Instrument for surgery

Abstract

One embodiment of the present invention provides an instrument for electrocautery surgery, the instrument comprising: an end tool; an operation unit; a connection unit; a drive wire connected to the operation unit so as to transmit the rotation of the operation unit to the end tool; a jaw wire connected to a jaw so as to supply electrical energy to the jaw; a blade that moves between the proximal and distal portions of the end tool; a blade wire coupled to the blade so as to transmit a driving force required for the movement of the blade; and a guide tube which accommodates at least a portion of the blade wire therein and is formed to be bendable to a certain degree.

Description

surgical instruments

[0001] The present invention relates to a surgical instrument, and more specifically, to a surgical instrument that is mounted on a robotic arm or manually operable for use in laparoscopic surgery or various other surgeries.

[0002] Medically, surgery refers to the treatment of diseases 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 microsurgical 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] 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.

[0005] The present invention aims to provide a surgical instrument with improved operability, which is mounted on a robotic arm or manually operable for use in laparoscopic surgery or various other surgeries. However, this objective is exemplary and does not limit the scope of the present invention.

[0006] One embodiment of the present invention provides an end tool for a surgical instrument comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and formed to be rotatable about a first rotation axis; a second jaw pulley connected to the second jaw and formed to be rotatable about the first rotation axis; and a blade assembly that moves between a proximal part and a distal part of the end tool, wherein at least a portion is formed between the first jaw pulley and the second jaw pulley, the first jaw comprises a first electrode disposed on a surface facing the second jaw, and the second jaw comprises a second electrode disposed on a surface facing the first jaw, wherein the first electrode and the second electrode do not come into direct contact with each other when the first jaw and the second jaw are closed.

[0007] The present invention provides a surgical instrument with improved operating performance. However, such effects are exemplary and the effects of the present invention are not limited thereto.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] FIG. 2 is a perspective view showing an instrument for electrocautery surgery according to one embodiment of the present invention.

[0012] FIGS. 3 to 8 are drawings showing the end tool of the electrocautery surgical instrument of FIG. 2.

[0013] FIG. 9 is a perspective view showing the end tool hub of the electrocautery surgical instrument of FIG. 2.

[0014] FIGS. 10 and FIGS. 11 are cutaway perspective views of the end tool hub of FIG. 9.

[0015] FIGS. 12 and FIGS. 13 are perspective views showing the end tool hub of FIG. 9.

[0016] FIG. 14 is a side view showing the end tool hub and guide tube of FIG. 9.

[0017] FIG. 15 is a plan view showing the end tool hub and guide tube of FIG. 9.

[0018] FIG. 16 is a perspective view and an incisional perspective view showing the actuation hub of the electrocautery surgical instrument of FIG. 2 in FIG. 9.

[0019] FIG. 17 is a drawing showing the state in which a guide tube, blade wire, and blade are mounted in a cutaway perspective view of the actuation hub of FIG. 16.

[0020] FIG. 18 is an exploded perspective view showing the end tool of the electrocautery surgical instrument of FIG. 2.

[0021] FIG. 19 is a perspective view showing the first set of end tools of the electrocautery surgical instrument of FIG. 2.

[0022] FIG. 20 is a perspective view showing the second set of the end tool of the electrocautery surgical instrument of FIG. 2.

[0023] FIG. 21 is a perspective view showing the first pulley of the electrocautery surgical instrument of FIG. 2.

[0024] FIG. 22 is a plan view showing the opening and closing operation of the first set of end tools of the electrocautery surgical instrument of FIG. 2.

[0025] FIG. 23 is a plan view showing the opening and closing operation of the second set of the end tool of the electrocautery surgical instrument of FIG. 2.

[0026] FIG. 24 is a plan view showing the opening and closing operation of the first and second sets of the end tool of the electrocautery surgical instrument of FIG. 2.

[0027] FIGS. 25 and 26 are plan views showing the opening and closing operation of the end tool of the electrocautery surgical instrument of FIG. 2.

[0028] FIGS. 27 to 29 are partial cross-sectional views showing the operation of the blade of the end tool of the electrocautery surgical instrument of FIG. 2.

[0029] FIGS. 30 and 31 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by -90°.

[0030] FIGS. 32 and 33 are bottom views illustrating the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by +90°.

[0031] FIGS. 34 and 35 are drawings illustrating the path of the guide tube and the movement path of the blade during a cutting operation in a state where the end tool of the electrocautery surgical instrument of FIG. 2 is rotated.

[0032] FIGS. 36 and 37 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by a pitch of +90°.

[0033] FIGS. 38 and 39 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by -90° pitch.

