG. 29 is a drawing showing another variation of the embodiment disclosed in FIG. 16. Figures 30 and 31 are drawings showing examples of work variations related to insulation. FIG. 32 is a perspective view showing a surgical instrument according to a second embodiment of the present invention. Fig. 33 is an internal perspective view of the surgical instrument of Fig. 32. Fig. 34 is a side view of the surgical instrument of Fig. 33. FIGS. 35 and FIGS. 36 are perspective views showing the operating part of the surgical instrument of FIG. 33. FIGS. 37 and FIGS. 38 are perspective views showing the operation of the surgical instrument of FIG. 33. FIGS. 39 and FIGS. 40 are perspective views showing the actuation operation of the surgical instrument of FIG. 33. FIG. 41 is a perspective view showing a surgical instrument according to a third embodiment of the present invention. Fig. 42 is a side view of the surgical instrument of Fig. 41. FIG. 43 is a perspective view showing the operating part of the surgical instrument of FIG. 42. FIGS. 44 and FIGS. 45 are perspective views showing the operation of the surgical instrument of FIG. 41. FIGS. 46 and FIGS. 47 are perspective views showing the actuation operation of the surgical instrument of FIG. 41. FIG. 48 is a perspective view showing the operation of a surgical instrument according to the fourth embodiment of the present invention. FIG. 49 is a diagram showing the actuation operation of a surgical instrument according to the fourth embodiment of the present invention. FIG. 50 is a perspective view showing a surgical instrument according to the fifth embodiment of the present invention. Fig. 51 is a side view of the surgical instrument of Fig. 50. FIGS. 52 and FIGS. 53 are perspective views showing the operating part of the surgical instrument of FIG. 51. FIGS. 54 and FIGS. 55 are perspective views showing the operation of the surgical instrument of FIG. 50. FIG. 56 is a perspective view showing a surgical instrument according to the sixth embodiment of the present invention. FIG. 57 is a perspective view showing the operating part of the surgical instrument of FIG. 56. FIG. 58 is an internal perspective view showing the wiring structure of the surgical instrument of FIG. 56. FIG. 59 is a perspective view showing the operation of the surgical instrument of FIG. 56. FIG. 60 is a perspective view showing the pitch movement of the surgical instrument of FIG. 56. FIG. 61 is a perspective view showing a surgical instrument according to the seventh embodiment of the present invention. Fig. 62 is a side view of the surgical instrument of Fig. 61. FIGS. 63 and FIGS. 64 are perspective views showing the operating part of the surgical instrument of FIG. 61. FIG. 65 is an internal perspective view of the surgical instrument of FIG. 61, showing the wiring structure. Fig. 66 is an enlarged view of part A of Fig. 65. Fig. 67 is a cross-sectional view taken along the CC' line of Fig. 66. FIG. 68 is a perspective view showing the operation of the surgical instrument of FIG. 61. FIG. 69 is a perspective view showing the pitch movement of the surgical instrument of FIG. 61. FIG. 70 is a perspective view showing a surgical instrument according to the eighth embodiment of the present invention. FIG. 71 is a perspective view showing the operating part of the surgical instrument of FIG. 70. FIG. 72 is an internal perspective view of the surgical instrument of FIG. 70, showing the wiring structure. FIG. 73 is a perspective view showing the operation of the surgical instrument of FIG. 70. FIGS. 74, 75, and 76 are perspective views showing the pitch movement of the surgical instrument of FIG. 70. FIG. 77 is an internal perspective view of a surgical instrument according to the ninth embodiment of the present invention. FIG. 78 is a perspective view showing the operation of the surgical instrument of FIG. 77. FIG. 79 is a perspective view showing the pitch movement of the surgical instrument of FIG. 77. FIG. 80 is an internal perspective view of a surgical instrument according to the 10th embodiment of the present invention. FIG. 81 is an internal perspective view with the actuation gear removed from FIG. 80. FIG. 82 is a perspective view showing the operation of the surgical instrument of FIG. 81. FIG. 83 is a perspective view showing the pitch movement of the surgical instrument of FIG. 81. FIG. 84 is an internal perspective view of a surgical instrument according to the 11th embodiment of the present invention. FIG. 85 is an internal perspective view with the actuation gear removed from FIG. 84. FIG. 86 is a perspective view showing the operation of the surgical instrument of FIG. 84. FIG. 87 is a perspective view showing the pitch movement of the surgical instrument of FIG. 84. FIG. 88 is a perspective view showing a surgical instrument according to the 12th embodiment of the present invention. FIG. 89 is an internal perspective view showing the structure of the wires, etc. of the surgical instrument of FIG. 88. Specific details for implementing the invention

[0011] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention. In describing the present invention, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions may obscure the essence of the present invention.

[0012] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0013] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0014] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing with reference to the accompanying drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0015] Furthermore, in describing the various embodiments of the present invention, each embodiment is not to be interpreted or practiced independently, and it should be understood that the technical ideas described in each embodiment may be interpreted or practiced in combination with other embodiments described individually.

[0016] <First embodiment of a surgical instrument>

[0017] A surgical instrument according to the present invention is characterized in that, for at least one of pitch, yaw, and actuation movements, when the operating part is rotated in one direction, the end tool rotates in the same direction intuitively as the operating direction of the operating part.

[0018] FIG. 1a is a conceptual diagram of the pitch motion of a conventional surgical instrument, and FIG. 1b is a conceptual diagram of the yaw motion.

[0019] Referring to FIG. 1a, in performing a pitch operation 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, and when the operating part (110a) is rotated clockwise, the end tool (120a) is also rotated clockwise, and when the operating part (120a) is rotated counterclockwise, the end tool (120a) is also rotated counterclockwise. Meanwhile, referring to FIG. 1b, in performing the operation 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. In this case, from the perspective of the user's left and right directions, when 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. Consequently, the direction of operation of the user and the direction of operation of the end tool are opposite, which can cause the user to make a mistake and there is a problem that the user's operation is not easy.

[0020] FIG. 1c is a conceptual diagram of the pitch motion of another conventional surgical instrument, and FIG. 1d is a conceptual diagram of the yaw motion.

[0021] Referring to FIG. 1c, some of the conventional surgical instruments are formed in a mirror-symmetrical form so that when performing a pitch operation, the end tool (120b) is formed in front of the rotation center (121b) of the end tool and the operating part (110b) is formed behind the rotation center (111b) of the operating part. 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 rotation direction in which the user rotates the operating part (110b) and the corresponding rotation direction of the end tool (120b) are opposite to each other. Consequently, there was a problem that it could cause confusion regarding the direction of operation for the user, the movement of the joint was not intuitive, and it could lead to errors. Additionally, referring to FIG. 1d, when performing this operation, the end tool (120b) is formed in front of the rotation center (121b) of the end tool, and the operating part (110b) is formed behind the rotation center (111b) of the operating part. 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 rotation direction in which the user rotates the operating part (110b) and the corresponding rotation direction of the end tool (120b) are opposite to each other. Consequently, there was a problem that it could cause confusion regarding the direction of operation for the user, the movement of the joint is not intuitive, and it could lead to errors. Thus, in the pitch or yaw manipulation of a user of a conventional surgical instrument, the user's direction of operation and the end tool's direction of movement do not coincide with each other in either the perspective of rotation or the perspective of left-right direction.This is because the configuration of the end tool and the operating part differs from each other in the joint configuration of conventional surgical instruments. That is, the end tool is formed in front of the rotation center of the end tool, whereas the operating part is formed behind the rotation center of the operating part. To solve this problem, a surgical instrument according to an embodiment of the present invention illustrated in FIG. 1e and FIG. 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) intuitively coincides. To express these characteristics differently, unlike existing examples of configurations such as FIGS. 1a, 1b, 1c and 1d in which the operating part moves closer to the user relative to its own joint (i.e., away from the end tool), the surgical instrument according to one embodiment of the present invention illustrated in FIGS. 1e and 1f is formed such that at least a portion of the operating part can be closer to the end tool relative to its own joint (than its own joint) at any point during the operation process.

[0022] To explain this differently, in the case of conventional surgical instruments such as those shown in FIGS. 1a, 1b, 1c and 1d, the end tool is positioned in front of its center of rotation, whereas the operating part is formed behind its center of rotation. Since the end tool, which moves its front while its rear is fixed, is moved through the operation of the operating part which moves its rear while its front is fixed, the structure is not intuitively consistent. Consequently, there is a problem in that the operation of the operating part and the movement of the end tool are inconsistent in terms of left-right direction or rotational direction, which can cause confusion for the user, make it difficult to intuitively and quickly perform the operation of the operating part, and lead to errors. In contrast, the surgical instrument according to one embodiment of the present invention can be said to have intuitively consistent operations because both the end tool and the operating part move based on a center of rotation formed behind them. In other words, just as the moving part of the end tool moves around a rotation center formed at the rear, the moving part of the control unit also moves around the corresponding rotation center formed at the rear; therefore, structurally, their movements can be said to intuitively match. As a result, the user can intuitively and quickly control the direction of the end tool, and there is an advantage in that the possibility of errors is significantly reduced. Below, we will explain the specific mechanism that enables this function.

[0023] FIG. 2 is a perspective view showing a surgical instrument according to a first embodiment of the present invention, and FIG. 3 is a side view of the surgical instrument of FIG. 2.

[0024] Referring to FIGS. 2 and 3, a surgical instrument (100) according to a first embodiment of the present invention includes a control unit (110), an end tool (120), a power transmission unit (130), and a connecting unit (140). Here, the connecting unit (140) is formed in the shape of a hollow shaft, and one or more wires (described later) can be accommodated inside it. A control unit (110) is connected to one end of the connecting unit, and an end tool (120) is connected to the other end, so that the connecting unit (110) and the end tool (120) can perform the function of connecting the control unit (110) and the end tool (120). Here, the connecting unit (140) of the surgical instrument (100) according to the first embodiment of the present invention is characterized in that a bending portion (141) is formed on the side of the control unit (110). In this way, the operating portion (110) side end of the connecting portion (140) is formed by bending, so that the pitch operating portion (111), the yaw operating portion (112), and the actuation operating portion (113) are formed on the extension line of the end tool (120) or adjacent to the extension line. Expressed in another aspect, it may be described that at least a portion of the pitch operating portion (111) and the yaw operating portion (112) are accommodated within the concave portion formed by the bending portion (141). Due to the shape of the bending portion (141) in this manner, the shape and operation of the operating portion (110) and the end tool (120) can be matched more intuitively.

[0025] Meanwhile, the plane on which the bend portion (141) is formed may be a pitch plane, that is, a plane substantially identical to the XZ plane of FIG. 2. In this way, interference between the operating parts can be reduced by forming the bend portion (141) on a plane substantially identical to the XZ plane. Of course, for intuitive operation of the end tool and the operating part, configurations other than the XZ plane may also be possible.

[0026] The control unit (110) is formed at one end of the connecting unit (140) and is equipped with an interface that can be directly controlled by a doctor, such as a clamp shape, a stick shape, or a lever shape. When the doctor controls it, the end tool (120), which is connected to the interface and inserted into the body of the surgical patient, performs a predetermined operation to perform surgery. Here, although FIG. 2 shows the control unit (110) formed in a handle shape that can be rotated while a finger is inserted, the concept of the present invention is not limited thereto, and various forms of control units that are connected to the end tool (120) and can operate the end tool (120) are possible.

[0027] The end tool (120) is formed at the other end of the connecting part (140) and is inserted into the surgical site to perform operations necessary for surgery. As an example of such an end tool (120), a pair of jaws (121) (122) for performing a gripping operation may be used as shown in FIG. 2. However, the concept of the present invention is not limited thereto, and various devices for surgery may be used as the end tool (120). For example, a configuration such as a single-arm cauterizer may also be used as the end tool. Such an end tool (120) is connected to the operating part (110) and the power transmission part (130), and by receiving the driving force of the operating part (110) through the power transmission part (130), it performs operations necessary for surgery, such as gripping, cutting, and suturing.

[0028] 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) may be formed to perform pitch movement around the Y-axis of FIG. 2, while simultaneously performing yaw movement and actuation movement around the Z-axis of FIG. 2.

[0029] Here, the pitch, yaw, and actuation movements used in the present invention are defined as follows.

[0030] First, the pitch motion refers to the movement of the end tool (120) rotating in the up-and-down direction with respect to the extension direction of the connecting part (140) (the X-axis direction in FIG. 2), that is, the movement of rotating around the Y-axis in FIG. 2. In other words, it refers to the movement of the end tool (120), which is extended from the connecting part (140) in the extension direction of the connecting part (140) (the X-axis direction in FIG. 2), rotating up and down around the Y-axis with respect to the connecting part (140). Next, the yaw motion refers to the movement of the end tool (120) rotating in the left-and-right direction with respect to the extension direction of the connecting part (140) (the X-axis direction in FIG. 2), that is, the movement of rotating around the Z-axis in FIG. 2. In other words, it refers to the movement of the end tool (120), which is extended from the connecting part (140) in the extension direction of the connecting part (140) (the X-axis direction in FIG. 2), rotating left and right around the Z-axis with respect to the connecting part (140). That is, it refers to the movement in which the two jaws (121) (122) formed on the end tool (120) rotate in the same direction around the Z-axis. Meanwhile, the actuation motion refers to the movement in which the end tool (120) rotates around the same axis of rotation as the yaw motion, but the two jaws (121) (122) rotate in opposite directions, causing the jaws to contract or expand. That is, it refers to the movement in which the two jaws (121) (122) formed on the end tool (120) rotate in opposite directions around the Z-axis.

[0031] The power transmission unit (130) connects the operating unit (110) and the end tool (120) to transmit the driving force of the operating unit (110) to the end tool (120), and may include a plurality of wires, pulleys, links, joints, gears, etc. In a surgical instrument (100) according to one embodiment of the present invention, the power transmission unit (130) may include a pitch wire (130P), a first jaw wire (130J1), and a second jaw wire (130J2).

[0032] Below, the operating part (110), end tool (120), power transmission part (130), etc. of the surgical instrument (100) of FIG. 2 will be described in more detail.

[0033] FIGS. 4 and FIGS. 5 are perspective views showing the end tool of the surgical instrument of FIG. 2, and FIG. 6a is a plan view showing the end tool of the surgical instrument of FIG. 2.

[0034] Referring to FIGS. 4, 5 and 6a, the end tool (120) of the first embodiment of the present invention has a pair of jaws (121) (122) for performing a grip operation, namely a first jaw (121) and a second jaw (122). Additionally, the end tool (120) includes J11 pulleys (123J11), J12 pulleys (123J12), J13 pulleys (123J13), J14 pulleys (123J14), and J15 pulleys (123J15) associated with the rotational movement of the first jaw (121), and J21 pulleys (123J21), J22 pulleys (123J22), J23 pulleys (123J23), J24 pulleys (123J24), and J25 pulleys (123J25) associated with the rotational movement of the second jaw (122). Here, the first set (121), J11 pulley (123J11), J12 pulley (123J12), J14 pulley (123J14), the second set (122), J21 pulley (123J21), J22 pulley (123J22), and J24 pulley (123J24) can all be formed to rotate around the end tool pitch rotation axis (123PA).

[0035] Meanwhile, a connection hub (142) is formed at one end of the connection part (140) that is coupled with the end tool (120). Then, the above-described J12 pulley (123J12), J13 pulley (123J13), J14 pulley (123J14), J15 pulley (123J15), and J22 pulley (123J22), J23 pulley (123J23), J24 pulley (123J24), and J25 pulley (123J25) are connected to the connection hub (142).

[0036] Here, although the drawings depict facing pulleys formed parallel to each other, the concept of the present invention is not limited thereto, and each pulley may be formed in various positions and sizes suitable for the configuration of the end tool.

[0037] The J11 pulley (123J11) and the J21 pulley (123J21) are formed to face each other and are formed to rotate independently of each other around the jaw rotation axis (123JA). Here, a first jaw (121) is fixedly coupled to the J11 pulley (123J11) to rotate together with the J11 pulley (123J11), and a second jaw (122) is fixedly coupled to the J21 pulley (123J21) to rotate together with the J21 pulley (123J21). The yaw and actuation operations of the end tool (120) are performed according to the rotation of the J11 pulley (123J11) and the J21 pulley (123J21). That is, if the J11 pulley (123J11) and the J21 pulley (123J21) rotate in the same direction, the yaw operation is performed, and if the J11 pulley (123J11) and the J21 pulley (123J21) rotate in opposite directions, the actuation operation is performed.

[0038] Meanwhile, auxiliary pulleys J16 (123J16) and J26 (123J26) may be additionally provided on one side of J11 pulley (123J11) and J21 pulley (123J21), and such auxiliary pulleys may be formed to be rotatable around an auxiliary pulley axis (123S). In the drawing, J16 pulley (123J16) and J26 pulley (123J26) are formed to rotate around a single auxiliary pulley axis (123S), but it is understood that each auxiliary pulley may be formed to be rotatable around a separate axis. In other words, the auxiliary pulley J16 pulley (123J16) may be positioned between J11 pulley (123J11) and J12 pulley (123J12) / J14 pulley (123J14). Additionally, the auxiliary pulley J26 (123J26) can be positioned between the J21 pulley (123J21) and the J22 pulley (123J22) / J24 pulley (123J24). Such auxiliary pulleys will be described in more detail later.

[0039] The following describes the components related to the rotation of the J11 pulley (123J11).

[0040] On one side of the J11 pulley (123J11), the J12 pulley (123J12) and the J14 pulley (123J14) are arranged to face each other. Here, the J12 pulley (123J12) and the J14 pulley (123J14) are formed to rotate independently of each other around the end tool pitch rotation axis (123PA). Additionally, 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 arranged to face 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 drawing shows 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, but the concept of the present invention is not limited thereto, and the rotation axes of each pulley may be formed in various directions to suit their configuration.

[0041] The first wire (130J1) is wound sequentially so as to come into contact with at least a portion of the J13 pulley (123J13), J12 pulley (123J12), J11 pulley (123J11), J16 pulley (123J16), J14 pulley (123J14), and J15 pulley (123J15), and is formed so that the first wire (130J1) can move along the pulleys while rotating the pulleys.

[0042] Accordingly, when the first jaw wire (130J1) is pulled toward the arrow J1R of FIG. 6a, the first jaw 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 this time, the J11 pulley (123J11) rotates in the direction of the arrow R of FIG. 6a, thereby rotating the first jaw (121) together.

[0043] Conversely, when the first jaw wire (130J1) is pulled toward the arrow J1L of FIG. 6a, the first jaw wire (130J1) rotates the J13 pulley (123J13), J12 pulley (123J12), J11 pulley (123J11), J16 pulley (123J16), J14 pulley (123J14), and J15 pulley (123J15), and at this time, the J11 pulley (123J11) rotates in the direction of the arrow L of FIG. 6a, thereby rotating the first jaw (121) together.

[0044] Below, the auxiliary pulleys (123J16, 123J26) will be described in more detail.

[0045] The auxiliary pulleys (123J16, 123J26) can perform the function of expanding the rotation radius of each of the first set (121) and the second set (122) by contacting the first set wire (130J1) and the second set wire (130J2) and changing the arrangement path of the first set wire (130J1) and the second set wire (130J2) to a certain extent. That is, if the auxiliary pulleys are not arranged as in FIG. 6b, the first set (121) and the second set (122) could only rotate up to a right angle, but in one embodiment of the present invention, by additionally providing the auxiliary pulleys (123J16, 123J26), the effect of increasing the maximum rotation angle by θ as seen in FIG. 6a can be obtained. This enables the operation in which the two sets of the end tool (120) must spread apart for an actuation operation while the two sets are in a state where they have rotated together by 90° in the L direction. That is, this is because the second set (122) can rotate by an additional angle (θ) as in FIG. 6a. Likewise, actuation operation is possible even when both sets are yaw-rotated in the R direction. In other words, through the configuration of the auxiliary pulleys (123J16, 123J26), it has the feature of being able to expand the range of yaw rotation for which actuation operation is possible. This is explained in more detail as follows.

[0046] Referring to FIG. 6b, since the first wire (130J1) is fixedly connected to the J11 pulley (not shown) and the second wire (130J2) is fixedly connected to the J21 pulley (123J21), when no auxiliary pulley is placed, the J11 pulley (not shown) and the J21 pulley (123J21) can each rotate only up to the M line of FIG. 6b in the direction of arrow L. In other words, they can rotate only up to a direction approximately perpendicular to the first wire (130J1) and the fixed connection part of the J11 pulley (123J11) and the first wire (130J1) are not separated. In this case, when the first group (121) and the second group (122) are positioned at the M line of FIG. 6b and the actuation operation is performed, the first group (121) can spread out in the R direction, but the second group (122) cannot rotate beyond the M line in the L direction. Therefore, when the first group (121) and the second group (122) are performing the yaw operation beyond a certain angle, there was a problem in that the actuation operation could not be performed smoothly.

[0047] To solve such problems, a surgical instrument (100) according to one embodiment of the present invention is characterized by additionally arranging auxiliary pulleys, namely J16 pulley (123J16) and J26 pulley (123J26), on one side of J11 pulley (123J11) and J21 pulley (123J21). By arranging J16 pulley (123J16) and J26 pulley (123J26) in this manner, the arrangement path of the first wire (130J1) and the second wire (130J2) is changed to a certain degree, thereby changing the tangential direction of the first wire (130J1) and the second wire (130J2), and thus allowing the fixed coupling part of the second wire (130J2) and the J21 pulley (123J21) to rotate up to the N line of FIG. 6a. That is, the joint between the second wire (130J2) and the J21 pulley (123J21) is rotatably positioned until it lies on the common inner tangent of the J21 pulley (123J21) and the J26 pulley (123J26). Similarly, the joint between the first wire (130J1) and the J11 pulley (123J11) is rotatably positioned until it lies on the common inner tangent of the J11 pulley (123J11) and the J16 pulley (123J16), thereby expanding the rotational range in the R direction.

[0048] With the present invention, the rotation radius of the first group (121) and the second group (122) is widened, thereby increasing the effect of widening the operating range in which normal opening and closing actuation operations can be performed.

[0049] Next, the components related to the rotation of the J21 pulley (123J21) are described.

[0050] On one side of the J21 pulley (123J21), the J22 pulley (123J22) and the J24 pulley (123J24) are arranged to face each other. Here, the J22 pulley (123J22) and the J24 pulley (123J24) are formed to rotate independently of each other around the direction of the end tool pitch rotation axis (123PA). Additionally, 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 arranged to face each other. Here, the J23 pulley (123J23) and the J25 pulley (123J25) are formed to rotate independently of each other around the Y-axis direction. Here, the drawing shows 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, but the concept of the present invention is not limited thereto, and the rotation axes of each pulley may be formed in various directions to suit their configuration.

[0051] The second wire (130J2) is wound sequentially so as to come into contact with at least a portion of 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 wire (130J2) can move along the pulleys while rotating the pulleys.

[0052] Accordingly, when the second jaw wire (130J2) is pulled toward the arrow J2R of FIG. 6a, the second jaw wire (130J2) rotates the J23 pulley (123J23), J22 pulley (123J22), J21 pulley (123J21), J26 pulley (123J26), J24 pulley (123J24), and J25 pulley (123J25), and at this time, the J21 pulley (123J21) rotates in the direction of the arrow R of FIG. 6a, thereby rotating the second jaw (122) together.

[0053] Conversely, when the second jaw wire (130J2) is pulled toward the arrow J2L in FIG. 6a, the second jaw wire (130J2) rotates the J25 pulley (123J25), J24 pulley (123J24), J26 pulley (123J26), J21 pulley (123J21), J22 pulley (123J22), and J23 pulley (123J23), and at this time, the J21 pulley (123J21) rotates in the direction of the arrow L in FIG. 6a, thereby rotating the second jaw (122) together.

[0054] Meanwhile, when one end of the first jaw wire (130J1) is pulled toward the arrow J1R in FIG. 6a and simultaneously the other end of the first jaw wire (130J1) is pulled toward the arrow J1L in FIG. 6a (i.e., when both ends of the first jaw wire (130J1) are pulled), as shown in FIG. 5, the first jaw wire (130J1) is wound downwards by the J12 pulley (123J12) and the J14 pulley (123J14), which can rotate around the end tool pitch rotation axis (123PA). Consequently, the J11 pulley (123J11) to which the first jaw wire (130J1) is fixedly coupled, the first jaw (121), the jaw rotation axis (123JA), the end tool hub (123a), and the second jaw (122) connected thereto, etc., all rotate together in a counterclockwise direction around the end tool pitch rotation axis (123PA), and as a result, the end tool (120) moves downwards The pitch motion is performed while rotating. At this time, since the second row (122) and the second row wire (130J2) fixedly coupled thereto are wound above the J22 pulley (123J22) and J24 pulley (123J24), which can rotate around the end tool pitch rotation axis (123PA), both ends of the second row wire (130J2) move in the opposite direction of J2L and J2R, respectively.