[0034] FIG. 40 is a diagram showing the path of a guide tube when the end tool of the electrocautery surgical instrument of FIG. 2 is rotated by -90° pitch.

[0035] FIGS. 41 and 42 are drawings illustrating the path of the guide tube and the movement path of the blade during a cutting operation when the end tool of the electrocautery surgical instrument of FIG. 2 is rotated by a pitch of -90°.

[0036] FIG. 43 is a perspective view showing the pitch-rotated and yaw-rotated states of the electrocautery surgical instrument of FIG. 2.

[0037] FIGS. 44 to 46 are drawings showing the end tool of the electrocautery surgical instrument of FIG. 2 performing a cutting operation while simultaneously rotating pitch by -90° and yaw by +90°.

[0038] FIG. 47 is a perspective view showing the electrocautery surgical instrument of FIG. 2.

[0039] FIGS. 48 and FIGS. 49 are perspective views showing the operating part of the electrocautery surgical instrument of FIG. 2.

[0040] FIG. 50 is a simplified diagram showing only the configuration of the pulley and wire constituting the joint of the electrocautery surgical instrument of FIG. 2.

[0041] FIG. 51 is a perspective view showing the operation of the electrocautery surgical instrument of FIG. 47.

[0042] FIGS. 52 and FIGS. 53 are drawings illustrating the configuration of pulleys and wires related to the actuation and yaw movements of the electrocautery surgical instrument shown in FIG. 2, broken down for the first and second sets, respectively.

[0043] FIG. 54 is a perspective view showing the pitch movement of the electrocautery surgical instrument of FIG. 2.

[0044] FIGS. 55 and FIGS. 56 are drawings illustrating the configuration of pulleys and wires related to the pitch motion of the electrocautery surgical instrument shown in FIG. 2, broken down for the first and second sets, respectively.

[0045] FIGS. 57 to 60 are perspective views showing the operation of the actuation lever of the electrocautery surgical instrument shown in FIG. 2.

[0046] FIGS. 61 and 62 are drawings showing the movement of a wire when the actuation lever of the electrocautery surgical instrument shown in FIG. 2 is operated.

[0047] FIGS. 63 and FIGS. 64 are partial cross-sectional views showing the actuation lever return spring of the electrocautery surgical instrument shown in FIG. 2.

[0048] FIGS. 65 and FIGS. 66 are perspective views showing the operation of the sealing button of the electrocautery surgical instrument shown in FIG. 2.

[0049] FIG. 67 is a perspective view showing a cutting intermediate assembly of an electrocautery surgical instrument shown in FIG. 2.

[0050] FIG. 68 is a perspective view showing the cutting operating part and cutting intermediate assembly of the electrocautery surgical instrument shown in FIG. 2.

[0051] Figures 69 and 70 are illustrations illustrating the cutting principle of the electrocautery surgical instrument shown in Figure 2.

[0052] FIGS. 71 and FIGS. 72 are perspective views showing the cutting lever operation of the electrocautery surgical instrument shown in FIG. 2.

[0053] FIGS. 73 and 74 are drawings showing the movement of the cutting intermediate assembly and the end tool during the cutting lever operation of the electrocautery surgical instrument shown in FIG. 2.

[0054] FIGS. 75 and 76 are drawings that briefly illustrate only the configuration of the cutting intermediate member and the cutting intermediate assembly during the cutting lever operation of the electrocautery surgical instrument shown in FIG. 2.

[0055] FIGS. 77 and 78 are drawings showing the cutting operating part and the wire when the cutting lever of the electrocautery surgical instrument shown in FIG. 2 is operated.

[0056] FIGS. 79 and FIGS. 80 are drawings illustrating the path of a guide tube in the end tool and connection of the electrocautery surgical instrument shown in FIG. 2.

[0057] FIG. 81 is a diagram showing the path of the guide tube in the end tool and the operating part when the end tool of the electrocautery surgical instrument shown in FIG. 2 is rotated +90°.

[0058] FIG. 82 is a diagram showing the path of the guide tube in the end tool and the operating part when the end tool of the electrocautery surgical instrument shown in FIG. 2 is rotated -90°.

[0059] FIGS. 83 and FIGS. 84 are perspective views showing the pitch movement of the electrocautery surgical instrument shown in FIG. 2.

[0060] FIG. 85 is a perspective view showing the yaw and pitch combined operation of the electrocautery surgical instrument shown in FIG. 2.

[0061] FIG. 86 is a perspective view showing an instrument for electrocautery surgery according to a second embodiment of the present invention.

[0062] FIG. 87 is a perspective view showing the end tool of the electrocautery surgical instrument of FIG. 86.

[0063] FIG. 88 is a drawing for explaining the electrode portion of the first set of the end tool of FIG. 87.