[0055] Conversely, if one end of the second jaw wire (130J2) is pulled toward the arrow J2R in FIG. 6a and the other end of the second jaw wire (130J2) is pulled toward the arrow J2L in FIG. 6a, as shown in FIG. 5, the second jaw wire (130J2) is wound upwards by the J22 pulley (123J22) and the J24 pulley (123J24), which can rotate around the end tool pitch rotation axis (123PA). Therefore, the J21 pulley (123J21) to which the second jaw wire (130J2) is fixedly coupled, the second jaw (122), the jaw rotation axis (123JA), the end tool hub (123a), and the first jaw (121) connected thereto, etc., all rotate together clockwise around the end tool pitch rotation axis (123PA), and as a result, the end tool (120) rotates upwards and performs pitch motion. At this time, since the first row (121) and the first row wire (130J1) fixedly coupled thereto are wound below the J12 pulley (123J12) and J14 pulley (123J14) which can rotate around the end tool pitch rotation axis (123PA), both ends of the first row wire (130J1) move in the opposite direction of J1L and J1R, respectively.

[0056] Meanwhile, the end tool (120) of the surgical instrument (100b) of the present invention may further be provided with a pitch pulley (123P), the operating unit (110) may further be provided with a pitch wire end pulley (115P), and the power transmission unit (130) may further be provided with a pitch wire (130P). Specifically, the pitch pulley (123P) of the end tool (120) may be formed to be rotatable around the end tool pitch rotation axis (123PA) and fixedly coupled to the end tool hub (123a). Meanwhile, the pitch pulley of the operating unit may be formed to be rotatable around the pitch rotation axis and fixedly coupled to the pitch operating unit (not shown). In addition, the pitch wire (130P) may serve to connect the pitch pulley (123P) of the end tool (120) and the pitch pulley of the operating unit.

[0057] Accordingly, when the user holds the first handle (114) of the control unit (110) with their hand and rotates the first handle (114) around the pitch rotation axis (1111), the pitch pulley coupled to the first handle (114) rotates around the pitch rotation axis (1111), and the rotation of the pitch pulley is transmitted to the pitch pulley (123P) of the end tool (120) through the pitch wire (130P), causing the pitch pulley (123P) to rotate together, and as a result, the end tool (120) rotates and performs pitch motion.

[0058] That is, the surgical instrument (100) according to the first embodiment of the present invention is equipped with a pitch pulley (123P) of an end tool (120), a pitch wire end pulley (115P) of an operating part (110), and a pitch wire (130P) of a power transmission part (130), so that the driving force of the pitch operation of the pitch operating part (111) is transmitted more perfectly to the end tool (120), thereby improving operational reliability.

[0059] FIG. 6c is a drawing showing a modified example of the combined structure of an end tool and a wire.

[0060] Referring to FIG. 6c, when the second wire (130J2) is coupled to the J21 pulley (123J21), the second wire (130J2) is divided into two wires, the second wire R (130J2R) and the second wire L (130J2L), based on the J21 pulley (123J21), and then one end of each wire (130J2R) (130J2L) is coupled to the J21 pulley (123J21). That is, one end of the second wire R (130J2R) is coupled to the first coupling part (123J21R) of the J21 pulley (123J21), and one end of the second wire L (130J2L) is coupled to the second coupling part (123J21L) of the J21 pulley (123J21).

[0061] At this time, the position of each connecting part (123J21R, 123J21L) of the J21 pulley (123J21) is such that each wire (130J2R, 130J2L) can overlap each other. Through this, the rotation radius of the second set (122) in FIG. 6b, which is limited to 90°, can be expanded, and consequently, the rotation radius of the second set (122) can be expanded as in FIG. 6a.

[0062] The first wire (130J1) can also be fixedly coupled to the J11 pulley (123J11) in the same way as above, and as a result, the rotation radius of the first wire (121) can be expanded. This allows for an effect of widening the operating range in which normal opening and closing actuation operations can be performed.

[0063] Fig. 6d is a drawing showing another variation of the combined structure of the end tool and the wire.

[0064] Referring to FIG. 6d, when the first wire (130J1) is coupled to the J11 pulley (123J11), the first wire (130J1) is divided into two wires, the first wire R (130J1R) and the first wire L (130J1L), based on the J11 pulley (123J11), and then one end of each wire strand (130J1R) (130J1L) is coupled to the coupling member (123J11C) of the J11 pulley (123J11). At this time, the connecting member (123J21C) is formed on the opposite side of the first row (121) from the J11 pulley (123J11), and one end of the first row wire R (130J1R) is connected to one side of the connecting member (123J21C), and one end of the first row wire L (130J1L) is connected to the other side of the connecting member (123J21C).

[0065] At this time, the position of the connecting member (123J21C) of the J11 pulley (123J11) is such that each wire (130J1R, 130J1L) is wound half a turn further. Through this, the rotation radius of the second set (122), which is limited to 90° in FIG. 6b, is expanded, and consequently, the rotation radius of the second set (122) can be expanded as in FIG. 6a.

[0066] The second wire (130J2) can also be fixedly coupled to the J21 pulley (123J21) in the same way as above, and as a result, the rotation radius of the second wire (122) can be expanded. This has the effect of widening the operating range in which normal opening and closing actuation operations can be performed.

[0067] (Operation Department)

[0068] FIG. 7(a) is a perspective view showing the operating part of the surgical instrument of FIG. 2, and FIG. 7(b) is a perspective view of FIG. 7(a) viewed from the rear.

[0069] Referring to FIGS. 2 to 7, the operating part (110) of the surgical instrument (100) according to the first embodiment of the present invention includes a first handle (114) that can be grasped by a user, an actuation operating part (113) that controls the actuation movement of the end tool (120), a yaw operating part (112) that controls the yaw movement of the end tool (120), and a pitch operating part (111) that controls the pitch movement of the end tool (120).

[0070] First, to illustrate the usage state of the surgical instrument (100) of FIG. 2, the user can perform a pitch operation by rotating the first handle (114) around the Y-axis (i.e., pitch rotation axis (1111)) while holding the first handle (114) with the palm, and perform a yaw operation by rotating the first handle (114) around the Z-axis (i.e., yaw rotation axis (1121)). Additionally, the user can perform an actuation operation by rotating the actuation control part (113) while inserting the thumb and index finger into the actuation control part (113).

[0071] 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 one direction relative to the connecting part (140), the end tool (120) rotates in a direction intuitively identical to the operating direction of the operating part (110). In other words, when the first handle (114) of the operating part (110) is rotated in one direction, the end tool (120) also rotates in a direction intuitively identical to the said direction to perform pitch movement or yaw movement. Here, the phrase "intuitively identical direction" can be further explained as meaning that the direction of movement of the user's finger holding the operating part (110) and the direction of movement of the end part of the end tool (120) form substantially the same direction. Of course, the same direction here does not mean a direction that perfectly matches in three-dimensional coordinates, and it can be understood as a degree of sameness such that, for example, when the user's finger moves to the left, the end of the end tool (120) also moves to the left, and when the user's finger moves down, the end of the end tool (120) also moves down.

[0072] And, for this purpose, the surgical instrument (100) according to the first embodiment of the present invention is characterized in that the operating part (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 part (140). That is, when viewed with respect to the YZ plane of FIG. 2, the operating part (110) is formed extending in the +X-axis direction, and at the same time, the end tool (120) is also formed extending in the +X-axis direction. In other words, the direction of formation of the end tool (120) at one end of the connecting part (140) and the direction of formation of the operating part (110) at the other end of the connecting part (140) may be said to be the same direction with respect to the YZ plane. Alternatively, in other words, the operating part (110) may be formed in a direction away from the torso of the user holding it, that is, in the direction in which the end tool (120) is formed. That is, the first handle (114), actuation rotation part (1132a, 1132b), etc., which are grasped and moved by the user for actuation, yaw, and pitch movements, have a moving part formed to extend in the +X axis direction relative to the rotation center of each joint for the corresponding movement. Through this, the operating part (110) can be configured in the same way as the moving part of the end tool (120) extending in the +X axis direction relative to the rotation center of each joint for the corresponding movement, and as explained through FIG. 1, the user's operating direction and the end tool's operating direction coincide in both the perspective of rotation direction and the perspective of left and right direction, so that, as a result, intuitively identical operation can be performed.

[0073] Specifically, in the case of conventional surgical instruments, there was a problem in that the direction in which the user manipulates the control unit differs from and does not intuitively match the actual direction of operation of the end tool, making intuitive operation difficult for the surgeon, requiring a long time to become proficient in moving the end tool in the desired direction, and in some cases, causing malfunctions that could harm the patient.

[0074] To solve such problems, the surgical instrument (100) according to the first embodiment of the present invention is characterized in that the operating direction of the operating part (110) and the operating direction of the end tool (120) are intuitively the same direction, and to this end, the operating part (110) is characterized in that the part that actually moves for actuation, yaw, and pitch movements, like the end tool (120), is formed to extend in the +X-axis direction relative to the rotation center of the joint corresponding to each movement. This is explained in more detail as follows.

[0075] The first handle (114) is formed so that a user can grasp it with their hand, and in particular, it can be formed so that a user can wrap their palm around and grasp the first handle (114). On the first handle (114), an actuation operating part (113) and a yaw operating part (112) are formed, and a pitch operating part (111) is formed on one side of the yaw operating part (112). The other end of the pitch operating part (111) is connected to the bent part (141) of the connecting part (140).

[0076] The actuation operating unit (113) includes a first actuation operating unit (113a) and a second actuation operating unit (113b). The first actuation operating unit (113a) includes a first actuation rotation axis (1131a), a first actuation rotation part (1132a), a first actuation pulley (113P1), and a first actuation gear (1134a). The second actuation operating unit (113b) includes a second actuation rotation axis (1131b), a second actuation rotation part (1132b), a second actuation pulley (113P2), and a second actuation gear (1134b). Here, the first actuation rotation part (1132a) and the second actuation rotation part (1132b) can operate as a second handle.

[0077] Here, the actuation rotation axis (1131a) (1131b) may be formed to form a predetermined angle with the XY plane in which the connecting part (140) is formed. For example, the actuation rotation axis (1131a) (1131b) may be formed in a direction parallel to the Z-axis, and in this state, when the pitch operating part (111) or the yaw operating part (112) rotates, the coordinate system of the actuation operating part (113) may change relatively. Of course, the concept of the present invention is not limited thereto, and the actuation rotation axis (1131a) (1131b) may be formed in various directions to suit the hand structure of the user gripping the actuation operating part (113) through ergonomic design.

[0078] Meanwhile, the first actuation rotation part (1132a), the first actuation pulley (113P1), and the first actuation gear (1134a) may be fixedly coupled to each other so as to be able to rotate together around the first actuation rotation axis (1131a). Here, the first actuation pulley (113P1) may be composed of a single pulley or two pulleys fixedly coupled to each other.

[0079] Likewise, the second actuation rotation part (1132b), the second actuation pulley (113P2), and the second actuation gear (1134b) may be fixedly coupled to each other so as to be able to rotate together around the second actuation rotation axis (1131b). Here, the second actuation pulley (113P2) may be composed of a single pulley or two pulleys fixedly coupled to each other.

[0080] Here, the first actuation gear (1134a) and the second actuation gear (1134b) are formed to mesh with each other, so that when one side rotates, they rotate together in opposite directions.

[0081] The yaw control unit (112) may include a yaw rotation axis (1121), a first yaw pulley (112P1), a second yaw pulley (112P2), and a yaw frame (1123). Additionally, the yaw control unit (112) may further include a first yaw auxiliary pulley (112S1) formed on one side of the first yaw pulley (112P1) and a second yaw auxiliary pulley (112S2) formed on one side of the second yaw pulley (112P2). Here, the first yaw auxiliary pulley (112S1) and the second yaw auxiliary pulley (112S2) may be coupled to a pitch frame (1113) to be described later.

[0082] Here, the drawing shows that the yaw operating unit (112) includes a first yaw pulley (112P1) and a second yaw pulley (112P2), and that the first yaw pulley (112P1) and the second yaw pulley (112P2) are formed to face each other and have two pulleys that can rotate independently, but the concept of the present invention is not limited thereto. That is, one or more pulleys with the same or different diameters may be provided depending on the configuration of the yaw operating unit (112).

[0083] In detail, a yaw rotation axis (1121) is formed on one side of the actuation operating part (113) on the first handle (114). At this time, the first handle (114) is formed to be rotatable around the yaw rotation axis (1121).

[0084] Here, the yaw rotation axis (1121) may be formed to form a predetermined angle with the XY plane in which the connecting part (140) is formed. For example, the yaw rotation axis (1121) may be formed in a direction parallel to the Z-axis, and when the pitch control part (111) rotates in this state, the coordinate system of the yaw rotation axis (1121) may change relatively as described above. Of course, the concept of the present invention is not limited thereto, and the yaw rotation axis (1121) may be formed in various directions to suit the hand structure of the user gripping the control part (110) through ergonomic design.

[0085] Meanwhile, the first yaw pulley (112P1) and the second yaw pulley (112P2) are connected to the yaw rotation axis (1121) so that they can rotate around the yaw rotation axis (1121). Then, the first yaw wire (130J1) can be wound on the first yaw pulley (112P1), and the second yaw wire (130J2) can be wound on the second yaw pulley (112P2). At this time, the first yaw pulley (112P1) and the second yaw pulley (112P2) can be formed to face each other and can be composed of two pulleys that can rotate independently. Therefore, the wire being wound in and the wire being wound out can be wound on the separated pulleys respectively, allowing them to operate without interfering with each other.

[0086] The yaw frame (1123) connects the first handle (114), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b), so that the first handle (114), the yaw operating part (112), and the actuation operating part (113) can rotate as a single unit around the yaw rotation axis (1121).

[0087] The pitch control unit (111) may include a pitch rotation axis (1111), a first pitch pulley-a (111P1a), a first pitch pulley-b (111P1b), a second pitch pulley-a (111P2a), a second pitch pulley-b (111P2b), and a pitch frame (1113). Additionally, the pitch control unit (111) may further include a first pitch auxiliary pulley-a (111S1a) formed on one side of the first pitch pulley-a (111P1a), a first pitch auxiliary pulley-b (111S1b) formed on one side of the first pitch pulley-b (111P1b), a second pitch auxiliary pulley-a (111S2a) formed on one side of the second pitch pulley-a (111P2a), and a second pitch auxiliary pulley-b (111S2b) formed on one side of the second pitch pulley-b (111P2b). The pitch control unit (111) is connected to the bent portion (141) of the connecting portion (140) through the pitch rotation axis (1111).

[0088] In detail, the pitch frame (1113) serves as the base frame of the pitch control unit (111), and a yaw rotation axis (1121) is rotatably coupled to one end. That is, the yaw frame (1123) is formed to be rotatable about the yaw rotation axis (1121) relative to the pitch frame (1113).

[0089] As described above, the yaw frame (1123) connects the first handle (114), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b). Additionally, since the yaw frame (1123) is connected to the pitch frame (1113), when the pitch frame (1113) rotates around the pitch rotation axis (1111), the yaw frame (1123), the first handle (114), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b) connected to the pitch frame (1113) rotate together. That is, when the pitch operating part (111) rotates around the pitch rotation axis (1111), the actuation operating part (113) and the yaw operating part (112) rotate together with the pitch operating part (111). In other words, when the user pitch-rotates the first handle (114) around the pitch rotation axis (1111), the actuation control unit (113), the yaw control unit (112), and the pitch control unit (111) move together.

[0090] In the pitch frame (1113), the pitch rotation axis (1111), the first pitch pulley-a (111P1a), the first pitch pulley-b (111P1b), the second pitch pulley-a (111P2a), and the second pitch pulley-b (111P2b) are coupled. At this time, the first pitch pulley-a (111P1a), the first pitch pulley-b (111P1b), the second pitch pulley-a (111P2a), and the second pitch pulley-b (111P2b) are coupled to the pitch rotation axis (1111) so that they can rotate around the pitch rotation axis (1111).

[0091] Here, the first pitch pulley-a (111P1a) and the first pitch pulley-b (111P1b) can be formed to face each other and rotate independently. Thus, the wire entering and the wire exiting can be wound onto the separate pulleys respectively, allowing them to operate without interfering with each other. Similarly, the second pitch pulley-a (111P2a) and the second pitch pulley-b (111P2b) can also be formed to face each other and rotate independently. Thus, the wire entering and the wire exiting can be wound onto the separate pulleys respectively, allowing them to operate without interfering with each other.

[0092] Referring to FIG. 7(b), the pitch wire end pulley (115P) is formed to be fixedly coupled to the pitch frame (1113) so as to rotate together. The pitch wire (130P) is fixedly coupled to the pitch frame (1113) via the pitch wire auxiliary pulley (115S) and the pitch wire end pulley (115P). As a result, the pitch frame (1113) and the pitch wire end pulley (115P) can rotate together around the pitch rotation axis (1111) by the pitch rotation.

[0093] The operation of the pitch wire (130P) is as follows.

[0094] In the end tool (120), a pitch pulley (123P) is formed by being fixedly coupled to the end tool hub (123a), and in the operating part (110), a pitch wire end pulley (115P) is formed. These are connected to each other by a pitch wire (130P), so that the pitch operation of the end tool can be performed more easily according to the pitch operation of the operating part (110). Here, the ends of both pitch wires (130P) are fixedly coupled to the pitch frame (1113) through the corresponding pitch wire auxiliary pulley (115S) and pitch wire end pulley (115P), respectively, and each pitch wire end pulley (115P) is also fixedly coupled to the pitch frame (1113). That is, the pitch frame (1113) and the pitch wire end pulley (115P) rotate together around the pitch rotation axis (1111) by the pitch rotation of the operating part, and as a result, both sides of the pitch wire (130P) also move in opposite directions, so that additional power for pitch rotation can be transmitted separately from the pitch operation of the end tool by the first jaw wire (130J1) and the second jaw wire (130J2).

[0095] The connection relationships between the first handle (114), the pitch control unit (111), the yaw control unit (112), and the actuation control unit (113) are summarized as follows. An actuation rotation axis (1131a) (1131b), a yaw rotation axis (1121), and a pitch rotation axis (1111) may be formed on the first handle (114). At this time, since the actuation rotation axis (1131a) (1131b) is formed directly on the first handle (114), the first handle (114) and the actuation control unit (113) may be directly connected. Meanwhile, since the yaw rotation axis (1121) is formed directly on the first handle (114), the first handle (114) and the yaw control unit (112) may be directly connected. On the other hand, since the pitch control unit (111) is formed to be connected to the yaw control unit (112) on one side of the yaw control unit (112), the pitch control unit (111) is not directly connected to the first handle (114), and the pitch control unit (111) and the first handle (114) can be formed to be indirectly connected through the yaw control unit (112).

[0096] Referring further to the drawings, in a surgical instrument (100) according to the first embodiment of the present invention, a pitch control section (111) and an end tool (120) may be formed on the same or parallel axis (X-axis). That is, a pitch rotation axis (1111) of the pitch control section (111) is formed at one end of the bending section (141) of the connecting section (140), and an end tool (120) is formed at the other end of the connecting section (140).

[0097] Additionally, one or more intermediate pulleys (MP) that change or guide the path of the wires may be arranged at intervals along the connecting portion (140), particularly in the bending portion (141). By forming such intermediate pulleys (MP) so that at least a portion of the wires are wound around them to guide the path of the wires, the wires can be arranged along the bent shape of the bending portion (141).

[0098] Here, the drawing shows that the connecting part (140) is formed by being bent to have a predetermined curvature by having a bending part (141), but the concept of the present invention is not limited thereto, and the connecting part (140) may be formed in a straight line as needed or may be formed by being bent one or more times, and in such cases, it can be said that the pitch operating part (111) and the end tool (120) are formed on substantially the same or parallel axis. In addition, FIG. 3 shows that the pitch operating part (111) and the end tool (120) are each formed on an axis parallel to the X-axis, but the concept of the present invention is not limited thereto, and the pitch operating part (111) and the end tool (120) may be formed on different axes.

[0099] The actuation, yaw, and pitch movements in this embodiment are described as follows.

[0100] First, the actuation operation is as follows.

[0101] When a user inserts an index finger into the first actuation rotation part (1132a) and a thumb into the second actuation rotation part (1132b), and rotates the actuation rotation part (1132a) (1132b) using either one finger or both fingers, the first actuation pulley (113P1) and the first actuation gear (1134a) fixedly coupled to the first actuation rotation part (1132a) rotate around the first actuation rotation axis (1131a), and the second actuation pulley (1133b) and the second actuation gear (1134b) fixedly coupled to the second actuation rotation part (1132b) rotate around the second actuation rotation axis (1131b). At this time, the first actuation pulley (113P1) and the second actuation pulley (113P2) rotate in opposite directions, and thus the first jaw wire (130J1), which has one end fixedly connected to the first actuation pulley (113P1) and the second jaw wire (130J2), which has one end fixedly connected to the second actuation pulley (113P2) and wound, also move in opposite directions. Then, this rotational force is transmitted to the end tool (120) through the power transmission unit (130), and the two jaws (121) (122) of the end tool (120) perform an actuation operation. Here, the actuation action means the action of opening or closing the jaws (121, 122) as the two jaws (121, 122) rotate in opposite directions as described above.That is, when the actuation rotation parts (1132a) (1132b) of the actuation operation part (113) are rotated in a direction that brings them closer together, the first jaw (121) rotates counterclockwise and the second jaw (122) rotates clockwise, closing the end tool (120), and when the actuation rotation parts (1132a) (1132b) of the actuation operation part (113) are rotated in a direction that moves them further apart, the first jaw (121) rotates clockwise and the second jaw (122) rotates counterclockwise, opening the end tool (120). In this embodiment, a second handle is configured by providing a first actuation rotation part (1132a) and a second actuation rotation part (1132b) for the actuation operation described above, and is configured to be operated by gripping with two fingers. However, other variations of the actuation operation part (113) for the actuation operation of opening and closing the two jaws of the end tool (120) can be sufficiently possible, such as a configuration in which two actuation pulleys (first actuation pulley (113P1), second actuation pulley (113P2)) operate in opposite directions with a single actuation rotation part, unlike the above description.

[0102] Next, this operation is as follows.

[0103] When the user holds the first handle (114) and rotates the first handle (114) around the yaw rotation axis (1121), the actuation operating unit (113) and the yaw operating unit (112) rotate yaw around the yaw rotation axis (1121). That is, when the first actuation pulley (113P1) of the first actuation operating unit (113a), to which the first jaw wire (130J1) is fixedly coupled, rotates around the yaw rotation axis (1121), the first jaw wire (130J1) wound around the first jaw yaw pulley (112P1) moves. Likewise, when the second actuation pulley (113P2) of the second actuation operating unit (113b), to which the second yaw wire (130J2) is fixedly connected, rotates around the yaw rotation axis (1121), the second yaw wire (130J2) wound around the second yaw pulley (112P2) moves. At this time, the first yaw wire (130J1) connected to the first yaw (121) and the second yaw wire (130J2) connected to the second yaw (122) are wound around the first yaw pulley (112P1) and the second yaw pulley (112P2) so that the first yaw (121) and the second yaw (122) rotate in the same direction during yaw rotation. Then, such rotational force is transmitted to the end tool (120) through the power transmission unit (130), and the two jaws (121) (122) of the end tool (120) perform a yaw motion in which they rotate in the same direction.

[0104] At this time, since the yaw frame (1123) connects the first handle (114), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b), the first handle (114), the yaw operating part (112), and the actuation operating part (113) rotate together around the yaw rotation axis (1121).

[0105] Next, the pitch motion is as follows.

[0106] When the user rotates the first handle (114) around the pitch rotation axis (1111) while holding the first handle (114), the actuation operating unit (113), the yaw operating unit (112), and the pitch operating unit (111) rotate pitch around the pitch rotation axis (1111). That is, when the first actuation pulley (113P1) of the first actuation operating unit (113a), to which the first pitch wire (130J1) is fixedly coupled, rotates around the pitch rotation axis (1111), the first pitch wire (130J1) wound around the first pitch pulley-a (111P1a) and the first pitch pulley-b (111P1b) moves. Likewise, when the second actuation pulley (113P2) of the second actuation operating unit (113b), to which the second wire (130J2) is fixedly coupled, rotates around the pitch rotation axis (1111), the second wire (130J2) wound around the second pitch pulley-a (111P2a) and the second pitch pulley-b (111P2b) moves. At this time, as explained through FIG. 5, the first jaw wire (130J1) and the second jaw wire (130J2) are wound around the first jaw pitch pulleys (111P1a, 111P1b) and the second jaw pitch pulleys (111P2a, 111P2b) so that the first jaw (121) and the second jaw (122) can pitch rotate, so that the two strands of the first jaw wire (130J1) and the second jaw wire (130J2) move in the same direction and the first jaw wire (130J1) and the second jaw wire (130J2) can pitch rotate. Then, this rotational force is transmitted to the end tool (120) through the power transmission unit (130), and the two jaws (121) (122) of the end tool (120) perform a pitch operation.

[0107] At this time, the pitch frame (1113) is connected to the yaw frame (1123), and since the yaw frame (1123) is connected to the first handle (114), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b), when the pitch frame (1113) rotates around the pitch rotation axis (1111), the yaw frame (1123), the first handle (114), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b) connected to the pitch frame (1113) rotate together. That is, when the pitch operating part (111) rotates around the pitch rotation axis (11111), the actuation operating part (113) and the yaw operating part (112) rotate together with the pitch operating part (111).

[0108] In summary, a surgical instrument (100) according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first wire or second wire) is wound around the pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired operation of the end tool (120). Furthermore, auxiliary pulleys may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times.

[0109] FIG. 8 is a simplified diagram showing only the configuration of the pulleys and wires constituting the joint of a surgical instrument (100) according to one embodiment of the present invention shown in FIG. 7. In FIG. 8, intermediate pulleys for changing the path of the wire regardless of joint movement are omitted.

[0110] Referring to FIG. 8, the operating unit (110) may include a first actuation pulley (113P1), a first jaw yaw pulley (112P1), a first jaw yaw auxiliary pulley (112S1), a first jaw pitch pulley-a (111P1a), a first jaw pitch pulley-b (111P1b), a first jaw pitch auxiliary pulley-a (111S1a), and a first jaw pitch auxiliary pulley-b (111S1b) associated with the rotational movement of the first jaw (121).

[0111] Additionally, the operating unit (110) may include a second actuation pulley (113P2) related to the rotational movement of the second jaw (122), a second jaw yaw pulley (112P2), a second jaw yaw auxiliary pulley (112S2), a second jaw pitch pulley-a (111P2a), a second jaw pitch pulley-b (111P2b), a second jaw pitch auxiliary pulley-a (111S2a), and a second jaw pitch auxiliary pulley-b (111S2b). (Since the arrangement and configuration of each pulley in the operating unit (100) are in principle identical to the arrangement and configuration of each pulley in the end tool (120), specific notation of drawing symbols in the drawing is partially omitted.)

[0112] The first yaw pulley (112P1) and the second yaw pulley (112P2) can be formed to rotate independently of each other around the same axis, the yaw rotation axis (1121). At this time, the first yaw pulley (112P1) and the second yaw pulley (112P2) can be formed as two pulleys that face each other and are formed to rotate independently.

[0113] The first auxiliary pulley (112S1) and the second auxiliary pulley (112S2) may be formed to rotate independently of each other around the same axis. In this case, the first auxiliary pulley (112S1) may be formed as two pulleys facing each other and formed to rotate independently, and the two pulleys may be formed to have different diameters. Similarly, the second auxiliary pulley (112S2) may be formed as two pulleys facing each other and formed to rotate independently, and the two pulleys may be formed to have different diameters.

[0114] The first pitch assist pulley-a (111S1a), the first pitch assist pulley-b (111S1b), the second pitch assist pulley-a (111S2a), and the second pitch assist pulley-b (111S2b) can be formed to rotate independently of each other around the same axis. In this case, the first pitch assist pulley-a (111S1a) and the first pitch assist pulley-b (111S1b) can be formed to have different diameters. Additionally, the second pitch assist pulley-a (111S2a) and the second pitch assist pulley-b (111S2b) can be formed to have different diameters.

[0115] The first pitch pulley-a (111P1a), the first pitch pulley-b (111P1b), the second pitch pulley-a (111P2a), and the second pitch pulley-b (111P2b) can be formed to rotate independently of each other around the same axis, the pitch rotation axis (1111).

[0116] The first row wire (130J1) is formed to pass sequentially through the first row pitch pulley-a (111P1a), first row pitch auxiliary pulley-a (111S1a), first row yaw auxiliary pulley (112S1), and first row yaw pulley (112P1) of the operating unit (110), then be wound onto the first actuation pulley (113P1), and then pass sequentially through the first row yaw pulley (112P1), first row yaw auxiliary pulley (112S1), first row pitch auxiliary pulley-b (111S1b), and first row pitch pulley-b (111P1b), so that the first row drive wire (130J1) can move along the pulleys while rotating them. At this time, the first row wire (130J1) can be fixedly coupled to a point on the first actuation pulley (113P1).

[0117] The second wire (130J2) is formed to pass sequentially through the second pitch pulley-a (111P2a), second pitch auxiliary pulley-a (111S2a), second yaw auxiliary pulley (112S2), and second yaw pulley (112P2) of the operating unit (110), then be wound onto the second actuation pulley (113P2), and then pass sequentially through the second yaw pulley (112P2), second yaw auxiliary pulley (112S2), second pitch auxiliary pulley-b (111S2b), and second pitch pulley-b (111P2b), so that the second wire (130J2) can move along the pulleys while rotating them. At this time, the second wire (130J2) can be fixedly connected to a point on the second actuation pulley (113P2).

[0118] FIG. 9 is a diagram illustrating the configuration of pulleys and wires related to the actuation and yaw movements of a surgical instrument (100) according to an embodiment of the present invention shown in FIG. 7, separated for each of the first and second sets. FIG. 9(a) is a diagram showing only the pulleys and wires related to the second set, and FIG. 9(b) is a diagram showing only the pulleys and wires related to the first set. FIG. 10 is a perspective view showing the yaw movement of the surgical instrument of FIG. 7.

[0119] First, the wire motion of the actuation motion is explained.

[0120] Referring to FIG. 9(b), when the first actuation rotation part (1132a) rotates around the first actuation rotation axis (1131a) in the direction of arrow OPA1, the first actuation pulley (113P1) connected to the first actuation rotation part (1132a) rotates, and the two strands of the first jaw wire (130J1) wound around the first actuation pulley (113P1) move in the directions W1a and W1b, respectively, and as a result, the first jaw (121) of the operating part rotates in the direction of arrow EPA1.

[0121] Referring to FIG. 9(a), when the second actuation rotation part (1132b) rotates around the second actuation rotation axis (1131b) in the direction of arrow OPA2, the second actuation pulley (113P2) connected to the second actuation rotation part (1132b) rotates, and the two strands of the second jaw wire (130J2) wound around the second actuation pulley (113P2) move in the directions W2a and W2b, respectively, so that as a result, the second jaw (122) of the operating part rotates in the direction of arrow EPA2. Therefore, when the user operates the first actuation rotation part (1132a) and the second actuation rotation part (1132b) in a direction that brings them closer to each other, the operation of the first jaw (121) and the second jaw (122) of the end tool bringing them closer to each other is performed.

[0122] Next, the wire motion of this movement is explained.

[0123] First, since the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b) are connected by the yaw frame (see 1123 in FIG. 7), the yaw rotation axis (1121), the first actuation rotation axis (1131a), and the second actuation rotation axis (1131b) rotate together as a single unit.

[0124] Referring to FIG. 9(b), when the first handle (114) is rotated around the yaw rotation axis (1121) in the direction of arrow OPY1, the first actuation pulley (113P1), the first jaw yaw pulley (112P1), and the first jaw wire (130J1) wound thereon rotate together around the yaw rotation axis (1121), and as a result, the two strands of the first jaw wire (130J1) wound around the first jaw yaw pulley (112P1) move in the directions W1a and W1b, respectively, and as a result, the first jaw (121) of the end tool (120) rotates in the direction of arrow EPY1.

[0125] Referring to FIG. 9(a), when the first handle (114) is rotated around the yaw rotation axis (1121) in the direction of arrow OPY2, the second actuation pulley (113P2), the second jaw yaw pulley (112P2), and the second jaw wire (130J2) wound thereon rotate together around the yaw rotation axis (1121), and as a result, the two strands of the second jaw wire (130J2) wound around the second jaw yaw pulley (112P2) move to the opposite side of W1a and the opposite side of W1b, respectively, and as a result, the first jaw (121) of the end tool (120) rotates in the direction of arrow EPY2.

[0126] FIG. 11 is a diagram illustrating the configuration of pulleys and wires related to the pitch motion of a surgical instrument (100) according to an embodiment of the present invention shown in FIG. 7, broken down for each of the first and second sets. FIG. 11(a) is a diagram showing only the pulleys and wires related to the second set, and FIG. 11(b) is a diagram showing only the pulleys and wires related to the first set. As shown in FIG. 8, there are two pulleys related to the pitch motion, and since both strands of each wire are wound along the same path, FIG. 11 represents this as a single line. FIG. 12 is a perspective view showing the pitch motion of the surgical instrument of FIG. 7.

[0127] Referring to FIG. 11(b), when the first handle (114) is rotated in the direction of arrow OPP1 around the pitch rotation axis (1111), the first actuation pulley (113P1), the first jaw pitch auxiliary pulleys (111S1a, 111S1b), the first jaw pitch pulleys (111P1a, 111P1b), and the first jaw wire (130J1) wound thereon all rotate around the pitch rotation axis (1111). At this time, as shown in FIG. 8, since both strands of the first jaw wire (130J1) are wound above the first jaw pitch pulleys (111P1a, 111P1b), they move toward arrow W1. Consequently, as explained through FIG. 5, the first jaw (121) of the end tool (120) rotates in the direction of arrow EPP1.

[0128] Referring to FIG. 11(a), when the first handle (114) is rotated around the pitch rotation axis (1111) in the direction of arrow OPP2, the second actuation pulley (113P2), the second jaw pitch auxiliary pulleys (111S2a, 111S2b), the second jaw pitch pulleys (111P2a, 111P2b), and the second jaw wire (130J2) wound thereon all rotate around the pitch rotation axis (1111). At this time, as shown in FIG. 8, since both strands of the second jaw wire (130J2) are wound below the second jaw pitch pulleys (111P2a, 111P2b), they move toward arrow W2. Consequently, as explained through FIG. 5, the second jaw (122) of the end tool (120) rotates in the direction of arrow EPP2.

[0129] Accordingly, the operating principle of FIG. 7, which represents the first embodiment, can be explained through FIG. 8, 9, 10, 11, and 12, and the actuation operation, yaw operation, and pitch operation can be operated independently of each other.

[0130] As explained in FIG. 1, the actuation control unit (113), yaw control unit (112), and pitch control unit (111) are configured such that their rotational axes are located at the rear of each control unit, so that they are configured in the same way as the joint configuration of the end tool, making it possible for the user to intuitively perform the corresponding operation.

[0131] In particular, a surgical instrument (100) according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), and wires (first wire or second wire) are wound around these pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired operation of the end tool (120). Furthermore, auxiliary pulleys may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times, so that the wires wound around the pulleys do not come into contact with each other, and the paths of the wires entering and exiting the pulleys are safely formed, thereby improving the safety and efficiency of power transmission of the wires.

[0132] Meanwhile, as described above, the yaw control unit (112) and the actuation control unit (113) are formed directly on the first handle (114). Therefore, when the first handle (114) rotates around the pitch rotation axis (1111), the yaw control unit (112) and the actuation control unit (113) also rotate together with the first handle (114). As a result, the coordinate system of the yaw control unit (112) and the actuation control unit (113) is not fixed but continues to change relatively according to the rotation of the first handle (114). That is, in FIG. 2, the yaw control unit (112) and the actuation control unit (113) are shown as being parallel to the Z-axis. However, when the first handle (114) rotates, the yaw control unit (112) and the actuation control unit (113) are not parallel to the Z-axis. That is, the coordinate system of the yaw control unit (112) and the actuation control unit (113) changes according to the rotation of the first handle (114). However, for convenience of explanation in this specification, unless otherwise specified, the coordinate system of the yaw control unit (112) and the actuation control unit (113) is described based on the state in which the first handle (114) is positioned vertically with respect to the connecting unit (140) as shown in FIG. 2.

[0133] Various examples of joint deformities

[0134] A joint structure composed of a main joint pulley and an additional auxiliary pulley for yaw rotation or pulley rotation can be divided into direct joints and indirect joints, as different variations are possible depending on the configuration of the two.

[0135] (Direct joints and indirect joints - lumbar joints)

[0136] FIG. 13 is a drawing showing an example of a direct joint of the lumbar joint, and FIG. 14 is a drawing showing an example of an indirect joint of the lumbar joint. FIG. 13(a) and FIG. 14(a) are drawings showing only the pulley and wire related to Article 2, and FIG. 13(b) and FIG. 14(b) are drawings showing only the pulley and wire related to Article 1.

[0137] Here, a direct joint refers to a configuration equipped with two adjacent pulleys for a single joint movement, where, regarding the relationship between the pulley corresponding to the joint position and the auxiliary pulley, when the joint part rotates about its axis of rotation, the auxiliary pulley does not rotate about the axis of rotation of the joint part, and only the pulley corresponding to the joint position rotates about the axis of rotation of the joint part. On the other hand, an indirect joint refers to a case where, when the joint part rotates about its axis of rotation, not only the pulley corresponding to the joint position but also the auxiliary pulley rotates about the axis of rotation of the joint part.

[0138] Meanwhile, Figure 13, which illustrates a direct joint, is equipped with a first yaw pulley (112P1) and a first yaw auxiliary pulley (112S1) formed adjacent to each other for the yaw movement of the first set (121). The pulley located on the left side of the drawing, which is positioned on the yaw rotation axis (1121) and rotates around the yaw rotation axis (1121) during yaw rotation, becomes the first yaw pulley (112P1). At this time, the first yaw auxiliary pulley (112S1) is located on the right side of the drawing and does not rotate around the yaw rotation axis (1121) during yaw rotation.

[0139] Meanwhile, FIG. 14, which illustrates an indirect joint, is equipped with a first yaw pulley (112P1) and a first yaw auxiliary pulley (112S1) formed adjacent to each other for the yaw movement of the first group (121). The pulley located on the right side of the drawing, which is positioned on the yaw rotation axis (1121) and rotates around the yaw rotation axis (1121) during yaw rotation, becomes the first yaw pulley (112P1). At this time, the first yaw auxiliary pulley (112S1) is positioned on the left side of the drawing and rotates around the yaw rotation axis (1121) during yaw rotation.

[0140] These direct and indirect joints differ in the direction of movement of the wires when the joints are rotated in the same direction. That is, in FIG. 13, which illustrates a direct joint, when the yaw rotation axis (1121) is rotated in the OPY direction, one side of the first wire (130J1) and the second wire (130J2) moves in the direction of arrow D1, whereas in FIG. 14, which illustrates an indirect joint, when the yaw rotation axis (1121) is rotated in the OPY direction, one side of the first wire (130J1) and the second wire (130J2) moves in the direction of arrow D2, which is opposite to D1.

[0141] In this way, depending on whether the joint structure is configured as a direct joint or an indirect joint, the effect of configuring the wire's direction of movement in opposite directions for yaw rotation in the same direction can be achieved.

[0142] (Direct joints and indirect joints - pitch joints)

[0143] FIG. 15 is a drawing showing an example of an indirect type joint of a pitch joint, and FIG. 16 is a drawing showing an example of a direct type joint of a pitch joint. FIG. 15(a) and FIG. 16(a) are drawings showing only the pulley and wire related to Article 2, and FIG. 15(b) and FIG. 16(b) are drawings showing only the pulley and wire related to Article 1.

[0144] Figure 15(b), which illustrates an indirect joint, is equipped with a first pitch pulley-a (111P1a) and a first pitch auxiliary pulley-a (111S1a) formed adjacent to each other for the pitch movement of the first set (121), wherein the pulley located on the right side of the drawing becomes the first pitch pulley-a (111P1a).

[0145] Figure 16(b), which illustrates a direct joint, is equipped with a first pitch pulley-a (111P1a) and a first pitch auxiliary pulley-a (111S1a) formed adjacent to each other for the pitch movement of the first set (121), wherein the pulley located on the left side of the drawing becomes the first pitch pulley-a (111P1a).

[0146] In this way, depending on whether the joint structure is configured as a direct joint or an indirect joint, the effect of configuring the wire movement direction in opposite directions for pitch rotation in the same direction can be achieved, and through this, the direction in which the wire is wound on the pitch pulley can be changed.

[0147] (Various variations of pulley and wire configurations)

[0148] The pulley and wire configurations related to the actuation and yaw movements of the surgical instrument (100) according to the first embodiment of the present invention illustrated in FIG. 9 may have various variations through modifications such as the path of the wire, the size and arrangement of the joint pulley, and the configuration of the operating part and end tool. Below, various variations of the pulley and wire configurations that can be envisioned will be described.

[0149] FIG. 17 is a drawing illustrating the configuration of a pulley and wire and variations thereof related to the operation of a first set (121) of a surgical instrument (100) according to one embodiment of the present invention shown in FIG. 9.

[0150] Referring to FIG. 17(a), the surgical instrument (100) according to one embodiment of the present invention illustrated in FIG. 17(a) basically has no wires crossing within the connecting portion (140). That is, within the connecting portion (140) connecting the end tool (120) and the operating portion (110), the two strands of the first wire (130J1) are formed in a state where they do not cross each other, and the two strands of the second wire (130J2) are also formed in a state where they do not cross each other.

[0151] Meanwhile, the surgical instrument (100) according to one embodiment of the present invention illustrated in FIG. 17(a) is formed so that each wire spreads out within the connecting portion (140). That is, because the spacing between the two strands of the first wire (130J1) at the end tool (120) is formed to be smaller than the spacing between the two strands formed by connecting to the intermediate pulley (MP) due to the size and spacing of the intermediate pulleys, the spacing between the two strands of the first wire (130J1) becomes increasingly farther apart as one moves from the end tool (120) toward the intermediate pulley, so that the first wire (130J1) spreads out overall.

[0152] Meanwhile, in the surgical instrument (100) according to one embodiment of the present invention illustrated in FIG. 17(a), the lumbar joint of the operating part (110) is formed in a direct form. That is, the surgical instrument (100) is provided with a first lumbar pulley (112P1) and a first lumbar auxiliary pulley (112S1) formed adjacent to each other for the lumbar movement of the first group (121), wherein the pulley located on the left side in the drawing becomes the first lumbar pulley (112P1), and the rotation axis of the first lumbar pulley (112P1) becomes the lumbar rotation axis. At this time, the first lumbar auxiliary pulley (112S1) may be formed as two pulleys that are formed to face each other and are formed to rotate independently, and the two pulleys may be formed to have different diameters. At this time, in order to prevent the wires wound across the first yaw pulley (112P1) and the first yaw auxiliary pulley (112S1) from overlapping in the path, each of the first yaw pulley (112P1) and the first yaw auxiliary pulley (112S1) may be equipped with two pulleys so that the two strands of the first wire (130J1) have a height difference. And, to this end, the pitch auxiliary pulley is also configured to have two pulleys with different diameters (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)), so that the first wire (130J1) is naturally wound on the pulleys with a height difference.

[0153] In the case of FIG. 17(b), by configuring the size and arrangement of the pitch auxiliary pulleys (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) connected to the first pitch auxiliary pulley (112S1) differently from the case of FIG. 17(a), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite as shown in the figure below FIG. 17(b), and consequently, the upper and lower relationship of the two strands of the first wire (130J1) can be configured to be opposite compared to FIG. 17(a).

[0154] In the case of FIG. 17(c), the first actuation operating unit (113a) for driving the first set is configured differently from the case of FIG. 17(a), and in order to ensure that the operation of the end tool (120) by the actuation operation and yaw operation in the operating unit (110) is performed in the same way as in FIG. 17(a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0155] In the case of FIG. 17(d), the configuration of the first set (121) and the J11 pulley (123J11) is different, so that the first set (121) is formed in a different direction from FIG. 17(a). In this case, the rotation direction of the first set (121) for the yaw operation is the same as FIG. 17(a), but the rotation direction of the first set (121) and the J11 pulley (123J11) for the actuation operation is opposite to FIG. 17(a). To this end, in order to make the first set wire (130J1) move in the opposite direction to FIG. 17(a) for the operation of the first actuation operating part (113a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0156] In this configuration, two yaw pulleys, two yaw auxiliary pulleys, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission.

[0157] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0158] FIG. 18 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the wire path, etc., in FIG. 17 is modified.

[0159] In the case of FIG. 18(a), unlike the configuration according to the first embodiment, the two strands of the first wire (130J1) configured to wind the first wire (121) are configured to pass through two adjacent connecting intermediate pulleys (MP), and the configuration of the first wire auxiliary pulley (112S1), etc. is modified so that the same operation as the configuration according to the first embodiment is possible.

[0160] To this end, pitch auxiliary pulleys of different sizes (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) through which the first pitch auxiliary wire (130J1) passes are formed adjacent to each other, and the first pitch auxiliary pulley (130J1) passing through the first pitch auxiliary pulley-a (111S1a) is configured to be wound onto the first yaw auxiliary pulley (112S1), and the first pitch auxiliary pulley (130J1) passing through the first pitch auxiliary pulley-b (111S1b) is configured to be wound directly onto the first yaw auxiliary pulley (112P1) without being wound onto the yaw auxiliary pulley, thereby enabling the same operation as the first embodiment as described in FIG. 18(a). The configuration according to FIG. 18(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulleys, the configuration of the operating part and the end tool, etc.

[0161] In the case of FIG. 18(b), by making the size of the pitch auxiliary pulley connected to the yaw auxiliary pulley different from that of FIG. 18(a), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite as shown in the figure below FIG. 18(b), and as a result, the relationship between the two strands of the first wire (130J1) can be configured to be opposite compared to FIG. 18(a). In the case of FIG. 18(c), the actuation operating unit (113a) for driving the first set is configured differently from the case of FIG. 18(a), and in order to ensure that the operation of the end tool (120) by the actuation operation and yaw operation in the operating unit (110) is performed in the same way as in FIG. 18(a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0162] In the case of FIG. 18(d), the configuration of the first set (121) and the J11 pulley (123J11) is different, so that the first set (121) is formed in a different direction from FIG. 18(a). In this case, the rotation direction of the first set (121) for the yaw operation is the same as FIG. 18(a), but the rotation direction of the first set (121) and the J11 pulley (123J11) for the actuation operation is opposite to FIG. 18(a). To this end, in order to make the first set wire (130J1) move in the opposite direction to FIG. 18(a) for the operation of the first actuation operating part (113a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0163] In this configuration, two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission.

[0164] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0165] FIG. 19 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the wire path, etc., in FIG. 17 is modified.

[0166] In the case of FIG. 19(a), unlike the configuration according to the first embodiment, the two strands of the first wire (130J1) configured to wind the first wire (121) are configured to cross each other and pass through two adjacent connecting intermediate pulleys (MP), and the configuration of the first wire auxiliary pulley (112S1), etc. is modified so that the same operation as the configuration according to the first embodiment is possible.

[0167] In addition, unlike the configuration according to the first embodiment in FIG. 19(a), the wires cross at least once within the connecting part (140). That is, within the connecting part (140) connecting the end tool (120) and the operating part (110), the two strands of the first wire (130J1) are formed to cross each other, and the two strands of the second wire (130J2) are also formed to cross each other. However, although the two strands of each wire appear to cross each other when viewed in a two-dimensional plane in the drawing, it can be easily configured so that the wires do not physically come into contact in reality through the appropriate three-dimensional position configuration of the intermediate pulleys to which the wires are actually connected.

[0168] Meanwhile, the first pitch assist pulley-a (111S1a) and the first pitch assist pulley-b (111S1b) are formed to have the same diameter, and the first pitch assist pulley-b (111S1b) is configured so that the first wire (130J1) wound on the first pitch assist pulley-b (111S1b) can be wound on the first yaw pulley (112P1) via the first yaw assist pulley (112S1). Meanwhile, the first wire (130J1) wound on the first pitch assist pulley-a (111S1a) can be formed to be wound directly on the first yaw pulley (112P1) without a yaw assist pulley, and through this, the modified example described in FIG. 19(a) can perform the same operation as the first embodiment.

[0169] The configuration according to FIG. 19(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0170] In the case of FIG. 19(b), the size of the pitch auxiliary pulley connected to the yaw auxiliary pulley is different from that of FIG. 19(a), and by forming the diameters of the first pitch auxiliary pulley-a (111S1a) and the first pitch auxiliary pulley-b (111S1b) differently, the two pulleys of the first yaw pulley (112P1) can be positioned at different heights as shown in the figure below FIG. 19(b). This is easy to apply to a configuration where the first wire (130J1) crosses between the first actuation pulley (113P1) and the first yaw pulley (112P1), as shown in FIG. 19(c) to be described later, so that there is no physical contact between the two sides of the first wire (130J1).

[0171] In the case of FIG. 19(c), the actuation operating unit (113a) for driving the first set is configured differently from the case of FIG. 19(a), and in order to ensure that the operation of the end tool (120) by the actuation operation and yaw operation in the operating unit (110) is performed in the same way as in FIG. 19(a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0172] In the case of FIG. 19(d), the configuration of the first set (121) and the J11 pulley (123J11) is different, so that the first set (121) is formed in a different direction from FIG. 19(a). In this case, the rotation direction of the first set (121) for the yaw operation is the same as FIG. 19(a), but the rotation direction of the first set (121) and the J11 pulley (123J11) for the actuation operation is opposite to FIG. 19(a). To this end, in order to make the first set wire (130J1) move in the opposite direction to FIG. 19(a) for the operation of the first actuation operating part (113a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0173] In this configuration, one or two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed, and the wires that appear to cross in the drawing are actually located on different paths so as not to make physical contact, thereby improving the safety and efficiency of the wires and power transmission.

[0174] In addition, it is also possible to configure the pitch pulley to be placed instead of the pitch assist pulley indicated on the drawing.

[0175] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0176] FIG. 20 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the wire path, etc., in FIG. 17 is modified.

[0177] In the case of FIG. 20(a), unlike the configuration according to the first embodiment, the two strands of the first wire (130J1) configured to wind the first wire (121) are configured to cross each other and pass through two connecting intermediate pulleys (MP) that are not adjacent to each other, and the configuration of the first wire auxiliary pulley (112S1), etc. is modified so that the same operation as the configuration according to the first embodiment is possible.

[0178] In addition, unlike the configuration according to the first embodiment in FIG. 20(a), the wires cross at least once within the connecting part (140). That is, within the connecting part (140) connecting the end tool (120) and the operating part (110), the two strands of the first wire (130J1) are formed to cross each other, and the two strands of the second wire (130J2) are also formed to cross each other. However, while the two strands of each wire appear to cross each other when viewed in a two-dimensional plane in the drawing, it can be easily configured so that the wires do not physically come into contact in reality through an appropriate three-dimensional configuration of the intermediate pulleys to which the wires are actually connected.

[0179] In addition, pitch auxiliary pulleys of different sizes (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) were formed, and the first pitch auxiliary pulley-a (111S1a), which is the outer pitch auxiliary pulley, was configured to be larger so that the wire wound on the outer pitch auxiliary pulley is wound on the first pitch auxiliary pulley (112S1) located on the lower side.

[0180] Meanwhile, in the surgical instrument (100) according to one embodiment of the present invention illustrated in FIG. 20(a), the yaw joint of the operating part (110) is formed in an indirect manner. That is, the surgical instrument (100) is provided with a first yaw pulley (112P1) and a first yaw auxiliary pulley (112S1) formed adjacent to each other for the yaw movement of the first group (121). In this case, the pulley located on the right side in the drawing becomes the first yaw pulley (112P1), and the rotation axis of the first yaw pulley (112P1) becomes the yaw rotation axis. In this case, in order to ensure that the operation of the end tool by the actuation operation and yaw movement in the operating part (110) is performed in the same way as in FIG. 17(a), the first wire (130J1) connecting the first yaw auxiliary pulley (112S1) and the first actuation pulley (113P1) can be configured to cross each other.

[0181] The configuration according to FIG. 20(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0182] In the case of FIG. 20(b), by configuring the size and arrangement of the pitch auxiliary pulleys (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) connected to the first pitch auxiliary pulley (112S1) differently from the case of FIG. 20(a), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite, and consequently, the upper and lower relationship of the two strands of the first wire (130J1) can be configured to be opposite compared to FIG. 20(a).

[0183] In the case of FIG. 20(c), the actuation operating unit (113a) for driving the first group is configured differently from the case of FIG. 20(a), and in order to ensure that the actuation operation and the operation of the end tool (120) by the yaw operation in the operating unit (110) are performed in the same way as in FIG. 20(a), the first wire (130J1) connecting the first yaw auxiliary pulley (112S1) and the first actuation pulley (113P1) can be configured so that they do not cross each other.

[0184] In the case of FIG. 20(d), the configuration of the first set (121) and the J11 pulley (123J11) is different, so that the first set (121) is formed in a different direction from FIG. 20(a). In this case, the rotation direction of the first set (121) for the yaw operation is the same as FIG. 20(a), but the rotation direction of the first set (121) and the J11 pulley (123J11) for the actuation operation is opposite to FIG. 20(a). To this end, in order to make the first set wire (130J1) move in the opposite direction to FIG. 20(a) for the operation of the first actuation operating unit (113a), the first set wire (130J1) connecting the first set yaw auxiliary pulley (112S1) and the first actuation pulley (113P1) can be configured so that they do not cross each other.

[0185] In this configuration, two yaw pulleys, two yaw auxiliary pulleys, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission.

[0186] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0187] FIG. 21 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the wire path, etc., in FIG. 17 is modified.

[0188] In the case of FIG. 21(a), unlike the configuration according to the first embodiment, the two strands of the first wire (130J1) configured to wind the first wire (121) are configured to cross each other and pass through two adjacent connecting intermediate pulleys (MP), and the second wire (130J2) is also formed so that its two strands cross each other.

[0189] Meanwhile, the first pitch assist pulley-a (111S1a) and the first pitch assist pulley-b (111S1b) are formed to have the same diameter, and the first pitch assist pulley-b (111S1b) is configured so that the first wire (130J1) wound on the first pitch assist pulley-b (111S1b) can be wound on the first yaw pulley (112P1) via the first yaw assist pulley (112S1). Meanwhile, the first wire (130J1) wound on the first pitch assist pulley-a (111S1a) can be formed to be wound directly on the first yaw pulley (112P1) without a yaw assist pulley, and through this, the modified example described in FIG. 21(a) can perform the same operation as the first embodiment.

[0190] Here, in the case of FIG. 21(a), the yaw pulley and the actuation pulley are not formed separately, but are characterized by using a common yaw pulley. In this case, to implement the actuation operation, the yaw pulley and the actuation operating part may be connected by a gear or the like. (See second embodiment)

[0191] The configuration according to FIG. 21(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0192] In the case of FIG. 21(b), the size and arrangement of the pitch assist pulleys (first pitch assist pulley-a (111S1a) and first pitch assist pulley-b (111S1b)) connected to the first pitch assist pulley (112S1) can be different from that of FIG. 21(a), so that the first pitch assist pulley (112S1) can be made larger than the first pitch assist pulley (112P1), thereby allowing the two strands of the first pitch wire (130J1) to have the effect of crossing each other. Accordingly, within the connecting part (140) connecting the end tool (120) and the operating part (110), the two strands of the first pitch wire (130J1) can be configured to pass through two adjacent connecting part intermediate pulleys (MP) without crossing each other.

[0193] In the case of FIG. 21(c), the actuation operating unit (113a) for driving the first set is made different from the case of FIG. 21(a), and at the same time, the configuration of the first set (121) and the J11 pulley (123J11) is made different so that the first set (121) is formed in a different direction from FIG. 21(a).

[0194] In the case of FIG. 21(d), by varying the size and arrangement of the pitch auxiliary pulleys (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) connected to the first pitch auxiliary pulley (112S1) compared to FIG. 21(b), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite, and consequently, the upper and lower relationship of both strands of the first wire (130J1) can be configured to be opposite compared to FIG. 21(b).

[0195] In this configuration, one or two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission. In addition, it is also possible to configure the pitch pulleys to be placed instead of the pitch auxiliary pulleys shown in the drawing.

[0196] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0197] FIG. 22 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the wire path, etc., in FIG. 17 is modified.

[0198] In the case of FIG. 22(a), unlike the configuration according to the first embodiment, the two strands of the first wire (130J1) configured to wind the first wire (121) are configured to pass through two adjacent connecting intermediate pulleys (MP), and the configuration of the first wire auxiliary pulley (112S1), etc., is modified so that the same operation as the configuration according to the first embodiment is possible.

[0199] To this end, pitch auxiliary pulleys of different sizes through which the first pitch wire (130J1) passes (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) are formed adjacent to each other, and the first pitch wire (130J1) passing through the first pitch auxiliary pulley-a (111S1a) is configured to be wound onto the first pitch auxiliary pulley (112S1), and the first pitch wire (130J1) passing through the first pitch auxiliary pulley-b (111S1b) is formed to be wound onto the first pitch auxiliary pulley (112S1) via the auxiliary pulley (SP), thereby enabling the modified example described in FIG. 22(a) to perform the same operation as the first embodiment.

[0200] Here, compared to FIG. 17, FIG. 22 is formed such that the first pitch auxiliary pulley-b (111S1b) is formed adjacent to the first pitch auxiliary pulley-a (111S1a), and an auxiliary pulley (SP) is added between the pitch auxiliary pulley and the first pitch auxiliary pulley (112S1), so that the first pitch wire (130J1) passing through the first pitch auxiliary pulley-b (111S1b) can be easily wound onto the first pitch auxiliary pulley (112S1) by passing through the auxiliary pulley (SP). That is, by additionally forming the auxiliary pulley (SP), within the connecting part (140) connecting the end tool (120) and the operating part (110), both strands of the first pitch wire (130J1) can pass side by side through two connecting part intermediate pulleys (MP) that are adjacent to each other, and together with this, the pitch auxiliary pulley through which the first pitch wire (130J1) passes can also be configured to be adjacent to each other. In addition, when the auxiliary pulley (112S1) is composed of two pulleys, the diameters of each pulley can be configured to be equal to each other.

[0201] The configuration according to FIG. 22(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0202] In the case of FIG. 22(b), by configuring the size and arrangement of the pitch auxiliary pulley connected to the yaw auxiliary pulley differently from the case of FIG. 22(a), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite, and consequently, the upper and lower relationship of the two strands of the first wire (130J1) can be configured to be opposite compared to FIG. 22(a).

[0203] In the case of FIG. 22(c), the actuation operating unit (113a) for driving the first group is configured differently from the case of FIG. 22(a), and in order to ensure that the operation of the end tool (120) by the actuation operation and yaw operation in the operating unit (110) is performed in the same way as in FIG. 22(a), the first wire (130J1) connecting the first group yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0204] In the case of FIG. 22(d), the configuration of the first set (121) and the J11 pulley (123J11) is different, so that the first set (121) is formed in a different direction from FIG. 22(a). In this case, the rotation direction of the first set (121) for the yaw operation is the same as FIG. 22(a), but the rotation direction of the first set (121) and the J11 pulley (123J11) for the actuation operation is opposite to FIG. 22(a). To this end, in order to make the first set wire (130J1) move in the opposite direction to FIG. 22(a) for the operation of the first actuation operating part (113a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured to cross each other.

[0205] In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission.

[0206] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0207] FIG. 23 is a drawing showing another variation of the embodiment disclosed in FIG. 22, which is an example in which the wire path, etc., in FIG. 22 is modified.

[0208] In the case of FIG. 22, among the first yaw pulley (112P1) and the first yaw auxiliary pulley (112S1) formed adjacent to each other for the operation of the first yaw of the first yaw (121), the pulley located on the left side of the drawing becomes the first yaw pulley (112P1), whereas in the case of FIG. 23, the pulley located on the right side of the drawing becomes the first yaw pulley (112P1) and the pulley located on the left side becomes the first yaw auxiliary pulley (112S1). That is, in the case of FIG. 22, the yaw joint is a direct type joint, whereas in the case of FIG. 23, the yaw joint can be said to be an indirect type joint.

[0209] Due to this difference, the direction of movement of both strands of the first wire (130J1) by the yaw rotation of the operating part (110) is opposite to that of FIG. 22(a) in the case of FIG. 23(a). In this case, in order to ensure that the operation of the end tool (110) by the actuation operation and yaw operation in the operating part (120) is performed in the same way as in FIG. 22(a), the two strands of the first wire (130J1) can be configured to cross each other and pass through two adjacent connecting part intermediate pulleys (MP) within the connecting part (140) connecting the end tool (120) and the operating part (110).

[0210] The configuration according to FIG. 23(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0211] In the case of FIG. 23(b), by configuring the size and arrangement of the pitch auxiliary pulley connected to the yaw auxiliary pulley differently from the case of FIG. 23(a), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite, and consequently, the upper and lower relationship of the two strands of the first wire (130J1) can be configured to be opposite compared to FIG. 23(a).

[0212] In the case of FIG. 23(c), the actuation operating unit (113a) for driving the first group is configured differently from the case of FIG. 23(a), and in order to ensure that the operation of the end tool (120) by the actuation operation and yaw operation in the operating unit (110) is performed in the same way as in FIG. 23(a), the first wire (130J1) connecting the first yaw pulley (112P1) and the first actuation pulley (113P1) can be configured so that they do not cross each other.

[0213] In the case of FIG. 23(d), the configuration of the first set (121) and the J11 pulley (123J11) is different, so that the first set (121) is formed in a different direction from FIG. 23(a). In this case, the rotation direction of the first set (121) for the yaw operation is the same as FIG. 23(a), but the rotation direction of the first set (121) and the J11 pulley (123J11) for the actuation operation is opposite to FIG. 23(a). To this end, in order to make the first set wire (130J1) move in the opposite direction to FIG. 23(a) for the operation of the first actuation operating part (113a), the first set wire (130J1) connecting the first set yaw pulley (112P1) and the first actuation pulley (113P1) can be configured so that they do not cross each other.

[0214] In this configuration, two yaw pulleys, two yaw auxiliary pulleys, one auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission.

[0215] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0216] FIG. 24 is a drawing showing another variation of the embodiment disclosed in FIG. 21, which is a variation in which the wire path, etc., in FIG. 21 is modified.

[0217] Unlike in FIG. 21, where the yaw pulley and the actuation pulley are not formed separately and a common yaw pulley is used, in FIG. 24(a), an additional actuation pulley (113P1) is formed separately in addition to the yaw pulley (112P1). To this end, both strands of the first pitch assist pulley-a (111S1a) and the first pitch assist pulley-b (111S1b) of the first pitch assist pulley are wound around the yaw pulley (112P1) and then cross each other to be wound around the actuation pulley (113P1). At this time, in order for the modified example described in FIG. 24(a) to be able to perform the same operation as the example described in FIG. 21, in FIG. 24(a), the position and rotation direction of the actuation operating part (113a) are configured to be opposite to that of FIG. 21.

[0218] The configuration according to FIG. 24(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0219] Unlike the case of FIG. 24(a), the first row auxiliary pulley (112S1) can be made larger than the first row pulley (112P1), thereby allowing the two strands of the first row wire (130J1) to have the effect of crossing each other. Accordingly, within the connecting part (140) connecting the end tool (120) and the operating part (110), the two strands of the first row wire (130J1) can be configured to pass through two adjacent connecting part intermediate pulleys (MP) without crossing each other.

[0220] In the case of FIG. 24(c), the actuation operating unit (113a) for driving the first set is made different from the case of FIG. 24(a), and at the same time, the configuration of the first set (121) and the J11 pulley (123J11) is made different so that the first set (121) is formed in a different direction from FIG. 24(a).

[0221] In the case of FIG. 24(d), by varying the size and arrangement of the pitch auxiliary pulleys (first pitch auxiliary pulley-a (111S1a) and first pitch auxiliary pulley-b (111S1b)) connected to the first pitch auxiliary pulley (112S1) compared to FIG. 24(b), the height of the wire wound on the first pitch auxiliary pulley-a (111S1a) and the wire wound on the first pitch auxiliary pulley-b (111S1b) can be arranged to be opposite, and consequently, the upper and lower relationship of the two strands of the first wire (130J1) can be configured to be opposite compared to FIG. 24(b).

[0222] In this configuration, one or two actuation pulleys, one or two yaw pulleys, one yaw auxiliary pulley, two pitch pulleys, and two pitch auxiliary pulleys may be formed. The wires that appear to cross in the drawing are actually located on different paths and do not come into physical contact, thereby improving the safety and efficiency of the wires and power transmission. In addition, it is also possible to configure the pitch pulleys to be placed instead of the pitch auxiliary pulleys shown in the drawing.

[0223] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding Article 2 are omitted.

[0224] FIG. 25 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the wire path, etc., in FIG. 17 is modified.

[0225] Here, the present variation differs from the embodiment of FIG. 17 in that the ends of the two strands of the first jaw wire (130J1) are not connected to the same actuation pulley, but to different actuation pulleys. That is, one end of the first jaw wire (130J1) is connected to the first actuation pulley (113P1), and the other end of the first jaw wire (130J1) is connected to the second actuation pulley (113P2). In this case, the rotation of the two actuation pulleys must essentially be synchronized by components such as gears. That is, the two actuation pulleys must be connected so that when one actuation pulley rotates, the other actuation pulley also rotates in accordance with it.

[0226] As such, since the rotation of the two actuation pulleys is synchronized with each other by means of gears, the same effect can be achieved even if the two strands of the first wire (130J1) are not necessarily wound on one actuation pulley but are wound on different actuation pulleys.

[0227] This structure can be seen as the first wire (130J1) forming a virtual closed circuit as shown by the dotted line in FIG. 25(a), and thus can be described as a kind of virtual loop.

[0228] The configuration according to FIG. 25(a) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0229] FIG. 25(b) shows a case where the actuation pulley to which both ends of the first jaw wire (130J1) are connected is configured differently from FIG. 25(a). That is, one end of the first jaw wire (130J1), which was connected to the first actuation pulley (113P1) in FIG. 25(a), is now connected to the second actuation pulley (113P2). Likewise, the other end of the first jaw wire (130J1), which was connected to the second actuation pulley (113P2) in FIG. 25(a), is now connected to the first actuation pulley (113P1).

[0230] As such, the wire wound around the yaw pulley and connected to the actuation pulley does not matter which of the two actuation pulleys it is connected to. This is because the two actuation pulleys are synchronized with each other using gears or the like. However, regardless of which actuation pulley it is wound onto, the winding direction must be appropriately aligned with the direction of rotation of the actuation pulley so that the actuation operation ultimately matches the actuation motion of the end tool.

[0231] The above description pertains to the actuation and yaw movements of Article 1, and the drawings are also intended to explain these movements. Since the details regarding the intermediate pulley and the pulley related to the pitch movement can be sufficiently understood without such explanation, these details are omitted from the drawings. Furthermore, as Article 2 can also be sufficiently understood through the drawings and descriptions regarding Article 1, the drawings and descriptions regarding the operation of Article 2 are omitted.

[0232] FIG. 26 is a drawing showing another variation of the embodiment disclosed in FIG. 25, which is a variation in which the position of the actuation pulley, etc., in FIG. 25 is modified.

[0233] Here, the present variation differs from the embodiment of FIG. 25 in that the two actuation pulleys are not formed to be close to each other, but are spaced apart and formed on opposite sides with respect to the first yaw pulley (112P1). Even in this case, if the two actuation pulleys are synchronized with each other by means of a gear or the like, the same operation as described in FIG. 25 is possible.

[0234] With this configuration, the actuation pulley can be positioned further back than in other embodiments, meaning the actuation handle can be made longer, which makes the actuation operation easier to perform. This is because, according to the lever principle, the longer the handle, the less force is required to perform the actuation operation.

[0235] FIG. 26(a) is for explaining the actuation and yaw motion of Article 1, and FIG. 26(b) is for explaining the actuation and yaw motion of Article 2.

[0236] The configuration according to FIG. 26(a) and FIG. 26(b) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0237] FIG. 27 is a drawing showing another variation of the embodiment disclosed in FIG. 17, which is a variation in which the position of the actuation pulley, etc., in FIG. 25 is modified.

[0238] In the case of FIG. 27(a), unlike the configuration according to the first embodiment, the two strands of the first wire (130J1) configured to wind the first row (121) are formed to pass through two adjacent connecting intermediate pulleys (MP), and the first row yaw pulley (112P1) and the first row yaw auxiliary pulley (112S1) are provided adjacent to each other for yaw motion, wherein the pulley located on the right side of the drawing becomes the first row yaw pulley (112P1), and the rotation axis of the first row yaw pulley (112P1) becomes the yaw rotation axis.

[0239] Here, the present variation differs from the embodiment of FIG. 17 in that the two actuation pulleys are not formed close to each other, but are spaced apart and formed on opposite sides of the yaw pulley.

[0240] In addition, it differs from embodiments such as FIG. 17, FIG. 25, and FIG. 26 in that the positional relationship (sequence relationship) between the yaw pulley and the yaw auxiliary pulley has been changed. That is, even though it is a direct joint, the pulley located on the right side in the drawing becomes the first yaw pulley (112P1), and the rotation axis of the first yaw pulley (112P1) becomes the yaw rotation axis. To implement this, the first wire passing through the first pitch auxiliary pulley-a (111S1a) is wound around the first yaw auxiliary pulley (112S1), then passes through the first yaw pulley (112P1) and is fixedly coupled to the first actuation pulley (113P1). And, the first wire passing through the first pitch auxiliary pulley-b (111S1b) passes directly through the first yaw pulley (112P1) without passing through the first yaw auxiliary pulley (112S1) and is fixedly coupled to the first actuation pulley (113P1).

[0241] With this configuration, the yaw rotation axis can be positioned closer to the pitch rotation axis than in other embodiments, which consequently provides a more natural and intuitive operating feel for the user.

[0242] Furthermore, this configuration allows the actuation pulley to be positioned further back than in other embodiments, meaning the actuation handle can be made longer, thereby making the actuation operation easier. This is because, according to the lever principle, the longer the handle, the less force is required to perform the actuation operation.

[0243] FIG. 27(a) is for explaining the actuation and yaw motion of Article 1, and FIG. 27(b) is for explaining the actuation and yaw motion of Article 2.

[0244] The configuration according to FIG. 27(a) and FIG. 27(b) may have various variations through variations in the path of the wire, the size and arrangement of the joint pulley, the configuration of the operating part and the end tool, etc.

[0245] One variation of the actuation control unit

[0246] FIG. 28 is a drawing showing another variation of the embodiment disclosed in FIG. 8.

[0247] Here, the surgical instrument according to the present modification is characterized by a configuration of the actuation pulley (113P) of the operating part (110) of the surgical instrument compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 8). That is, in the surgical instrument (100) of FIG. 8, an actuation pulley is formed on each of the two actuation rotation axes, and each jaw wire is wound around each actuation pulley.

[0248] In detail, in the surgical instrument (100) of FIG. 8, a first actuation pulley (113P1) is formed on a first actuation rotation axis (1131a), and a first jaw wire (130J1) is formed to be wound around the first actuation pulley (113P1). Likewise, a second actuation pulley (113P2) is formed on a second actuation rotation axis (1131b), and a second jaw wire (130J2) is formed to be wound around the second actuation pulley (113P2).

[0249] In contrast, the variant shown in FIG. 28 is characterized by the fact that both wires are formed to be wound around a single actuation axis. That is, an actuation pulley (113P) is formed on the actuation axis (1131), and a first yaw wire (130J1) is wound below the actuation pulley (113P), and a second yaw wire (130J2) is formed to be wound above the actuation pulley (113P). However, since the two wires (130J1) and (130J2) must move in opposite directions due to the rotation of the single actuation axis (1131), one of the two wires must be formed to cross. In FIG. 28, the second yaw wire (130J2) is formed to cross once between the actuation pulley (113P) and the second yaw pulley (112P2).

[0250] Apart from the actuation rotation axis and the actuation pulley, the configuration of the remaining actuation operating parts, namely the first actuation rotation part (not shown), the first actuation gear (1134a), the second actuation rotation part (not shown), and the second actuation gear (1134b), exists identically. Here, the gears enable the movements of the two actuation rotation parts to be connected to each other, so that, consequently, the movement of one of the two fingers gripping the two actuation rotation parts causes the movement of the other, and furthermore, the respective amounts of rotation can be matched. To achieve this effect, structures such as links, in addition to gears, may also be possible.

[0251] One variation of the pitch control unit

[0252] FIG. 29 is a drawing showing another variation of the embodiment disclosed in FIG. 16. Here, FIG. 29(a) is a side view and FIG. 29(b) is a top view.

[0253] Here, the surgical instrument according to the present modification is characterized by a configuration of the pitch pulleys of the operating part (110) and the end tool (120) of the surgical instrument compared to the surgical instrument of the present invention described above (see 100 in FIG. 16). That is, in the surgical instrument (100) of FIG. 16, the pitch pulleys are configured to have the same diameter, but in FIG. 29, the pitch pulleys are configured to have different diameters.

[0254] That is, in the end tool (120), the J12 pulley (123J12) and the J14 pulley (123J14) formed to face each other are formed to have different diameters, and in the operating part (110), the first pitch pulley-a (111P1a) and the first pitch pulley-b (111P1b) formed to face each other are also formed to have different diameters.

[0255] At this time, the diameter ratio of the different pitch pulleys on the end tool (120) side (i.e., the diameter ratio of the J12 pulley (123J12) and the J14 pulley (123J14)) and the diameter ratio of the different pitch pulleys on the operating part (110) (the diameter ratio of the first jaw pitch pulley-a (111P1a) and the first jaw pitch pulley-b (111P1b)) are configured to be the same, thereby making the respective displacement amount of the two strands of the jaw wire due to the pitch rotation of the operating part (110) equal to the respective displacement amount of the two strands of the jaw wire on the end tool (120) side for the pitch rotation, so that the pitch operation can be performed normally. Through this, even in the case of a direct pitch joint, it is possible to configure it using pitch pulleys of different diameters. In this way, it is also possible to apply it to the case of a lumbar joint. That is, by varying the diameters of the pulleys of the operating part (110) and the diameters of the J11 pulley (123J11) and J21 pulley (123J21) of the end tool (120), the direct yaw joint can be configured using pulleys of different diameters.

[0256] As described above, the surgical instrument (100) according to the first embodiment of the present invention can be modified into various embodiments that perform the same function as the surgical instrument (100) according to the first embodiment of the present invention through various modifications of the lumbar joint, pitch joint, and actuation joint. Various modifications can be formed by combining each modification example given as an example of modification of each joint.

[0257] Meanwhile, although not illustrated in the drawings, the concept of the present invention is not limited thereto, and various wires, pulleys, and joints composed thereof may be combined to perform functions such as the surgical instrument (100) according to the first embodiment of the present invention.

[0258] <Examples of insulation-related variations>

[0259] Figures 30 and 31 are drawings showing examples of work variations related to insulation.

[0260] Referring to FIGS. 30 and 31, a surgical instrument according to the present modification is characterized in that it further includes an insulation assembly for insulating each wire compared to the surgical instrument of the present invention described above (see 100 in FIG. 2). That is, the end tool and the operating part are separated so as to be electrically insulated, so that even when an additional wire is connected to the jaw of the end tool to use it for electrical action, the operating part is safely electrically insulated. To this end, an insulation assembly is provided in the middle of each wire physically connecting the end tool and the operating part to insulate the end tool and the operating part. To this end, a first insulation assembly (135), a second insulation assembly (136), and a third insulation assembly (137) are provided in sequence at intervals of the bent portion (141) of the connecting part (140), so that each insulation assembly insulates two wires in sequence.

[0261] Although the drawing shows the first insulation assembly (135), the second insulation assembly (136), and the third insulation assembly (137) arranged in order from the side closest to the end tool (120), the concept of the present invention is not limited thereto, and the configuration and arrangement of each insulation assembly can be varied as needed.

[0262] Below, the first insulation assembly (135) will be described in more detail.

[0263] Here, the second R-wire (130J2R) represents the right wire of the two strands of the second wire (130J2), and the second R-wire (130J2R) is further divided into two: the second R-wire-in (130J2Rin) entering the first insulation assembly (135) and the second R-wire-out (130J2Rout) coming out of the first insulation assembly (135).

[0264] Meanwhile, the first L-wire (130J1L) represents the left wire among the two strands of the first wire (130J1), and the first L-wire (130J1L) is again divided into two: the first L-wire-in (130J1Lin) entering the first insulation assembly (135) and the first L-wire-out (130J1Lout) coming out of the first insulation assembly (135).

[0265] The first insulation assembly (135) includes a second R-wire in pulley (1352Rin), a second R-wire out pulley (1352Rout), and a second R-wire insulation pulley (1352Ris) related to the insulation of the second R-wire. Here, the second R-wire-in (130J2Rin) is coupled to the second R-wire in pulley (1352Rin), and the second R-wire-out (130J2Rout) is coupled to the second R-wire out pulley (1352Rout). And, a second R-wire insulation pulley (1352Ris) is interposed between the second R-wire in-pulley (1352Rin) and the second R-wire out-pulley (1352Rout) to insulate the second R-wire in-pulley (1352Rin) and the second R-wire out-pulley (1352Rout), and thus the second R-wire-in (130J2Rin) and the second R-wire-out (130J2Rout) are also insulated from each other.

[0266] At this time, a groove is formed on one side of the second R-wire in-pulley (1352Rin) and the second R-wire insulating pulley (1352Ris), and a protrusion is formed on the other side, so that they are joined together. Also, a groove is formed on one side of the second R-wire out-pulley (1352Rout) and the second R-wire insulating pulley (1352Ris), and a protrusion is formed on the other side, so that they are joined together. At this time, the protrusion (or groove) on the side of the second R-wire in-pulley (1352Rin) and the protrusion (or groove) on the side of the second R-wire out-pulley (1352Rout) are formed to be isolated from each other, so that the second R-wire-in (130J2Rin) and the second R-wire-out (130J2Rout) are insulated from each other.

[0267] That is, through the above configuration, even if the second set R-wire-in (130J2Rin), second set R-wire-in pulley (1352Rin), second set R-wire-out (130J2Rout), and second set R-wire-out pulley (1352Rout) are formed of a conductor such as metal, the second set R-wire insulation pulley (1352Ris) can be formed of a non-conductor so that the second set R-wire-in (130J2Rin) and the second set R-wire-out (130J2Rout) are insulated from each other.

[0268] With this configuration, the second R-wire-in (130J2Rin) entering the first insulation assembly (135) and the second R-wire-out (130J2Rout) coming out of the first insulation assembly (135) are electrically insulated from each other, and power transmission between the operation of the control unit and the operation of the end tool can be made as if connected by a single unbroken wire.

[0269] Meanwhile, the first insulation assembly (135) includes a first L-wire in-pulley (1351Lin), a first L-wire out-pulley (1351Lout), and a first L-wire insulation pulley (1351Lis) related to the insulation of the first L-wire. Since this configuration is in principle identical to the components related to the insulation of the first R-wire described above, a detailed description thereof will be omitted.

[0270] Additionally, the first insulation assembly (135) may include a first set of R-wire intermediate pulleys (1351Rme), a second set of L-wire intermediate pulleys (1352Lme), one or more pitch wire intermediate pulleys (135Pme), and one or more insulating auxiliary pulleys (135IsAs) that are non-conductive. Here, an insulating auxiliary pulley (135IsAs) is fitted inside each of the second set of R-wire intermediate pulleys (1352Rme), second set of L-wire intermediate pulleys (1352Lme), pitch wire intermediate pulleys (135Pme), and other pitch wire intermediate pulleys (not shown), and the first set of R-wire intermediate pulleys (1351Rme) passes through while winding the first set of R-wires (not shown), the second set of L-wire intermediate pulleys (1352Lme) passes through while winding the second set of L-wires (not shown), and the two pitch wire intermediate pulleys (135Pme) pass through while winding both strands of pitch wires (not shown).

[0271] With this configuration, the wire connected from the end tool (120) to the first insulation assembly (135) and each pulley of the first insulation assembly (135) around which the wire is wound can be electrically insulated from the rotation axis of the pulleys of the first insulation assembly (135) and the wire, so that they can be separated.

[0272] To explain in more detail, if the wire and the pulley of the first insulation assembly are metal, the pulleys placed between the metal pulleys can be made of an electrically insulating material to electrically separate the end tool and the operating part as described above, and if only the wire is metal, the elements constituting the first insulation assembly can be made of an electrically insulating material to electrically separate the end tool and the operating part as described above.

[0273] With the same structure as the first insulation assembly (135), the second insulation assembly (136) separates and insulates the first R wire and the second L wire, respectively, and the third insulation assembly (137) separates and insulates each of the two strands of the pitch wire.

[0274] With this configuration, each wire connecting the end tool and the operating part is completely insulated, thereby electrically isolating the end tool and the operating part, making the operating part electrically safer. The insulation assembly described above is characterized by electrically severing an intermediate point of the wire connecting the end tool to the operating part to electrically isolate the end tool and the operating part. Although the above description describes the case where the wire and the pulley of the insulation assembly are metal, if the pulleys (such as the first set of L-wire in pulleys (1351Lin), the first set of L-wire out pulleys (1351Lout), etc.) are composed of non-conductive materials, the first set of L-wire in pulleys (1351Lin), the first set of L-wire out pulleys (1351Lout), and the first set of L-wire insulation pulleys (1351Lis) can be composed of a single non-conductive pulley without being separated from each other. Since the description of such a variation can be sufficiently inferred from this description, the description thereof is omitted.

[0275] <Second Embodiment of a Surgical Instrument>

[0276] Hereinafter, a surgical instrument (200) according to a second embodiment of the present invention will be described. Here, the surgical instrument (200) according to the second embodiment of the present invention is characterized by a configuration of the operating part (210) of the surgical instrument (200) compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). In other words, the surgical instrument (200) according to the second embodiment of the present invention is an embodiment in which the modified example shown in FIG. 21 is specifically implemented. The configuration that is different from the first embodiment will be explained in detail later.

[0277] FIG. 32 is a perspective view showing a surgical instrument according to a second embodiment of the present invention, FIG. 33 is an internal perspective view of the surgical instrument of FIG. 32, and FIG. 34 is a side view of the surgical instrument of FIG. 33. FIG. 35 and FIG. 36 are perspective views showing the operating part of the surgical instrument of FIG. 33.

[0278] Referring to FIGS. 32 to 40, the operating part (210) of the surgical instrument (200) according to the second embodiment of the present invention includes a pitch operating part (211) for controlling the pitch movement of the end tool (220), a yaw operating part (212) for controlling the yaw movement of the end tool (220), an actuation operating part (actuation operator) (213) for controlling the actuation movement of the end tool (220), and a first handle (214) that can be grasped by a user.

[0279] First, to illustrate the usage state of the surgical instrument (200) of FIG. 32, the user can perform pitch movement by rotating the first handle (214) around the Y-axis (i.e., pitch rotation axis (2111)) while holding the first handle (214) with their palm, perform yaw movement by rotating the first handle (214) around the Z-axis (i.e., yaw rotation axis (2121)), and perform actuation movement by rotating the actuation control part (213) while inserting the thumb and index finger into the actuation control part (213).

[0280] Here, the surgical instrument (200) according to the second embodiment of the present invention has the same characteristic as the surgical instrument (100) according to the first embodiment of the present invention, in that the end tool (120) and the operating part (110) rotate intuitively in the same direction.

[0281] To this end, the operating part (210) is characterized in that the part that actually moves for actuation, yaw, and pitch movements, like an end tool (220), is formed to extend in the +X-axis direction relative to the rotation center of the corresponding joint for each movement.

[0282] In detail, the first handle (214) is formed so that a user can grasp it with their hand, and in particular, it can be formed so that a user can wrap their palm around and grasp the first handle (214). Furthermore, an actuation operating part (213) and a yaw operating part (212) are formed on the first handle (214), and a pitch operating part (211) is formed on one side of the yaw operating part (212). The other end of the pitch operating part (211) is connected to the bent part (241) of the connecting part (240).

[0283] The actuation control unit (213) includes a first actuation control unit (213a) and a second actuation control unit (213b). The first actuation control unit (213a) includes a first actuation rotation axis (2131a), a first actuation rotation unit (2132a), and a first actuation gear (2134a). The second actuation control unit (213b) includes a second actuation rotation axis (2131b), a second actuation rotation unit (2132b), and a second actuation gear (2134b). Here, the first actuation rotation unit (2132a) and the second actuation rotation unit (2132b) can be operated as a second handle.

[0284] Here, the actuation rotation axis (2131a) (2131b) may be formed to form a predetermined angle with the XY plane in which the connecting part (240) is formed. For example, the actuation rotation axis (2131a) (2131b) may be formed in a direction parallel to the Z-axis, and in this state, when the pitch operating part (211) or the yaw operating part (212) rotates, the coordinate system of the actuation operating part (213) may change relatively. Of course, the concept of the present invention is not limited thereto, and the actuation rotation axis (2131a) (2131b) may be formed in various directions to suit the hand structure of the user gripping the actuation operating part (213) through ergonomic design.

[0285] Meanwhile, the first actuation rotation part (2132a) and the first actuation gear (2134a) can be fixedly coupled to each other and formed to rotate together around the first actuation rotation axis (2131a).

[0286] Likewise, the second actuation rotation part (2132b) and the second actuation gear (2134b) can be fixedly coupled to each other and formed to rotate together around the second actuation rotation axis (2131b).

[0287] Here, the first actuation gear (2134a) and the second actuation gear (2134b) are formed to mesh with each other, so that when one side rotates, they rotate together in opposite directions.

[0288] The yaw control unit (212) may include a yaw rotation axis (2121), a first yaw pulley (212P1), a second yaw pulley (212P2), and a yaw frame (2123). Here, the drawing shows the yaw control unit (212) having two pulleys, a first yaw pulley (212P1) and a second yaw pulley (212P2), but the concept of the present invention is not limited thereto. That is, one or more pulleys having the same or different diameters may be provided depending on the configuration of the yaw control unit (212).

[0289] In detail, a yaw rotation axis (2121) is formed on one side of the actuation operating part (213) on the first handle (214). At this time, the first handle (214) is formed to be rotatable around the yaw rotation axis (2121).

[0290] Here, the yaw rotation axis (2121) may be formed to form a predetermined angle with the XY plane where the connecting part (240) is formed. For example, the yaw rotation axis (2121) may be formed in a direction parallel to the Z-axis, and when the pitch control part (211) rotates in this state, the coordinate system of the yaw rotation axis (2121) may change relatively as described above. Of course, the concept of the present invention is not limited thereto, and the yaw rotation axis (2121) may be formed in various directions to suit the hand structure of the user gripping the control part (210) through ergonomic design.

[0291] Meanwhile, the first yaw pulley (212P1) and the second yaw pulley (212P2) are connected to the yaw rotation axis (2121) so that they can rotate around the yaw rotation axis (2121). Then, the first wire (230J1) can be wound around the first yaw pulley (212P1), and the second wire (230J2) can be wound around the second yaw pulley (212P2).

[0292] The yaw frame (2123) connects the first handle (214), the yaw rotation axis (2121), the first actuation rotation axis (2131a), and the second actuation rotation axis (2131b), so that the first handle (214), the yaw operating part (212), and the actuation operating part (213) can rotate as a single unit around the yaw rotation axis (2121).

[0293] Meanwhile, the yaw control unit (212) may further include a first yaw gear (2124a) and a second yaw gear (2124b) that can rotate independently of each other around a yaw rotation axis (2121). In this case, the first yaw gear (2124a) is fixedly coupled to a first yaw pulley (212P1) and can rotate together with the first yaw pulley (212P1), and the second yaw gear (2124b) is fixedly coupled to a second yaw pulley (212P2) and can rotate together with the second yaw pulley (212P2).

[0294] Here, the first actuation gear (2134a) and the second actuation gear (2134b) are formed to mesh with each other so that when one side rotates, they rotate together in opposite directions. Meanwhile, the first actuation gear (2134a) and the first yaw gear (2124a) are formed to mesh with each other so that when one side rotates, they rotate together in opposite directions. Meanwhile, the second actuation gear (2134b) and the second yaw gear (2124b) are formed to mesh with each other so that when one side rotates, they rotate together in opposite directions.

[0295] At this time, the example described in FIG. 21(a) is a drawing of the actuation and yaw operation of the first group (121), and the handle is positioned at the top of the drawing in the operating part (110). However, in the operating part (210) of the surgical instrument (200) according to the second embodiment of the present invention, as in FIG. 31, the first actuation operating part (213a) located at the bottom of the drawing becomes the handle for moving the first group wire (230J1) for the operation of the first group (221). This is because the first yaw gear (2124a) and the first actuation gear (2134a) are meshed with each other. In FIG. 31, the first actuation rotating part (2132a) must be rotated clockwise for one actuation operation, whereas in FIG. 21(a), the handle at the top of the drawing is rotated counterclockwise. However, since both are for closing the two sets (221, 222) of the end tool (220) together, they can be said to be the same operation, and other than that, the configuration of the actual pulley and wire is the same, the surgical instrument (200) according to the second embodiment of the present invention can be said to be substantially the same as the example described in FIG. 21(a).

[0296] The pitch control unit (211) may include a pitch rotation axis (2111), a pitch pulley (211P), a pitch auxiliary pulley (211S), and a pitch frame (2113). The pitch control unit (211) is connected to the bent portion (241) of the connecting portion (240) through the pitch rotation axis (2111).

[0297] In detail, the pitch frame (2113) serves as the base frame of the pitch control unit (211), and a yaw rotation axis (2121) is rotatably coupled to one end. That is, the yaw frame (2123) is formed to be rotatable about the yaw rotation axis (2121) relative to the pitch frame (2113).

[0298] As described above, the yaw frame (2123) connects the first handle (214), the yaw rotation axis (2121), the first actuation rotation axis (2131a), and the second actuation rotation axis (2131b). Additionally, since the yaw frame (2123) is connected to the pitch frame (2113), when the pitch frame (2113) rotates around the pitch rotation axis (2111), the yaw frame (2123), the first handle (214), the yaw rotation axis (2121), the first actuation rotation axis (2131a), and the second actuation rotation axis (2131b) connected to the pitch frame (2113) rotate together. That is, when the pitch operating part (211) rotates around the pitch rotation axis (2111), the actuation operating part (213) and the yaw operating part (212) rotate together with the pitch operating part (211). In other words, when the user pitch-rotates the first handle (214) around the pitch rotation axis (2111), the actuation control unit (213), the yaw control unit (212), and the pitch control unit (211) move together.

[0299] A pitch rotation axis (2111) and a pitch pulley (211P) are coupled to the pitch frame (2113). At this time, the pitch pulley (211P) is coupled to the pitch rotation axis (2111) so that it can rotate around the pitch rotation axis (2111). A pitch auxiliary pulley (211S) is formed on one side of the pitch pulley (211P).

[0300] The connection relationships between the first handle (214), the pitch control unit (211), the yaw control unit (212), and the actuation control unit (213) are summarized as follows. An actuation rotation axis (2131a) (2131b), a yaw rotation axis (2121), and a pitch rotation axis (2111) may be formed on the first handle (214). At this time, since the actuation rotation axis (2131a) (2131b) is formed directly on the first handle (214), the first handle (214) and the actuation control unit (213) may be directly connected. Meanwhile, since the yaw rotation axis (2121) is formed directly on the first handle (214), the first handle (214) and the yaw control unit (212) may be directly connected. On the other hand, since the pitch control unit (211) is formed to be connected to the yaw control unit (212) on one side of the yaw control unit (212), the pitch control unit (211) is not directly connected to the first handle (214), and the pitch control unit (211) and the first handle (214) can be formed to be indirectly connected through the yaw control unit (212).

[0301] Below, the components for transmitting the operation of the control unit (210) to the end tool (220) will be described in more detail.

[0302] The first row wire (230J1) controlling the operation of the first row (221) of the end tool (220) is fixedly connected to a point on the first row yaw pulley (212P1) of the operating unit (210) and wound around the first row yaw pulley (212P1). Likewise, the second row wire (230J2) controlling the operation of the second row (222) of the end tool (220) is fixedly connected to a point on the second row yaw pulley (212P2) of the operating unit (210) and wound around the second row yaw pulley (212P2).

[0303] As described in FIG. 21, the yaw motion and actuation motion of the end tool (220) are controlled through the rotation of the first yaw pulley (212P1) and the second yaw pulley (212P2). That is, the first yaw pulley (212P1) and the second yaw pulley (212P2) rotate in the same direction, so that the first yaw (221) and the second yaw (222) rotate in the same direction, and consequently, the first yaw (221) and the second yaw (222) actuate in different directions.

[0304] To this end, a structure is required that allows the first yaw pulley (212P1) and the second yaw pulley (212P2) to rotate in the same direction or in different directions depending on the user's yaw operation and actuation operation.

[0305] To this end, the first yaw pulley (212P1) and the second yaw pulley (212P2) are configured to rotate around the same yaw rotation axis (2121), and the first yaw pulley (212P1) and the second yaw pulley (212P2) are connected to each other by one or more gears.

[0306] In detail, the first yaw gear (2124a), which is fixedly coupled to the first yaw pulley (212P1) and can rotate together around the yaw rotation axis (2121), is connected to the first actuation gear (2134a) so as to mesh with it, and the first actuation gear (2134a) is fixedly coupled to the first actuation operating part (213a) so as to rotate together around the first actuation rotation axis (2131a). The first actuation gear (2134a) is connected to the second actuation gear (2134b) so as to mesh with it, and the second actuation gear (2134b) is fixedly coupled to the second actuation operating part (213b) so as to rotate together around the second actuation rotation axis (2131b). The second actuation gear (2134b) is connected to mesh with the second yaw gear (2124b), and the second yaw gear (2124b) is fixedly coupled with the second jaw yaw pulley (212P2) so as to rotate together around the yaw rotation axis (2121).

[0307] Through this configuration, the actuation operation of rotating the first actuation operating part (213a) and the second actuation operating part (213b) in opposite directions results in the first jaw pulley (212P1) and the second jaw pulley (212P2) rotating in opposite directions, thereby causing the first jaw (221) and the second jaw (222) of the end tool (220) to rotate in opposite directions.

[0308] The first handle (214) is directly connected to the yaw frame (2123), and the first actuation operating part (213a) and the second actuation operating part (213b) are also connected to the yaw frame (2123). That is, when the first handle (214) is rotated around the yaw rotation axis (2121), the yaw frame (2123), the first actuation operating part (213a), the second actuation operating part (213b), the first actuation gear (2134a), and the second actuation gear (2134b) rotate together around the yaw rotation axis (2121), and as a result, the first yaw gear (2124a), the second yaw gear (2124b), the first jaw yaw pulley (212P1), and the second jaw yaw pulley (212P2) rotate in the same direction around the yaw rotation axis (2121). Through this, the first section (221) and the second section (222) of the end tool (220) rotate in the same direction.

[0309] That is, through the configuration of one or more gears, the first actuation operating unit (213a) and the second actuation operating unit (213b) can be rotated in opposite directions by the same amount of rotation, and consequently, the first yaw pulley (212P1) and the second yaw pulley (212P2) can be rotated in opposite directions. In addition, the first yaw pulley (212P1) and the second yaw pulley (212P2) can be rotated in the same direction by the yaw rotation of the operating unit (210).

[0310] A structure that allows the first yaw pulley (212P1) and the second yaw pulley (212P2) to rotate by both actuation and yaw operations, and specifically allows the first yaw pulley (212P1) and the second yaw pulley (212P2) to rotate in different ways by actuation and yaw operations, may be achieved using various methods such as a link structure in addition to the method of using gears.

[0311] The actuation, yaw, and pitch movements in this embodiment are described as follows.

[0312] First, the actuation operation is as follows.

[0313] Since the first actuation gear (2134a) that rotates together with the first actuation operating part (213a) and the second actuation gear (2134b) that rotates together with the second actuation operating part (213b) are formed to mesh with each other, when either the first actuation operating part (213a) or the second actuation operating part (213b) rotates, the other one also rotates together.

[0314] When the first actuation operating unit (213a) and the first actuation gear (2134a) rotate clockwise, the first yaw gear (2124a) formed to mesh with the first actuation gear (2134a) rotates counterclockwise. Additionally, when the first actuation operating unit (213a) and the first actuation gear (2134a) rotate clockwise, the second actuation gear (2134b) formed to mesh with the first actuation gear (2134a) rotates counterclockwise, and the second yaw gear (2124b) formed to mesh with the second actuation gear (2134b) rotates clockwise.

[0315] As a result, the first yaw pulley (212P1) connected to the first yaw gear (2124a) and the second yaw pulley (212P2) connected to the second yaw gear (2124b) rotate in opposite directions, and thus the first set (221) connected to the first yaw pulley (212P1) and the second set (222) connected to the second yaw pulley (212P2) rotate in opposite directions, thereby performing an actuation motion.

[0316] Next, this operation is as follows.

[0317] Meanwhile, when the first handle (214) is rotated in one direction around the yaw rotation axis (2121) for this operation, the actuation operating part (213) formed at one end of the first handle (214) also rotates around the yaw rotation axis (2121) together with the first handle (214).

[0318] At this time, since the entire actuation operating unit (213) rotates around the yaw rotation axis (2121), the first actuation gear (2134a) and the second actuation gear (2134b) do not rotate relative to each other, and therefore the first yaw gear (2124a) and the second yaw gear (2124b), which are respectively engaged with the first actuation gear (2134a) and the second actuation gear (2134b), also do not rotate relative to each other.

[0319] That is, the first handle (214), the actuation operating part (213), the first actuation gear (2134a), the second actuation gear (2134b), the first yaw gear (2124a), and the second yaw gear (2124b) rotate simultaneously around the yaw rotation axis (2121) as if they were a single rigid body. Accordingly, the first jaw yaw pulley (212P1) connected to the first yaw gear (2124a) and the second jaw yaw pulley (212P2) connected to the second yaw gear (2124b) rotate together in one direction, and thus, a yaw motion is performed in which the first jaw (221) and the second jaw (222) rotate in the same direction.

[0320] Next, the pitch motion is as follows.

[0321] When the user rotates the first handle (214) around the pitch rotation axis (2111) while holding the first handle (214), the actuation operating unit (213), the yaw operating unit (212), and the pitch operating unit (211) rotate pitch around the pitch rotation axis (2111). That is, when the first yaw pulley (212P1) of the yaw operating unit (212), to which the first yaw wire (230J1) is fixedly coupled, rotates around the pitch rotation axis (2111), the first yaw wire (230J1) wound on the pitch pulley (211P) moves. Likewise, when the second jaw yaw pulley (212P2) of the yaw operating part (212), to which the second jaw wire (230J2) is fixedly connected, rotates around the pitch rotation axis (2111), the second jaw wire (230J2) wound on the pitch pulley (211P) moves. Then, this rotational force is transmitted to the end tool (220) through the power transmission part (230), and the two jaws (221) (222) of the end tool (220) perform a pitch operation.

[0322] At this time, the pitch frame (2113) is connected to the yaw frame (2123), and since the yaw frame (2123) is connected to the first handle (214), the yaw rotation axis (2121), the first actuation rotation axis (2131a), and the second actuation rotation axis (2131b), when the pitch frame (2113) rotates around the pitch rotation axis (2111), the yaw frame (2123), the first handle (214), the yaw rotation axis (2121), the first actuation rotation axis (2131a), and the second actuation rotation axis (2131b) connected to the pitch frame (2113) rotate together. That is, when the pitch operating part (211) rotates around the pitch rotation axis (21111), the actuation operating part (213) and the yaw operating part (212) rotate together with the pitch operating part (211).

[0323] In summary, a surgical instrument (200) according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first wire or second wire) is wound around the pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired operation of the end tool (220). Furthermore, auxiliary pulleys may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times.

[0324] <Third Embodiment of a Surgical Instrument>

[0325] Hereinafter, a surgical instrument (300) according to the third embodiment of the present invention will be described. Here, the surgical instrument (300) according to the third embodiment of the present invention is characterized by a different configuration of the operating part (310) of the surgical instrument (300) compared to the surgical instrument according to the second embodiment of the present invention described above (see 200 in FIG. 32). The configuration that is different from the second embodiment will be described in detail.

[0326] FIG. 41 is a perspective view showing a surgical instrument according to a third embodiment of the present invention, FIG. 42 is a plan view of the surgical instrument of FIG. 41, and FIG. 43 is a perspective view showing the operating part of the surgical instrument of FIG. 42.

[0327] Referring to FIGS. 41, 42 and 43, the surgical instrument (300) according to the third embodiment of the present invention has a different actuation operating part and a yaw operating part composed of the first yaw gear, second yaw gear, first actuation gear and second actuation gear, etc. of the second embodiment, but the resulting operation mechanism is the same.

[0328] The actuation control unit (313) includes a first actuation control unit (313a) and a second actuation control unit (313b). The first actuation control unit (313a) includes a first actuation rotation unit (3132a) and a first actuation gear (3134a). The second actuation control unit (313b) includes a second actuation rotation unit (3132b) and a second actuation gear (3134b). Here, the first actuation rotation unit (3132a) and the second actuation rotation unit (3132b) can operate as a second handle. Additionally, the actuation control unit (313) further includes a third actuation gear (3134c).

[0329] Meanwhile, the first actuation rotation part (3132a) and the first actuation gear (3134a) may be fixedly coupled to each other so as to be able to rotate together around the yaw rotation axis (3121). Likewise, the second actuation rotation part (3132b) and the second actuation gear (3134b) may be fixedly coupled to each other so as to be able to rotate together around the yaw rotation axis (3121).

[0330] Here, the first actuation gear (3134a) and the second actuation gear (3134b) are formed to mesh with each other by the third actuation gear (3134c), so that when one side rotates, they rotate together in opposite directions.

[0331] The yaw control unit (312) may include a yaw rotation axis (3121), a first yaw pulley (312P1), and a second yaw pulley (312P2). The first yaw pulley (312P1) and the second yaw pulley (312P2) are connected to the yaw rotation axis (3121) so as to be rotatable around the yaw rotation axis (3121). The first yaw pulley (312P1) may be fixedly coupled to the first actuation gear (3134a) to rotate together, and the second yaw pulley (312P2) may be fixedly coupled to the second actuation gear (3134b) to rotate together. Additionally, a first yaw wire (330J1) may be wound around the first yaw pulley (312P1), and a second yaw wire (330J2) may be wound around the second yaw pulley (312P2). At this time, the first yaw pulley (312P1) and the second yaw pulley (312P2) may each be formed to face each other and consist of two pulleys that can rotate independently. The rotation axis of the third actuation gear (3134c) is connected to the first handle (314), so that when the first handle (314) rotates, the third actuation gear (3134c) can also rotate together.

[0332] The actuation and yaw operations in this embodiment are described as follows.

[0333] First, the actuation operation will be explained. FIGS. 46 and FIGS. 47 are drawings showing the actuation operation of the surgical instrument of FIG. 41.

[0334] Referring to FIGS. 46 and 47, the first actuation gear (3134a) that rotates together with the first actuation rotation part (3132a) and the second actuation gear (3134b) that rotates together with the second actuation rotation part (3132b) are formed to mesh with each other through the third actuation gear (3134c), so that when either the first actuation rotation part (3132a) or the second actuation rotation part (3132b) rotates, the other one also rotates together. When the first actuation rotation part (3132a) and the first actuation gear (3134a) rotate in the direction of arrow A1 around the yaw rotation axis (3121), the third actuation gear (3134c), formed to mesh with the first actuation gear (3134a), rotates, and when the third actuation gear (3134c) rotates, the second actuation gear (3134b), formed to mesh with the third actuation gear (3134c), rotates in the direction of A2 around the yaw rotation axis (3121).

[0335] As a result, the first yaw pulley (312P1) connected to the first actuation gear (3134a) and the second yaw pulley (312P2) connected to the second actuation gear (3134b) rotate in opposite directions, and thus the first yaw (321) connected to the first yaw pulley (312P1) and the second yaw (322) connected to the second yaw pulley (312P2) rotate in opposite directions, thereby performing an actuation motion.

[0336] Next, the yaw motion is described. FIGS. 44 and FIGS. 45 are drawings showing the yaw motion of the surgical instrument of FIG. 41.

[0337] Referring to FIGS. 44 and 45, when the first handle (314) is rotated around the yaw rotation axis (3121), the third actuation gear center axis (3134c1) connected to the first handle (314) rotates around the yaw rotation axis (3121), and the third actuation gear (3134c) formed on the third actuation gear center axis (3134c1) revolves around the yaw rotation axis (3121). Accordingly, the first actuation gear (3134a) and the second actuation gear (3134b) connected to the third actuation gear (3134c) rotate simultaneously in the direction of the arrow Y.

[0338] Then, the first yaw pulley (312P1) connected to the first actuation gear (3134a) and the second yaw pulley (312P2) connected to the second actuation gear (3134b) rotate in the same direction, and thus the first set (321) connected to the first yaw pulley (312P1) and the second set (322) connected to the second yaw pulley (312P2) rotate in the same direction, thereby performing yaw motion.

[0339] Since the configuration and operational characteristics of other parts are the same as those of the second embodiment, a detailed description thereof will be omitted.

[0340] <Fourth Embodiment of a Surgical Instrument>

[0341] Hereinafter, a surgical instrument (400) according to the fourth embodiment of the present invention will be described. Here, the surgical instrument (400) according to the fourth embodiment of the present invention is characterized by a different configuration of the operating part (410) of the surgical instrument (400) compared to the surgical instrument according to the third embodiment of the present invention described above (see 300 in FIG. 41). The configuration that is different from the third embodiment will be described in detail.

[0342] FIG. 48 is a perspective view showing the operation of a surgical instrument according to a fourth embodiment of the present invention, and FIG. 49 is a drawing showing the actuation operation of a surgical instrument according to a fourth embodiment of the present invention.

[0343] The surgical instrument (400) according to the fourth embodiment of the present invention differs from the third embodiment in that the actuation operating part (413) and the yaw operating part (412), which are composed of a first actuation gear (4124a), a second actuation gear (4124b), and a third actuation gear (4134), are different. In the third embodiment, the first actuation rotating part (3132a) is fixedly coupled to the first actuation gear (3134a), and the second actuation rotating part (3132b) is fixedly coupled to the second actuation gear (3134b). On the other hand, the difference in the fourth embodiment is that the first actuation rotating part (4132) is fixedly coupled to the third actuation gear (4134). In addition, the fourth embodiment has the difference that the actuation operation is performed solely by the rotation of the first actuation rotation part (4132). For convenience of explanation, the first actuation gear, second actuation gear, third actuation gear, and first actuation rotation part of the third embodiment are respectively referred to as the first yaw gear, second yaw gear, actuation gear, and actuation rotation part in the fourth embodiment.

[0344] The actuation and yaw operations in this embodiment are described as follows.

[0345] First, the actuation operation will be explained. FIG. 49 is a diagram showing the actuation operation of the surgical instrument of FIG. 48.

[0346] When the actuation rotation part (4132) and the actuation gear (4134) connected thereto rotate in the direction of arrow A of FIG. 49, the first yaw gear (4124a) and the second yaw gear (4124b), which are formed to mesh with the actuation gear (4134) respectively, rotate in opposite directions around the yaw rotation axis (4121).

[0347] As a result, the first yaw pulley (412P1) fixedly coupled to the first yaw gear (4124a) and the second yaw pulley (412P2) fixedly coupled to the second yaw gear (4124b) rotate in opposite directions, and thus the first set (421) connected to the first yaw pulley (412P1) and the second set (422) connected to the second yaw pulley (412P2) rotate in opposite directions, thereby performing an actuation motion.

[0348] Next, we will explain the yaw motion.

[0349] When the first handle (414) is rotated around the yaw rotation axis (4121), the actuation gear center axis (4134A) connected to the first handle (414) rotates around the yaw rotation axis (4121), and the actuation gear (4134) formed on the actuation gear center axis (4134A) revolves around the yaw rotation axis (4121). Accordingly, the first yaw gear (4124a) and the second yaw gear (4124b) connected to the actuation gear (4134) rotate simultaneously in the same direction, in the direction of the arrow Y.

[0350] Then, the first yaw pulley (412P1) fixedly coupled to the first yaw gear (4124a) and the second yaw pulley (412P2) fixedly coupled to the second gear (335G2) rotate in the same direction, and thus the first set (421) connected to the first yaw pulley (412P1) and the second set (422) connected to the second yaw pulley (412P2) rotate in the same direction, thereby performing yaw motion.

[0351] Since the configuration and operational characteristics of other parts are identical to those of the third embodiment, a detailed description thereof will be omitted.

[0352] <Fifth Example of a Surgical Instrument>

[0353] Hereinafter, a surgical instrument (500) according to the fifth embodiment of the present invention will be described. Here, the surgical instrument (500) according to the fifth embodiment of the present invention is characterized by a different configuration of the operating part (510) of the surgical instrument (500) compared to the surgical instrument according to the second embodiment of the present invention described above (see 200 in FIG. 32). The configuration that is different from the second embodiment will be described in detail.

[0354] Meanwhile, the surgical instrument (500) according to the fifth embodiment of the present invention is an embodiment in which the modified example shown in FIG. 24 is specifically implemented. That is, the first yaw assist pulley (112S1) of FIG. 24(a) corresponds to the first yaw assist pulley (512S1) of FIG. 53, the first yaw pulley (112P1) of FIG. 24(a) corresponds to the first yaw pulley (512P1) of FIG. 53, and the first actuation pulley (113P1) of FIG. 24(a) corresponds to the first actuation pulley (not shown) of FIG. 53.

[0355] FIG. 50 is a perspective view showing a surgical instrument according to a fifth embodiment of the present invention, FIG. 51 is a plan view of the surgical instrument of FIG. 50, and FIG. 52 is a perspective view showing the operating part of the surgical instrument of FIG. 51.

[0356] The actuation operating unit (513) includes an actuation rotation axis (5131), a first actuation operating unit (513a), and a second actuation operating unit (513b). The first actuation operating unit (513a) includes a first actuation rotation axis (5131a), a first actuation rotation part (5132a), and a first actuation gear (5134a). The second actuation operating unit (513b) includes a second actuation rotation axis (5131b), a second actuation rotation part (5132b), and a second actuation gear (5134b). Here, the first actuation rotation part (5132a) and the second actuation rotation part (5132b) can be operated as a second handle.

[0357] At this time, the first actuation rotation part (5132a) and the first actuation gear (5134a) may be fixedly coupled to each other so as to be able to rotate together around the first actuation rotation axis (5131a). Similarly, the second actuation rotation part (5132b) and the second actuation gear (5134b) may be fixedly coupled to each other so as to be able to rotate together around the second actuation rotation axis (5131b).

[0358] Meanwhile, the first actuation gear (5134a) and the second actuation gear (5134b) are formed to mesh with each other, so that when one side rotates, they rotate together in opposite directions.

[0359] The actuation rotation axis (5131) includes a third actuation gear (5134c) and a fourth actuation gear (5134d) formed to be independently rotatable around the actuation rotation axis (5131).

[0360] Additionally, a third actuation pulley (not shown) that is fixedly coupled to the third actuation gear (5134c) and rotates together may be formed on one side of the third actuation gear (5134c), and a fourth actuation pulley (5133d) that is fixedly coupled to the fourth actuation gear (5134d) and rotates together may be formed on one side of the fourth actuation gear (5134d).

[0361] The first actuation gear (5134a) and the third actuation gear (5134c) are formed to mesh with each other so that when one side rotates, they rotate together in opposite directions. Meanwhile, the second actuation gear (5134b) and the fourth actuation gear (5134d) are formed to mesh with each other so that when one side rotates, they rotate together in opposite directions.

[0362] Meanwhile, a first yaw pulley (512P1) is formed on one side of the third actuation gear (5134c) and the third actuation pulley (not shown), and the third actuation pulley (not shown) and the first yaw pulley (512P1) are connected via a first yaw wire (530J1), so that when the third actuation gear (5134c) rotates, the first yaw pulley (512P1) can rotate together. At this time, the first yaw wire (530J1) is wound to be fixedly coupled to a point on the third actuation pulley (not shown) and is wound crosswise on the first yaw pulley (512P1), so that the first yaw pulley (512P1) can rotate in the opposite direction to the rotation of the third actuation pulley (not shown).

[0363] Additionally, a second yaw pulley (512P2) is formed on one side of the fourth actuation gear (5134d) and the fourth actuation pulley (5133d), and the fourth actuation pulley (5133d) and the second yaw pulley (512P2) are connected via a second yaw wire (530J2), so that when the fourth actuation gear (5134d) rotates, the second yaw pulley (512P2) can rotate together. At this time, the second yaw wire (530J2) is wound to be fixedly coupled to one end of the fourth actuation pulley (5133d) and is wound crosswise around the second yaw pulley (512P2), so that the second yaw pulley (512P2) can rotate in the opposite direction to the rotation of the fourth actuation pulley (5133d).

[0364] At this time, the first yaw pulley (512P1) and the second yaw pulley (512P2) are formed to be able to rotate independently around the yaw rotation axis (5121).

[0365] The yaw control unit (512) may include a yaw rotation axis (5121), a first yaw pulley (512P1), and a second yaw pulley (512P2). The pitch control unit (511) may include a pitch rotation axis (5111), a pitch pulley (511P), a pitch auxiliary pulley (211S), and a pitch frame (5113). The pitch control unit (511) is connected to the bent portion (541) of the connecting portion (540) through the pitch rotation axis (5111).

[0366] The actuation, yaw, and pitch movements in this embodiment are described as follows.

[0367] First, the actuation operation is as follows.

[0368] Referring to FIGS. 50 to 55, the first actuation gear (5134a) that rotates together with the first actuation operating part (513a) and the second actuation gear (5134b) that rotates together with the second actuation operating part (513b) are formed to mesh with each other, so that when either the first actuation operating part (513a) or the second actuation operating part (513b) rotates, the other one also rotates together.

[0369] When the first actuation operating part (513a) and the first actuation gear (5134a) rotate in the direction of arrow A1 around the first actuation rotation axis (5131a), the third actuation gear (5134c), which is formed to mesh with the first actuation gear (5134a), rotates in the opposite direction of A1.

[0370] Likewise, the second actuation gear (5134b), formed to mesh with the first actuation gear (5134a), rotates in the direction of arrow A2, and the fourth actuation gear (5134d), formed to mesh with the second actuation gear (5134b), rotates in the opposite direction of A2.

[0371] As a result, the third actuation pulley (not shown) fixedly coupled to the third actuation gear (5134c) and the fourth actuation pulley (5133d) fixedly coupled to the fourth actuation gear (5134d) rotate in opposite directions, and as a result, the first set (521) connected to the third actuation pulley (not shown) and the second set (522) connected to the fourth actuation pulley (5133d) rotate in opposite directions, thereby performing an actuation motion.

[0372] Here, the present embodiment is characterized by having a yaw rotation axis (5121) and an actuation rotation axis (5131) separately. In addition, the first jaw yaw pulley (512P1) and the second jaw yaw pulley (512P2) are formed to be able to rotate independently around the yaw rotation axis (5121).

[0373] That is, in the second embodiment, the first yaw gear (2124a), the second yaw gear (2124b), the first jaw yaw pulley (212P1), and the second jaw yaw pulley (212P2) are all formed on the yaw rotation axis (2121), but in this embodiment, the third actuation gear (5134c) and the fourth actuation gear (5134d) are formed on the actuation rotation axis (5131), and the first jaw yaw pulley (512P1) and the second jaw yaw pulley (512P2) are formed on the yaw rotation axis (5121).

[0374] Accordingly, in order to have the same operating characteristics as the second embodiment in this embodiment, the first jaw wire (530J1) must be crossed once between the third actuation pulley (not shown) and the first jaw yaw pulley (512P1), and the second jaw wire (530J2) must be crossed once between the fourth actuation pulley (5133d) and the second jaw yaw pulley (512P2). Only when the first jaw wire (530J1) and the second jaw wire (530J2) are crossed once in this manner will the operation of the operating part (510) and the operation of the end tool (520) intuitively match.

[0375] Next, the yaw motion is described. FIGS. 54 and FIGS. 55 are drawings showing the yaw motion of the surgical instrument of FIG. 50.

[0376] Referring to FIGS. 50 to 55, when the first handle (514) is rotated in one direction around the yaw rotation axis (5121), the actuation operating part (513) formed at one end of the first handle (514) also rotates around the yaw rotation axis (5121) together with the first handle (514). At this time, since the entire actuation operating part (513) rotates around the yaw rotation axis (5121), the first actuation gear (5134a) and the second actuation gear (5134b) do not rotate relative to each other, and therefore the third actuation gear (5134c) and the fourth actuation gear (5134d), which are respectively engaged with the first actuation gear (5134a) and the second actuation gear (5134b), also do not rotate relative to each other.

[0377] That is, the first handle (514), the actuation operating part (513), the first actuation gear (5134a), the second actuation gear (5134b), the third actuation gear (5134c), the fourth actuation gear (5134d), the first yaw pulley (512P1), and the second yaw pulley (512P2) rotate simultaneously around the yaw rotation axis (5121) as if they were a single rigid body. And, as the first yaw pulley (512P1) and the second yaw pulley (512P2) rotate together in one direction, a yaw motion is performed in which the first yaw (521) and the second yaw (522) rotate in the same direction.

[0378] Since the configuration and operational characteristics of other parts are identical to those of the second embodiment, a detailed description thereof will be omitted.

[0379] <Sixth Example of a Surgical Instrument>

[0380] Hereinafter, a surgical instrument (600) according to the sixth embodiment of the present invention will be described. Here, the surgical instrument (600) according to the sixth embodiment of the present invention is characterized by a different configuration of the operating part (610) of the surgical instrument (600) compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). The configuration that is different from the first embodiment will be explained in detail later.

[0381] FIG. 56 is a perspective view showing a surgical instrument according to a sixth embodiment of the present invention, FIG. 57 is an internal perspective view of the surgical instrument of FIG. 56, and FIG. 58 is an internal perspective view showing a wiring structure as an internal perspective view of the surgical instrument of FIG. 56. FIG. 59 is a perspective view showing the yaw operation of the surgical instrument of FIG. 56, and FIG. 60 is a perspective view showing the pitch operation of the surgical instrument of FIG. 56.

[0382] Referring to FIGS. 56 to 60, a surgical instrument (600) according to the sixth embodiment of the present invention includes an operating part (610), an end tool (620), a power transmission part (630), and a connecting part (640). Here, the connecting part (640) is formed in the shape of a hollow shaft, and one or more wires (described later) can be accommodated inside it. An operating part (610) is connected to one end of the connecting part (640), and an end tool (620) is connected to the other end, so that it can perform the function of connecting the operating part (610) and the end tool (620). A bending part (641) may be formed on the side of the operating part (610) of the connecting part (640).

[0383] The operating part (610) of the surgical instrument (600) according to the sixth embodiment of the present invention includes a pitch operating part (611) for controlling the pitch movement of the end tool (620), a yaw operating part (612) for controlling the yaw movement of the end tool (620), an actuation operating part (613) for controlling the actuation movement of the end tool (620), and a first handle (614) that can be grasped by a user.

[0384] First, to illustrate the usage state of the surgical instrument (600) of FIG. 56, the user can perform pitch movement by rotating the first handle (614) around the Y-axis (i.e., pitch rotation axis (6111)) while holding the first handle (614) with their palm, perform yaw movement by rotating the first handle (614) around the Z-axis (i.e., yaw rotation axis (6121)), and perform actuation movement by rotating the actuation operation part (613) while inserting the thumb and index finger into the actuation operation part (613).

[0385] Here, the surgical instrument (600) according to the sixth embodiment of the present invention is formed such that the yaw control part (612) is spaced significantly apart from the first handle (614) compared to the first embodiment. That is, while the actuation control part (613) and the pitch control part (611) are formed on the first handle (614) and are formed relatively close to the first handle (614), the yaw control part (612) is connected to the pitch rotation axis (6111) of the pitch control part (611) through an I-shaped yaw frame (6123), and the yaw control part (612) and the bending part (641) are connected by the yaw rotation axis (6121) on one side of the bending part (641), so that the yaw control part (612) is spaced apart from the first handle (614) in the Z-axis direction by the length of the yaw frame (6123). In other words, the yaw rotation axis (6121) is formed on the upper side in the Z-axis direction rather than on the side of the actuation control unit (613), and a plurality of pulleys are arranged between the yaw rotation axis (6121) and the actuation control unit (613), so that when a user rotates the first handle (614) yaw, the first handle (614), the actuation control unit (613), and the pitch control unit (611) can rotate together around the yaw rotation axis (6121).

[0386] In the first embodiment, the joint configuration of the operating part for manipulating the operation of the end tool is connected in the order of pitch joint and yaw joint. That is, the wire connected for power transmission of the end tool passes through the connecting part and the bending part, is first connected to the pitch joint of the operating part, and then connected to the yaw joint.

[0387] However, in the case of the sixth embodiment, the order of joint configuration of the operating part differs from that of the first embodiment, being connected in the order of the yaw joint and the pitch joint. That is, in terms of the connection configuration with the end tool, the major difference is that the yaw operating part is formed first, and then the pitch operating part and the actuation operating part are formed on the yaw operating part.

[0388] However, the sixth embodiment, like the first embodiment, has the same feature that the end tool rotates in the same direction as the operation direction of the control part intuitively. That is, as described in FIG. 1, when the user moves the handle for actuation rotation, pitch rotation, and yaw rotation, the rotation axis of the control part for the corresponding rotation is located at the rear (towards the user), just like the end tool. In detail, the first handle (614) is formed so that the user can grip it with their hand, and in particular, it can be formed so that the user can wrap their palm around and grip the first handle (614). Then, an actuation control part (613) is formed on the first handle (614), and a pitch control part (611) is formed on one side of the actuation control part (613). Additionally, the pitch control unit (611) is connected to the yaw control unit (612) through the yaw frame (6123), and one side of the yaw frame (6123) is connected to the pitch rotation axis (6111), and the other side is connected to the yaw rotation axis (6121).

[0389] The actuation operating unit (613) includes a first actuation operating unit (613a) and a second actuation operating unit (613b). The first actuation operating unit (613a) includes a first actuation rotation axis (6131a), a first actuation rotation part (6132a), a first actuation pulley (613P1), and a first actuation gear (6134a). The second actuation operating unit (613b) includes a second actuation rotation axis (6131b), a second actuation rotation part (6132b), a second actuation pulley (613P2), and a second actuation gear (6134b). Here, the first actuation rotation part (6132a) and the second actuation rotation part (6132b) can operate as a second handle.

[0390] Meanwhile, the first actuation rotation part (6132a), the first actuation pulley (613P1), and the first actuation gear (6134a) may be fixedly coupled to each other and formed to rotate together around the first actuation rotation axis (6131a).

[0391] Likewise, the second actuation rotation part (6132b), the second actuation pulley (613P2), and the second actuation gear (6134b) can be fixedly coupled to each other and formed to rotate together around the second actuation rotation axis (6131b).

[0392] Here, the first actuation gear (6134a) and the second actuation gear (6134b) are formed to mesh with each other, so that when one side rotates, they rotate together in opposite directions.

[0393] The pitch control unit (611) may include a pitch rotation axis (6111), a plurality of pitch pulleys (611P), a plurality of pitch auxiliary pulleys (611S), and a pitch frame (6113). Additionally, the pitch control unit (611) may further include a plurality of pitch wire pitch pulleys (611PP), pitch wire pitch auxiliary pulleys (611PS), and pitch wire pitch return pulleys (611PR).

[0394] A pitch rotation axis (6111) and a pitch pulley (611P) are coupled to the pitch frame (6113). At this time, the pitch pulley (611P) is connected to the pitch rotation axis (6111) so that it can rotate around the pitch rotation axis (6111).

[0395] The pitch frame (6113) serves as the base frame of the pitch control unit (611) and connects the pitch rotation axis (6111), the first actuation rotation axis (6131a), and the second actuation rotation axis (6131b), thereby enabling the first handle (614), the actuation control unit (613), and the pitch control unit (611) to rotate together around the pitch rotation axis (6111). That is, when the first handle (614) rotates around the pitch rotation axis (6111), the first actuation rotation axis (6131a) and the second actuation rotation axis (6131b) connected to the first handle (614) rotate together. In other words, when the user pitch-rotates the first handle (614) around the pitch rotation axis (6111), the actuation control unit (613) moves together with the first handle (614).

[0396] The yaw control unit (612) may include a yaw rotation axis (6121), a first yaw pulley (612P1), a second yaw pulley (612P2), and a yaw frame (6123). Additionally, the yaw control unit (612) may further include a first yaw auxiliary pulley (612S1) formed on one side of the first yaw pulley (612P1) and a second yaw auxiliary pulley (612S2) formed on one side of the second yaw pulley (612P2).

[0397] In detail, the yaw frame (6123) serves as the base frame of the yaw control unit (612) and can be formed as an I-shaped frame. One side of the yaw frame (6123) is connected to the pitch rotation axis (6111), and the other side is connected to the yaw rotation axis (6121). Additionally, the yaw frame (6123) and the bent portion (641) of the extension unit (640) are formed to be rotatable relative to each other around the yaw rotation axis (6121).

[0398] Additionally, on one side of each of the first yaw pulley (612P1), first yaw auxiliary pulley (612S1), second yaw pulley (612P2), and second yaw auxiliary pulley (612S2), a first pitch wire yaw pulley (612PP1), a first pitch wire yaw auxiliary pulley (612PS1), a second pitch wire yaw pulley (612PP2), and a second pitch wire yaw auxiliary pulley (612PS2) may be further formed, on which a pitch wire (630P) is wound.

[0399] Here, the drawing shows that the first yaw pulley (612P1) and second yaw pulley (612P2), the first yaw auxiliary pulley (612S1), the second yaw auxiliary pulley (612S2), the first pitch wire yaw pulley (612PP1), the first pitch wire yaw auxiliary pulley (612PS1), the second pitch wire yaw pulley (612PP2), and the second pitch wire yaw auxiliary pulley (612PS2) of the yaw operating unit (612) each have two pulleys, but the concept of the present invention is not limited thereto. That is, one or more pulleys with the same or different diameters may be provided depending on the configuration of the yaw operating unit (612).

[0400] In detail, a yaw rotation axis (6121) is inserted through the bending section (641), the yaw frame (6123), the first jaw yaw pulley (612P1), and the second jaw yaw pulley (612P2). Thus, the yaw frame (6123) is formed to be rotatable about the bending section (641) around the yaw rotation axis (6121). The pitch frame (6113) is coupled with the actuation operating section (613), and the actuation operating section (613) is coupled with the first handle (614). Consequently, when the first handle (614) is rotated about the yaw rotation axis (6121), the first handle (614), the actuation operating section (613), the pitch frame (6113), and the yaw frame (6123) rotate together about the bending section (641).

[0401] Through this configuration, the rotation axis of the yaw joint and the rotation axis of the pitch joint of the operating part can be placed close together, such as intersecting as shown in FIG. 57, and as a result, it has the effect of providing a more natural and intuitive operating sensation to the user.

[0402] Meanwhile, the first yaw pulley (612P1) and the second yaw pulley (612P2) are connected to the yaw rotation axis (6121) so that they can rotate around the yaw rotation axis (6121). Additionally, the first yaw wire (630J1) can be wound on the first yaw pulley (612P1), and the second yaw wire (630J2) can be wound on the second yaw pulley (612P2). At this time, the first yaw pulley (612P1) and the second yaw pulley (612P2) can each be formed to face each other and configured as two pulleys that can rotate independently. Therefore, the wire being wound in and the wire being wound out can be wound on the separate pulleys respectively, allowing them to operate without interfering with each other.

[0403] Likewise, the first auxiliary pulley (612S1) and the second auxiliary pulley (612S2) may each be composed of two pulleys formed to face each other and capable of rotating independently. Thus, the incoming wire and the outgoing wire can be wound onto the separate pulleys respectively, allowing them to operate without interfering with each other.

[0404] The connection relationships between the first handle (614), the pitch control unit (611), the yaw control unit (612), and the actuation control unit (613) are summarized as follows. An actuation rotation axis (6131a) (6131b), a yaw rotation axis (6121), and a pitch rotation axis (6111) may be formed on the first handle (614). At this time, since the actuation rotation axis (6131a) (6131b) is formed directly on the first handle (614), the first handle (614) and the actuation control unit (613) may be directly connected. Meanwhile, since the pitch rotation axis (6111) is formed directly on the first handle (614), the first handle (614) and the pitch control unit (611) may be directly connected. On the other hand, since the yaw control unit (612) is formed to be connected to the pitch control unit (611) and the yaw frame (6123), the yaw control unit (612) is not directly connected to the first handle (614), and the yaw control unit (612) can be formed to be indirectly connected to the first handle (614) through the pitch control unit (611).

[0405] The actuation, yaw, and pitch movements in this embodiment are described as follows.

[0406] First, the actuation operation is as follows.

[0407] When a user inserts an index finger into the first actuation rotation part (6132a) and a thumb into the second actuation rotation part (6132b), and rotates the actuation rotation part (6132a) (6132b) using either one finger or both fingers, the first actuation pulley (613P1) and the first actuation gear (6134a) fixedly coupled to the first actuation rotation part (6132a) rotate around the first actuation rotation axis (6131a), and the second actuation pulley (6133b) and the second actuation gear (6134b) fixedly coupled to the second actuation rotation part (6132b) rotate around the second actuation rotation axis (6131b). At this time, the first actuation pulley (613P1) and the second actuation pulley (613P2) rotate in opposite directions, and thus the first jaw wire (630J1), with one end fixedly connected to the first actuation pulley (613P1), and the second jaw wire (630J2), with one end fixedly connected to the second actuation pulley (613P2), also move in opposite directions. Then, this rotational force is transmitted to the end tool (620) through the power transmission unit (630), and the two jaws (621) (622) of the end tool (620) perform an actuation operation.

[0408] Next, the pitch motion is as follows.

[0409] Referring to FIGS. 57 and 60, when the user rotates the first handle (614) around the pitch rotation axis (6111) while holding the first handle (614), the actuation operating unit (613) pitches together around the pitch rotation axis (6111). That is, when the first actuation pulley (613P1) of the first actuation operating unit (613a), to which the first pair wire (630J1) is fixedly coupled, rotates around the pitch rotation axis (6111), the two strands (630J1R, 630J1L) of the first pair wire (630J1) wound around the pitch pulley (611P) move in the same direction. Likewise, when the second actuation pulley (613P2) of the second actuation operating unit (613b), to which the second jaw wire (630J2) is fixedly coupled, rotates around the pitch rotation axis (6111), the two strands (630J2R, 630J2L) of the second jaw wire (630J2) wound on the pitch pulley (611P) move in the same direction. Then, this rotational force is transmitted to the end tool (620) through the power transmission unit (630), and the two jaws (621) (622) of the end tool (620) perform a pitch operation.

[0410] Meanwhile, as shown in FIG. 58, a pitch pulley (623P) and a pitch wire (630P) are formed in the end tool (620) so that the pitch operation of the end tool (620) can be performed more easily according to the pitch operation of the operating part (610).

[0411] Both strands (630PL) (630PR) of the pitch wire (630P) pass through the yaw section (612) and the pitch section (611) and are wound onto each pitch wire pitch return pulley (611PR), and then pass through the pitch section (611) and the yaw section (612) again to be fixedly connected to one point of each bending section.

[0412] When the user pitch-rotates the first handle (614) around the pitch rotation axis (6111), the pitch wire pitch return pulley (611PR) also rotates around the pitch rotation axis (611). At this time, the two strands (630PL) (630PR) of the pitch wire (630P) are formed to be wound in opposite directions around the corresponding pitch wire pitch pulley (611PP) which is formed to rotate around the pitch rotation axis (611). Consequently, the two strands (630PL) (630PR) of the pitch wire (630P) that are close to the end tool (620) move in opposite directions, thereby enabling the transmission of additional pitch rotation power separately from the pitch operation of the end tool (620) by the first jaw wire (630J1) and the second jaw wire (630J2).

[0413] Next, this operation is as follows.

[0414] Referring to FIGS. 57 and 59, when the user rotates the first handle (614) around the yaw rotation axis (6121) while holding the first handle (614), the actuation operating unit (613), the pitch operating unit (611), and the yaw operating unit (612) rotate yaw around the yaw rotation axis (6121). That is, when the first actuation pulley (613P1) of the first actuation operating unit (613a), to which the first jaw wire (630J1) is fixedly coupled, rotates around the yaw rotation axis (6121), the first jaw wire (630J1) wound around the first jaw yaw pulley (612P1) moves. Likewise, when the second actuation pulley (613P2) of the second actuation operating unit (613b), to which the second jaw wire (630J2) is fixedly connected, rotates around the yaw rotation axis (6121), the second jaw wire (630J2) wound around the second jaw yaw pulley (612P2) moves. At this time, the first jaw wire (630J1) connected to the first jaw (621) and the second jaw wire (630J2) connected to the second jaw (622) can be configured so that the first jaw (621) and the second jaw (622) rotate in the same direction during yaw rotation. Then, such rotational force is transmitted to the end tool (620) through the power transmission unit (630), and the two jaws (621) (622) of the end tool (620) perform the yaw operation.

[0415] Meanwhile, the pitch wire (630P) formed to facilitate pitch operation must not affect the operation of the end tool (620) during the yaw operation of the operating part (610). That is, both strands (630PL) (630PR) of the pitch wire (630P) must not move toward the end tool (620) during the yaw operation of the operating part (620).

[0416] Each of the two strands (630PL) (630PR) of the pitch wire (630P) disclosed in the sixth embodiment is formed to extend from the end tool (620), and is wound crosswise around the pitch wire yaw pulley (612PP1) (612PP2) and the pitch wire yaw auxiliary pulley (612PS1) (612PS2), passes through the pitch operating part (611) and the actuation operating part (613), and is wound crosswise again around the pitch wire yaw auxiliary pulley (612PS1) (612PS2) and the pitch wire yaw pulley (612PP1) (612PP2), and is finally fixedly coupled to one point of the bending part (641). At this time, the direction in which each (630PL) (630PR) of the pitch wire (630P) winds into the pitch wire yaw pulley (612PP1) (612PP2) and the direction in which it winds out are opposite to each other.

[0417] Accordingly, when the user rotates the first handle (614) around the yaw rotation axis (6121), the pitch wire (630P) formed towards the pitch operation part (611) by being wound around the pitch wire yaw pulley (612PP1) (612PP2) moves, but the pitch wire (630P) formed towards the end tool (620) by being wound around the pitch wire yaw pulley (612PP1) (612PP2), that is, the part that is wound into the pitch wire yaw pulley (612PP1) (612PP2) from the end tool (620) and the part that is wound out from the pitch wire yaw pulley (612PP1) (612PP2) to the aforementioned fixed point of the bending part (641) does not move, and consequently, the operation of the end tool (620) is not affected.

[0418] In summary, a surgical instrument (600) according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first wire or second wire) is wound around the pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired operation of the end tool (620). Furthermore, auxiliary pulleys may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times.

[0419] <Seventh Embodiment of a Surgical Instrument>

[0420] Hereinafter, a surgical instrument (700) according to the seventh embodiment of the present invention will be described. Here, the surgical instrument (700) according to the seventh embodiment of the present invention is characterized by a different configuration of the operating part (710) of the surgical instrument (700) compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). The configuration that is different from the first embodiment will be explained in detail later.

[0421] FIG. 61 is a perspective view showing a surgical instrument according to a seventh embodiment of the present invention, FIG. 62 is a side view of the surgical instrument of FIG. 61, FIG. 63 is an internal perspective view of the surgical instrument of FIG. 61, and FIG. 65 is an internal perspective view showing a wiring structure as an internal perspective view of the surgical instrument of FIG. 61. FIG. 66 is an enlarged view of part A of FIG. 65, and FIG. 67 is a cross-sectional view cut along line CC' of FIG. 66. FIG. 68 is a perspective view showing the yaw operation of the surgical instrument of FIG. 61, and FIG. 69 is a perspective view showing the pitch operation of the surgical instrument of FIG. 61.

[0422] Referring to FIGS. 61 to 69, a surgical instrument (700) according to the seventh embodiment of the present invention includes an operating part (710), an end tool (720), a power transmission part (730), and a connecting part (740). Here, the connecting part (740) is formed in the shape of a hollow shaft, and one or more wires (described later) can be accommodated inside it. An operating part (710) is connected to one end of the connecting part (740), and an end tool (720) is connected to the other end, so that it can perform the function of connecting the operating part (710) and the end tool (720). A bending part (741) may be formed on the side of the operating part (710) of the connecting part (740).

[0423] The operating part (710) of the surgical instrument (700) according to the seventh embodiment of the present invention includes a pitch operating part (711) for controlling the pitch movement of the end tool (720), a yaw operating part (712) for controlling the yaw movement of the end tool (720), an actuation operating part (actuation operator) (713) for controlling the actuation movement of the end tool (720), and a first handle (714) that a user can grasp.

[0424] First, to illustrate the usage state of the surgical instrument (700) of FIG. 61, the user can perform pitch movement by rotating the first handle (714) around the Y-axis (i.e., pitch rotation axis (7111)) while holding the first handle (714) with their palm, perform yaw movement by rotating the first handle (714) around the Z-axis (i.e., yaw rotation axis (7121)), and perform actuation movement by rotating the actuation operation part (713) while inserting the thumb and index finger into the actuation operation part (713).

[0425] Here, the surgical instrument (700) according to the seventh embodiment of the present invention is formed in a roughly '∩' shape such that the bending portion (741) branches to the left and right from the middle compared to the first embodiment, and the pitch frame (7113) is also formed in a roughly '∩' shape such that it branches to the left and right correspondingly, and a pitch rotation axis (7111) is formed at each of the left and right branches of the pitch frame (7113), so that the pitch rotation axis (7111) is formed to be significantly spaced apart from the yaw rotation axis (7121). That is, the actuation rotation axis (7131a) (7131b) and the yaw rotation axis (7121) are formed at or near the first handle (714) and are formed relatively close to the first handle (714), whereas the pitch rotation axis (7111) is formed at both left and right branches of the pitch frame (7113). Accordingly, the pitch rotation axis (7111) can be formed a certain degree lower in the Z-axis direction than the actuation rotation axis (7131a) (7131b) and the yaw rotation axis (7121), and thus a portion of the user's hand can be accommodated within the pitch frame (7113) in the shape of an '∩'.

[0426] Through this configuration, as shown in FIG. 64, the rotation axis of the yaw joint and the rotation axis of the pitch joint of the operating part can be positioned close together, such as intersecting, and the rotation axis of the yaw joint and the rotation axis of the pitch joint can be aligned with the wrist joint of the user who holds the handle and performs yaw and pitch operations. Consequently, this has the effect of providing a more natural and intuitive sense of operation to the user.

[0427] In detail, the first handle (714) is formed so that the user can grip it with their hand, and in particular, it can be formed so that the user can wrap their palm around and grasp the first handle (714). Then, an actuation operating part (713) is formed on the first handle (714), a yaw operating part (712) is formed on one side of the actuation operating part (713), and a pitch operating part (711) is formed on one side of the yaw operating part (712), and the yaw operating part (712) and the pitch operating part (711) are connected by a pitch frame (7113) in the shape of an '∩'. Then, the other end of the pitch operating part (711) is connected to the bent part (741) of the connecting part (740).

[0428] The actuation operating unit (713) includes a first actuation operating unit (713a) and a second actuation operating unit (713b). The first actuation operating unit (713a) includes a first actuation rotation axis (7131a), a first actuation rotation part (7132a), a first actuation pulley (713P1), and a first actuation gear (7134a). The second actuation operating unit (713b) includes a second actuation rotation axis (7131b), a second actuation rotation part (7132b), a second actuation pulley (713P2), and a second actuation gear (7134b). Here, the first actuation rotation part (7132a) and the second actuation rotation part (7132b) can operate as a second handle.

[0429] Meanwhile, the first actuation rotation part (7132a), the first actuation pulley (713P1), and the first actuation gear (7134a) may be fixedly coupled to each other so as to be able to rotate together around the first actuation rotation axis (7131a). Similarly, the second actuation rotation part (7132b), the second actuation pulley (713P2), and the second actuation gear (7134b) may be fixedly coupled to each other so as to be able to rotate together around the second actuation rotation axis (7131b). Here, the first actuation gear (7134a) and the second actuation gear (7134b) may be formed to mesh with each other so as to be able to rotate together in opposite directions when one side rotates.

[0430] The yaw control unit (712) may include a yaw rotation axis (7121), a first yaw pulley (712P1), a second yaw pulley (712P2), and a yaw frame (7123). Additionally, the yaw control unit (712) may further include a first yaw auxiliary pulley (712S1) formed on one side of the first yaw pulley (712P1) and a second yaw auxiliary pulley (712S2) formed on one side of the second yaw pulley (712P2). Here, the first yaw pulley (712P1), the second yaw pulley (712P2), the first yaw auxiliary pulley (712S1), and the second yaw auxiliary pulley (712S2) may be connected to a pitch frame (7113) to be described later.

[0431] In detail, a yaw rotation axis (7121) is formed on one side of the actuation operating part (713) on the first handle (714). At this time, the first handle (714) is formed to be rotatable around the yaw rotation axis (7121). Meanwhile, the first yaw pulley (712P1) and the second yaw pulley (712P2) are connected to the yaw rotation axis (7121) so as to be rotatable around the yaw rotation axis (7121). Then, the first yaw wire (730J1) can be wound around the first yaw pulley (712P1), and the second yaw wire (730J2) can be wound around the second yaw pulley (712P2). At this time, the first yaw pulley (712P1) and the second yaw pulley (712P2) can each be formed to face each other and can be composed of two pulleys that can rotate independently. Therefore, the wire entering and the wire exiting can be wound onto separate pulleys respectively, allowing them to operate without interfering with each other.

[0432] The yaw frame (7123) connects the first handle (714), the yaw rotation axis (7121), the first actuation rotation axis (7131a), and the second actuation rotation axis (7131b), so that the first handle (714), the yaw operating part (712), and the actuation operating part (713) can rotate together around the yaw rotation axis (7121).

[0433] The pitch control unit (711) may include a pitch frame (7113) and a J1R intermediate pulley (715J1R), a J1L intermediate pulley (715J1L), a J2R intermediate pulley (not shown), and a J2L intermediate pulley (not shown). Here, the J1R intermediate pulley (715J1R) and the J2R intermediate pulley (not shown) may be formed at each end branched to the left and right of the pitch frame (7113), and the J1L intermediate pulley (715J1L) and the J2L intermediate pulley (not shown) may be formed at each end branched to the left and right of the pitch frame (7113).

[0434] At this time, the J1R intermediate pulley (715J1R), J1L intermediate pulley (715J1L), J2R intermediate pulley (715J2R), and J2L intermediate pulley (715J2L) perform the role of pitch pulleys in the embodiments described above and can rotate around the pitch rotation axis (7111).

[0435] Meanwhile, the first R-wire (730J1R) represents the right wire among the two strands of the first wire (730J1), and the first R-wire (730J1R) is further divided into two: the first R-wire-in (730J1Rin) which enters the pitch control unit (711), and the first R-wire-out (730J1Rout) which exits the pitch control unit (711) and connects to the actuation control unit (713).

[0436] Likewise, the first L-wire (730J1L) represents the left wire of the two strands of the first wire (730J1), and the first L-wire (730J1L) is again divided into two: the first L-wire-in (730J1Lin) which enters the pitch control unit (711), and the first L-wire-out (730J1Lout) which exits the pitch control unit (711) and connects to the actuation control unit (713).

[0437] The J1R intermediate pulley (715J1R) includes two pulleys formed to face each other and rotating together as a single unit. Then, a first set of R wire-in (730J1Rin) is connected to one of the pulleys of the J1R intermediate pulley (715J1R), and a first set of R wire-out (730J1Rout) is connected to the other pulley. At this time, as shown in FIG. 66, the direction in which the first set of R wire-in (730J1Rin) is wound into the J1R intermediate pulley (715J1R) (counterclockwise as seen in FIG. 66) and the direction in which the first set of R wire-out (730J1Rout) is wound out of the J1R intermediate pulley (715J1R) (counterclockwise as seen in FIG. 66) are the same.

[0438] The J1L intermediate pulley (715J1L) includes two pulleys formed to face each other and rotating together as a single unit. Then, a first set of L-wire-in (730J1Lin) is connected to one of the pulleys of the J1L intermediate pulley (715J1L), and a first set of L-wire-out (730J1Lout) is connected to the other pulley. At this time, as shown in FIG. 66, the direction in which the first set of L-wire-in (730J1Lin) is wound into the J1L intermediate pulley (715J1L) (counterclockwise as seen in FIG. 66) and the direction in which the first set of L-wire-out (730J1Lout) is wound out of the J1L intermediate pulley (715J1L) (counterclockwise as seen in FIG. 66) are the same.

[0439] For example, when the first R-wire-in (730J1Rin) is pushed or pulled, the J1R intermediate pulley (715J1R) rotates, and thus the first R-wire-out (730J1Rout) connected through the J1R intermediate pulley (715J1R) is pushed or pulled along the J1R intermediate pulley (715J1R) in the same direction of rotation as the first R-wire-in (730J1Rin). That is, if the first R-wire-in (730J1Rin) moves from the J1R intermediate pulley (715J1R) toward the end tool (720), the first R-wire-out (730J1Rout) can move from the yaw operating part (712) toward the J1R intermediate pulley (715J1R). The same applies to the first L-wire (730J1L). At this time, the J1R intermediate pulley (715J1R) and the J1L intermediate pulley (715J1L) can rotate independently of each other around the pitch rotation axis (7111). The second wire can also be formed to connect the end tool and the operating part in the same way.

[0440] The pitch wire end pulley (715P) is formed to be fixedly coupled to the pitch rotation axis (7111) so as to rotate together, and the pitch rotation axis (7111) is fixedly coupled to the pitch frame (7113), so that as a result, the pitch frame (7113), the pitch rotation axis (7111), and the pitch wire end pulley (715P) can rotate together by pitch rotation. At this time, the J1R intermediate pulley (715J1R), J1L intermediate pulley (715J1L), J2R intermediate pulley (715J2R), and J2L intermediate pulley (715J2L) are each formed to rotate independently around the pitch rotation axis (7111).

[0441] The actuation, yaw, and pitch movements in this embodiment are described as follows.

[0442] First, the actuation operation is as follows.

[0443] When a user inserts an index finger into the first actuation rotation part (7132a) and a thumb into the second actuation rotation part (7132b), and rotates the actuation rotation part (7132a) (7132b) using either one finger or both fingers, the first actuation pulley (713P1) and the first actuation gear (7134a) fixedly coupled to the first actuation rotation part (7132a) rotate around the first actuation rotation axis (7131a), and the second actuation pulley (7133b) and the second actuation gear (7134b) fixedly coupled to the second actuation rotation part (7132b) rotate around the second actuation rotation axis (7131b). At this time, the first actuation pulley (713P1) and the second actuation pulley (713P2) rotate in opposite directions, and thus the first jaw wire (730J1), with one end fixedly connected to the first actuation pulley (713P1), and the second jaw wire (730J2), with one end fixedly connected to the second actuation pulley (713P2), also move in opposite directions. Then, this rotational force is transmitted to the end tool (720) through the power transmission unit (730), and the two jaws (721) (722) of the end tool (720) perform an actuation operation.

[0444] Next, this operation is as follows.

[0445] Referring to FIGS. 65 and 68, when the user rotates the first handle (714) around the yaw rotation axis (7121) while holding the first handle (714), the actuation operating unit (713) and the yaw operating unit (712) rotate yaw around the yaw rotation axis (7121). That is, when the first actuation pulley (713P1) of the first actuation operating unit (713a), to which the first jaw wire (730J1) is fixedly coupled, rotates around the yaw rotation axis (7121), the first jaw wire (730J1) wound around the first jaw yaw pulley (712P1) moves. Likewise, when the second actuation pulley (713P2) of the second actuation operating unit (713b), to which the second jaw wire (730J2) is fixedly connected, rotates around the yaw rotation axis (7121), the second jaw wire (730J2) wound around the second jaw yaw pulley (712P2) moves. At this time, the first jaw wire (730J1) connected to the first jaw (721) and the second jaw wire (730J2) connected to the second jaw (722) can be configured so that the first jaw (721) and the second jaw (722) rotate in the same direction during yaw rotation. Then, such rotational force is transmitted to the end tool (720) through the power transmission unit (730), and the two jaws (721) (722) of the end tool (720) perform the yaw operation.

[0446] At this time, since the yaw frame (7123) connects the first handle (714), the yaw rotation axis (7121), the first actuation rotation axis (7131a), and the second actuation rotation axis (7131b), the first handle (714), the yaw operating part (712), and the actuation operating part (713) rotate together around the yaw rotation axis (7121).

[0447] Next, the pitch motion is as follows.

[0448] Referring to FIGS. 65 and 69, when the user rotates the first handle (714) around the pitch rotation axis (7111) while holding the first handle (714), the actuation operating unit (713), the yaw operating unit (712), and the pitch operating unit (711) all pitch rotate together around the pitch rotation axis (7111). That is, when the first actuation pulley (713P1) of the first actuation operating unit (713a), to which the first jaw wire (730J1) is fixedly coupled, rotates around the pitch rotation axis (7111), the two strands (730J1R, 730J1L) of the first jaw wire (730J1) coupled to the J1R intermediate pulley (715J1R) and the J1L intermediate pulley (715J1L) move in the same direction. Likewise, when the second actuation pulley (713P2) of the second actuation operating unit (713b), to which the second jaw wire (730J2) is fixedly coupled, rotates around the pitch rotation axis (7111), both strands of the second jaw wire (730J2) coupled to the J2R intermediate pulley (715J2R) and the J2L intermediate pulley (715J2L) move in the same direction. At this time, the first jaw wire (730J1) and the second jaw wire (730J2) move in opposite directions. Then, this rotational force is transmitted to the end tool (720) through the power transmission unit (730), and the two jaws (721) (722) of the end tool (720) perform a pitch operation.

[0449] At this time, the pitch frame (7113) is connected to the yaw frame (7123), and since the yaw frame (7123) is connected to the first handle (714), the yaw rotation axis (7121), the first actuation rotation axis (7131a), and the second actuation rotation axis (7131b), when the pitch frame (7113) rotates around the pitch rotation axis (7111), the yaw frame (7123), the first handle (714), the yaw rotation axis (7121), the first actuation rotation axis (7131a), and the second actuation rotation axis (7131b) connected to the pitch frame (7113) rotate together. That is, when the pitch operating part (711) rotates around the pitch rotation axis (7111), the actuation operating part (713) and the yaw operating part (712) rotate together with the pitch operating part (711).

[0450] Meanwhile, a pitch pulley (723P) is formed on the end tool, and a pitch wire end pulley (715P) is formed on the operating part. These are connected to each other by a pitch wire (730P), allowing the pitch operation of the end tool to be performed more easily according to the pitch operation of the operating part. The ends of both strands of the pitch wire (730P) are each fixedly coupled to the corresponding pitch wire end pulley (715P), and each pitch wire end pulley (715P) is fixedly coupled to the pitch frame (7113). That is, due to the pitch rotation of the operating part, the pitch frame (7113) and the pitch wire end pulley (715P) also rotate together around the pitch rotation axis (7111), and as a result, both strands of the pitch wire (730P) move in opposite directions, thereby allowing additional power for pitch rotation to be transmitted separately from the pitch operation of the end tool by the first jaw wire (730J1) and the second jaw wire (730J2).

[0451] In summary, a surgical instrument (700) according to one embodiment of the present invention is characterized in that pulleys are formed at each joint point (actuation joint, yaw joint, pitch joint), a wire (first wire or second wire) is wound around the pulleys, and rotational operation of the operating part (actuation rotation, yaw rotation, pitch rotation) causes movement of each wire, thereby inducing a desired operation of the end tool (720). Furthermore, auxiliary pulleys may be formed on one side of each pulley, and these auxiliary pulleys prevent the wire from being wound around a single pulley multiple times.

[0452] One of the important features of this embodiment is that the bending portion (741) and the operating portion (710) are branched out to both sides, allowing the rotation axis of the lumbar joint and the rotation axis of the pitch joint to intersect as closely as possible as shown in FIG. 64, and simultaneously forming a space where the user's hand or wrist can be accommodated at the intersecting or close position. To this end, in this embodiment, the components (pulley, wire, etc.) of the operating portion (710) are divided into two and placed on both branches. However, the configuration for the above feature can be varied in many ways. That is, the components (pulley, wire, etc.) of the operating portion (710) could be placed on only one of the branched sides. Furthermore, to form a space where the user's hand or wrist can be accommodated, the osteotomy portion (741) and the operating portion (710) could be configured to bend only to one side instead of branching out to both sides. That is, in the structure branched out to both sides in the embodiment, one side could be omitted. Since such variations and the like can be sufficiently inferred from the description of the present embodiment, a detailed description thereof is omitted.

[0453] <8th Example of a Surgical Instrument>

[0454] Hereinafter, a surgical instrument (800) according to the eighth embodiment of the present invention will be described. Here, the surgical instrument (800) according to the eighth embodiment of the present invention is characterized by a configuration of the operating part (810) of the surgical instrument (800) compared to the sixth embodiment of the present invention described above. As in the sixth embodiment, the joint configuration of the operating part (810) for operating the operation of the end tool (820) is described based on the wire connecting the end tool (820) to the operating part (810). A yaw operating part (812) is formed first, and then a pitch operating part (811) and an actuation operating part (813) are formed on the yaw operating part (812). However, the difference between the 8th embodiment and the 6th embodiment is that, as in the 7th embodiment, the bending portion (841) is formed in a roughly '∩' shape so that it branches to the left and right from the middle, and the pitch frame (8113) is also formed in a roughly '∩' shape so that it branches to the left and right, and the two ends branched to the left and right of the pitch frame (8113) and the two ends branched to the left and right of the bending portion (841) are connected to each other through the pitch rotation axis (8111). Through this configuration, as described in the 7th embodiment, the rotation axis of the yaw joint of the operating portion (810) and the rotation axis of the pitch joint can be aligned with the wrist joint of the user who holds the handle and performs yaw and pitch operations, thereby providing a more natural and intuitive sense of operation for the user.

[0455] FIG. 70 is a perspective view showing a surgical instrument according to the eighth embodiment of the present invention, FIG. 71 is an internal perspective view of the surgical instrument of FIG. 70, and FIG. 72 is an internal perspective view showing a wiring structure as an internal perspective view of the surgical instrument of FIG. 70. FIG. 73 is a perspective view showing the yaw operation of the surgical instrument of FIG. 70, and FIG. 74, 75, and 76 are perspective views showing the pitch operation of the surgical instrument of FIG. 70.

[0456] The difference in the configuration of the 8th embodiment from the 6th embodiment is the same as the difference in the configuration of the 7th embodiment from the 1st embodiment. That is, the configuration of the 7th embodiment is characterized by the fact that the path of each pair of wires and the pulleys for this purpose are branched into two strands, just as the configuration of the 8th embodiment is characterized by the fact that the path of each pair of wires and the pulleys for this purpose are branched into two strands, similarly. Therefore, since the configuration of the 8th embodiment can be sufficiently understood through the descriptions of the 6th and 7th embodiments, a detailed description is omitted.

[0457] One of the important features of this embodiment is that the bending part (841) and the operating part (810) are branched out to both sides, allowing the rotation axis of the yaw joint and the rotation axis of the pitch joint to intersect each other as shown in FIG. 64, and simultaneously forming a space where the user's hand or wrist can be accommodated at the intersecting or close position. To this end, in this embodiment, the components (pulley, wire, etc.) of the operating part (810) are divided into two and placed on both branches. However, the configuration for the above feature can be varied in many ways. That is, the components (pulley, wire, etc.) of the operating part (810) could be placed on only one of the branched sides. Furthermore, to form a space where the user's hand or wrist can be accommodated, the bending part (841) and the operating part (810) could be configured to bend only to one side instead of branching out to both sides. That is, in this embodiment, one side of the structure branched out to both sides could be omitted. Since such variations and the like can be sufficiently inferred from the description of the present embodiment, a detailed description thereof is omitted.

[0458] <Ninth Example of a Surgical Instrument>

[0459] Hereinafter, a surgical instrument (900) according to the ninth embodiment of the present invention will be described. Here, the surgical instrument (900) according to the ninth embodiment of the present invention is characterized by a different configuration of the operating part (910) of the surgical instrument (900) compared to the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 2). The configuration that is different from the first embodiment will be described in detail.

[0460] FIG. 77 is an internal perspective view of a surgical instrument according to the ninth embodiment of the present invention, FIG. 78 is a perspective view showing the yaw operation of the surgical instrument of FIG. 77, and FIG. 79 is a perspective view showing the pitch operation of the surgical instrument of FIG. 77.

[0461] Here, the surgical instrument (900) according to the ninth embodiment of the present invention is an embodiment in which the modified example shown in FIG. 25(a) is specifically implemented. That is, the first yaw assist pulley (112S1) of FIG. 25(a) corresponds to the first yaw assist pulley (912S1) of FIG. 77, the first yaw pulley (112P1) of FIG. 25(a) corresponds to the first yaw pulley (912P1) of FIG. 77, and the first actuation pulley (113P1) and the second actuation pulley (113P2) of FIG. 25(a) correspond to the first actuation pulley (913P1) and the second actuation pulley (913P2) of FIG. 77.

[0462] Here, the present embodiment differs from the first embodiment in that the ends of both strands of a single wire are not connected to the same actuation pulley, but to different actuation pulleys. That is, one end of the first wire (930J1) is connected to the first actuation pulley (913P1), and the other end of the first wire (930J1) is connected to the second actuation pulley (913P2).

[0463] Additionally, the first actuation pulley (913P1) is fixedly coupled to the first actuation gear (9134a) and rotates together with it, and the second actuation pulley (913P2) is fixedly coupled to the second actuation gear (9134b) and rotates together with it. The first actuation gear (9134a) and the second actuation gear (9134b) are formed to mesh with each other, so that the rotation of the two actuation pulleys is synchronized. Therefore, when one actuation pulley rotates, the other actuation pulley also rotates in accordance with it.

[0464] As such, since the rotation of the two actuation pulleys is synchronized with each other by means of gears, the same effect can be achieved even if both strands of the first wire (930J1) are not necessarily wound on a single actuation pulley but are wound on different actuation pulleys. Therefore, a configuration in which both strands of the first wire (930J1) are wound on each actuation pulley, as shown in FIG. 25(b), is possible and can be sufficiently inferred, so a detailed description thereof is omitted.

[0465] <10th Embodiment of a Surgical Instrument>

[0466] Hereinafter, a surgical instrument (1000) according to the 10th embodiment of the present invention will be described. Here, the surgical instrument (1000) according to the 10th embodiment of the present invention is characterized by a different configuration of the operating part (1010) of the surgical instrument (1000) compared to the surgical instrument according to the 1st embodiment of the present invention described above (see 100 in FIG. 2). The configuration that is different from the 1st embodiment will be described in detail.

[0467] FIG. 80 is an internal perspective view of a surgical instrument according to the 10th embodiment of the present invention, FIG. 81 is an internal perspective view with the actuation gear removed from FIG. 80, FIG. 82 is a perspective view showing the yaw operation of the surgical instrument of FIG. 81, and FIG. 83 is a perspective view showing the pitch operation of the surgical instrument of FIG. 81.

[0468] Here, the surgical instrument (1000) according to the 10th embodiment of the present invention is an embodiment in which the modified example shown in FIG. 26 is specifically implemented. That is, the first yaw assist pulley (112S1) of FIG. 26 corresponds to the first yaw assist pulley (1012S1) of FIG. 81, the first yaw pulley (112P1) of FIG. 26 corresponds to the first yaw pulley (1012P1) of FIG. 81, and the first actuation pulley (113P1) and the second actuation pulley (113P2) of FIG. 26 correspond to the first actuation pulley (1013P1) and the second actuation pulley (1013P2) of FIG. 81.

[0469] Here, the present embodiment differs from the first embodiment in that the ends of both strands of a single wire are not connected to the same actuation pulley, but to different actuation pulleys. That is, one end of the first wire (1030J1) is connected to the first actuation pulley (1013P1), and the other end of the first wire (1030J1) is connected to the second actuation pulley (1013P2).

[0470] In addition, the first actuation pulley (1013P1) is fixedly coupled to the first actuation gear (10134a) and rotates together with it, and the second actuation pulley (1013P2) is fixedly coupled to the second actuation gear (10134b) and rotates together with it. The first actuation gear (10134a) and the second actuation gear (10134b) are formed to mesh with each other, so that the rotation of the two actuation pulleys is synchronized. Therefore, when one actuation pulley rotates, the other actuation pulley also rotates in accordance with it.

[0471] In addition, this embodiment differs from the embodiment of FIG. 2 in that the two actuation pulleys are not formed close to each other, but are spaced apart from each other and formed on opposite sides with the first actuation pulley (112P1) as the center.

[0472] In addition, in order to cause the first actuation gear (10134a) and the second actuation gear (10134b), which are far apart from each other, to mesh and rotate with each other, the diameters of the first actuation gear (10134a) and the second actuation gear (10134b) may be formed to be somewhat larger than those of the preceding embodiments.

[0473] With this configuration, the actuation pulley can be positioned further back than in other embodiments, meaning the actuation handle can be made longer, which makes the actuation operation easier to perform. This is because, according to the lever principle, the longer the handle, the less force is required to perform the actuation operation.

[0474] <11th Embodiment of a Surgical Instrument>

[0475] Hereinafter, a surgical instrument (1100) according to the 11th embodiment of the present invention will be described. Here, the surgical instrument (1100) according to the 11th embodiment of the present invention is characterized by a different configuration of the operating part (1110) of the surgical instrument (1100) compared to the surgical instrument according to the 1st embodiment of the present invention described above (see 100 in FIG. 2). The configuration that is different from the 1st embodiment will be described in detail.

[0476] FIG. 84 is an internal perspective view of a surgical instrument according to the 11th embodiment of the present invention, FIG. 85 is an internal perspective view with the actuation gear removed from FIG. 84, FIG. 86 is a perspective view showing the yaw operation of the surgical instrument of FIG. 84, and FIG. 87 is a perspective view showing the pitch operation of the surgical instrument of FIG. 84.

[0477] Here, the surgical instrument (1100) according to the 11th embodiment of the present invention is an embodiment in which the modified example shown in FIG. 27 is specifically implemented. That is, the first yaw assist pulley (112S1) of FIG. 27 corresponds to the first yaw assist pulley (1112S1) of FIG. 84, the first yaw pulley (112P1) of FIG. 27 corresponds to the first yaw pulley (1112P1) of FIG. 84, and the first actuation pulley (113P1) and the second actuation pulley (113P2) of FIG. 27 correspond to the first actuation pulley (1113P1) and the second actuation pulley (1113P2) of FIG. 84.

[0478] Here, the present embodiment differs from the first embodiment in that the two actuation pulleys are not formed to be close to each other, but are spaced apart and formed on opposite sides of the yaw pulley. To this end, the first actuation pulley (1113P1) is fixedly coupled to the first actuation gear (11134a) and rotates together with it, and the second actuation pulley (1113P2) is fixedly coupled to the second actuation gear (11134b) and rotates together with it. The first actuation gear (11134a) and the second actuation gear (11134b) are formed to mesh with each other, so that the rotation of the two actuation pulleys is synchronized. Therefore, when one actuation pulley rotates, the other actuation pulley also rotates in accordance with it.

[0479] In addition, in order to cause the first actuation gear (11134a) and the second actuation gear (11134b), which are far apart from each other, to mesh and rotate with each other, the diameters of the first actuation gear (11134a) and the second actuation gear (11134b) may be formed to be somewhat larger than those of the preceding embodiments.

[0480] In addition, it differs from the first embodiment, etc., in that the positional relationship (sequence relationship) between the yaw pulley and the yaw auxiliary pulley has been changed. That is, despite being a direct joint, the pulley located on the right side of the drawing becomes the first yaw pulley (1112P1), and the rotation axis of the first yaw pulley (1112P1) becomes the yaw rotation axis. To implement this, the first wire passing through the first pitch auxiliary pulley-a (1111S1a) is wound around the first yaw auxiliary pulley (1112S1), then passes through the first yaw pulley (1112P1) and is fixedly coupled to the first actuation pulley (1113P1). Furthermore, the first wire passing through the first pitch auxiliary pulley-b (not shown) does not pass through the first yaw auxiliary pulley (1112S1) but passes directly through the first yaw pulley (1112P1) and is fixedly coupled to the first actuation pulley (1113P1).

[0481] With this configuration, the yaw axis can be positioned closer to the pitch axis than in other embodiments, which consequently provides a more natural and intuitive feel during user operation. Furthermore, this configuration allows the actuation pulley to be positioned further back than in other embodiments, meaning the actuation handle can be extended, making the actuation operation easier. This is because, according to the lever principle, the longer the handle, the less force is required to perform the actuation operation.

[0482] <12th Embodiment of a Surgical Instrument>

[0483] Hereinafter, a surgical instrument (1200) according to the 12th embodiment of the present invention will be described. Here, the surgical instrument (1200) according to the 12th embodiment of the present invention is characterized by a different configuration of the operating part (1210) of the surgical instrument (1200) compared to the first embodiment of the present invention described above (see 100 in FIG. 2).

[0484] FIG. 88 is a perspective view showing a surgical instrument according to the 12th embodiment of the present invention, and FIG. 89 is an internal perspective view showing the structure of the wire, etc. of the surgical instrument of FIG. 88.

[0485] As in the first embodiment, the joint configuration of the operating part (1210) for operating the operation of the end tool (not shown) is described based on the wire connecting the end tool (not shown) to the operating part (1210), wherein the pitch operating part (1211), the yaw operating part (1212), and the actuation operating part (1213) are formed in order.

[0486] The characteristic difference between the configuration of the 12th embodiment and the configuration of the 1st embodiment is that, similar to the characteristics of the 7th embodiment, the pitch rotation axis (12111) is formed to be spaced significantly apart from the yaw rotation axis (12121). Through this, as shown in FIG. 88, the yaw rotation axis (12121) of the yaw joint and the pitch rotation axis (12111) of the pitch joint can come close to each other, such as by intersecting, and at the same time, a space is formed in which the user's hand or wrist, etc., can be accommodated at the intersecting or close position.

[0487] However, the configuration of the 12th embodiment and the configuration of the 7th embodiment differ characteristically in the configuration of the operating part. In the 7th embodiment, the bending part (741) and the pitch frame (7113) are formed in a roughly '∩' shape so that they branch to the left and right, and the two ends branched to the left and right of the pitch frame (7113) and the two ends branched to the left and right of the bending part (741) are connected to each other through the pitch rotation axis (7111). In contrast, in the 12th embodiment, as shown in FIG. 88, the bending part (1241) and the operating part (1210) are configured to bend only to one side without branching to both sides.

[0488] With this configuration, the first wire (not shown) and the second wire (not shown) can be connected from the end tool (not shown) to the operating part (1210) without having to provide a separate intermediate pulley (715J1R, 715J1L, etc.) as in the seventh embodiment.

[0489] Through this, the yaw rotation axis (12121) of the yaw joint and the pitch rotation axis (12111) of the pitch joint of the control unit (1210) can be aligned with the wrist joint of the user who holds the handle and performs yaw and pitch operations. In other words, a more natural and intuitive sense of operation can be provided for the user's operation.

[0490] The configuration of the operating part (1210) of the 12th embodiment is identical to the structure of the yaw pulley, pitch pulley, etc., of the surgical instrument (100) according to the 1st embodiment, except that the bending part (1241) and the pitch frame (12113) are bent, and is also similar to the configuration of the surgical instrument (700) according to the 7th embodiment. Therefore, the configuration according to the 12th embodiment can be sufficiently inferred from the configuration of the 1st embodiment and the configuration of the 7th embodiment, so a detailed description is omitted.

[0491] As such, the present invention has been described with reference to an embodiment illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and variations of the embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. Explanation of the symbols

[0492] 100: Surgical instrument 110: Control panel 111: Pitch control unit 112: This control unit 113: Actuation control unit 114: First handle 120: end tool 130: Power transmission unit 140: Connection 141: Bending part

Claims

Claim 1 In an end tool of a surgical instrument, wherein the direction from the end tool toward the operating part is defined as one side and the direction opposite to the aforementioned side is defined as the other side, a rotatable first jaw; and a J11 pulley coupled to the first jaw and formed to be rotatable about a first axis formed in the end tool hub; An end tool for a surgical instrument comprising: a J16 pulley formed on one side of the J11 pulley and formed to be rotatable around a second axis formed on one side of the first axis; a J12 pulley and a J14 pulley formed on one side of the J16 pulley and formed to be rotatable around a third axis formed to form a predetermined angle with the first axis; wherein a first jaw wire is formed to contact at least a portion of the J12 pulley, J11 pulley, J16 pulley, and J14 pulley, the J16 pulley is positioned between the J11 pulley and the J12 pulley / J14 pulley, and the first jaw wire is positioned on the inner tangent of the J11 pulley and the J16 pulley. Claim 2 An end tool of a surgical instrument according to claim 1, characterized in that the J16 pulley is positioned opposite to the first set with respect to the J11 pulley. Claim 3 An end tool of a surgical instrument according to claim 1, characterized in that the first axis and the second axis are formed substantially parallel to each other. Claim 4 An end tool of a surgical instrument according to claim 1, characterized in that the first axis and the third axis are formed substantially perpendicularly. Claim 5 The end tool of a surgical instrument according to claim 1, characterized in that the first wire is fixedly coupled to the J11 pulley. Claim 6 An end tool of a surgical instrument according to claim 1, characterized in that the diameter of the J16 pulley is formed to be smaller than the diameter of the J11 pulley. Claim 7 An end tool of a surgical instrument according to claim 1, wherein a connecting hub rotatable about the third axis with respect to the end tool hub is formed on one side of the end tool hub, and the J12 pulley and J14 pulley are formed on the shared axis of the end tool hub and the connecting hub. Claim 8 An end tool of a surgical instrument according to claim 7, characterized in that the connecting hub has a J13 pulley and a J15 pulley formed to be rotatable about an axis substantially parallel to the third axis. Claim 9 An end tool of a surgical instrument, characterized in that, in claim 8, the first wire is formed to pass between the J12 pulley and the J13 pulley. Claim 10 The end tool of a surgical instrument according to claim 1, further comprising a pitch pulley coupled to the end tool hub and rotating about the third axis. Claim 11 An end tool for a surgical instrument according to claim 1, wherein the yaw movement of the end tool is performed by a first wire that rotates a J11 pulley connected to the first wire, and the pitch movement of the end tool is performed by pulling or unwinding both ends of the first wire wound around the J11 pulley. Claim 12 An end tool of a surgical instrument according to claim 1, characterized in that when both ends of the wire wound around the end tool are pulled with respect to the first wire, a pitch movement of the end tool is performed. Claim 13 An end tool of a surgical instrument according to claim 1, characterized in that, with respect to the first wire, one side of the wire wound around the end tool is pulled and the other side is pushed, thereby performing a yaw movement of the end tool. Claim 14 An end tool of a surgical instrument according to claim 1, characterized in that one end of the first wire wound around the J11 pulley is formed to pass between the J11 pulley and the J16 pulley. Claim 15 An end tool for a surgical instrument according to claim 1, wherein the first wire and the J11 pulley are fixedly coupled by a coupling part, and the arrangement path of the first wire is changed to a certain degree by the J16 pulley so that the rotation angle of the coupling part is expanded. Claim 16 An end tool of a surgical instrument according to claim 15, characterized in that the coupling portion of the first wire and the J11 pulley is rotatable until it is positioned on the common inner tangent of the J11 pulley and the J16 pulley. Claim 17 An end tool of a surgical instrument according to claim 1, characterized in that the J12 pulley and J14 pulley are positioned on one side in the direction of the third axis with respect to a plane perpendicular to the third axis and passing through the first axis. Claim 18 An end tool of a surgical instrument according to claim 1, characterized in that the two strands of the first wire wound on the J11 pulley by the J16 pulley are positioned on one side in the direction of the third axis with respect to a plane perpendicular to the third axis and passing through the first axis.

Images