[0064] FIG. 89 is a drawing showing the jaw of the end tool of FIG. 87 in a closed state.

[0065] FIG. 90 is an enlarged view of part A of FIG. 88.

[0066] FIGS. 91 to 93 are partial cross-sectional views taken along line I-I' of FIG. 90.

[0067] FIG. 94 is a perspective view showing the end tool of FIG. 87 from a different angle.

[0068] FIG. 95 is a side view showing the first set of the end tool of FIG. 87.

[0069] Fig. 96 is a cross-sectional view taken along the line II-II' of Fig. 95.

[0070] FIG. 97 is a perspective view showing the opening of Article 1 of FIG. 95.

[0071] FIG. 98 is a schematic cross-sectional view of the wire of Article 1 of FIG. 97.

[0072] FIGS. 99 and FIGS. 100 are plan views showing the first set of the end tool of FIG. 87.

[0073] FIG. 101 is an exploded perspective view showing the end tool of FIG. 87.

[0074] FIG. 102 is a perspective view showing the actuation hub of the end tool of FIG. 87.

[0075] FIG. 103 is a cutaway perspective view of the actuation hub of FIG. 102.

[0076] FIG. 104 is a drawing showing a guide tube, blade wire, and blade mounted in a cutaway perspective view of the actuation hub of FIG. 103.

[0077] FIGS. 105 and FIGS. 106 are drawings showing the arrangement of the actuation hub of the end tool of FIG. 87.

[0078] FIG. 107 is a drawing showing the state in which a guide tube is coupled to the actuation hub of FIG. 101.

[0079] FIG. 108 is a drawing showing the arrangement of a blade, blade wire, guide tube, and reinforcing tube of an instrument for electrocautery surgery according to one embodiment of the present invention.

[0080] FIG. 109 is a perspective view showing an end tool hub of an electrocautery surgical instrument according to one embodiment of the present invention.

[0081] Figures 110 and 111 are cross-sectional views of the end tool hub of Figure 109.

[0082] FIG. 112 is an exploded perspective view of the end tool hub of FIG. 109.

[0083] FIG. 113 is a drawing showing the state in which the end tool hub and jaw of FIG. 87 are assembled.

[0084] FIG. 114 is a cross-sectional view showing the end tool hub and jaw of FIG. 113.

[0085] FIGS. 115 and FIGS. 116 are drawings showing the pitch pulley portion of the end tool and end tool hub of FIG. 87.

[0086] FIG. 117 is a perspective view showing the pitch hub of the end tool of FIG. 87.

[0087] FIG. 118 is a cross-sectional view taken along the line III-III' of FIG. 117.

[0088] FIG. 119 is a drawing illustrating the wire tube and shrink tube of the electrocautery surgical instrument of FIG. 86.

[0089] FIG. 120 is a perspective view showing the operating part and connecting part of the electrocautery surgical instrument of FIG. 86.

[0090] FIG. 121 is a perspective view showing an intermediate connection part of the connection part of FIG. 120.

[0091] FIG. 122 is a plan view showing the intermediate connecting part of FIG. 121 as viewed from one side.

[0092] FIG. 123 is a drawing showing a fixing member and a cutting intermediate assembly within the connection part of FIG. 120.

[0093] FIG. 124 is a drawing showing the cutting restoration elastic member of the electrocautery surgical instrument of FIG. 86.

[0094] FIG. 125 is a drawing showing the cutting lever and the cutting intermediate pulley of the electrocautery surgical instrument of FIG. 86.

[0095] FIG. 126 is a drawing showing the cutting intermediate pulley and cutting lever wire holder of the electrocautery surgical instrument of FIG. 86.

[0096] FIG. 127 is a drawing showing the cutting lever wire and cutting lever tube mounted in the cutting lever wire holder.

[0097] FIG. 128 is a drawing illustrating the process of mounting a cutting lever wire and a cutting lever tube in a cutting lever wire holder.

[0098] FIGS. 129 and 130 are drawings showing the state in which the locking body of the electrocautery surgical instrument of FIG. 86 is positioned together with the cutting lever tube.

[0099] FIGS. 131 and FIGS. 132 are perspective views showing the locking body portion of FIG. 129.

[0100] FIGS. 133 and 134 are drawings showing the wire guide module of the electrocautery surgical instrument of FIG. 86 placed together with the cutting lever tube.

[0101] FIGS. 135 and FIGS. 136 are perspective views showing the wire guide module of FIG. 133.

[0102] FIGS. 137 and FIGS. 138 are incisional perspective views showing the terminal receiving portion and the terminal portion of the electrocautery surgical instrument of FIG. 86.

[0103] FIGS. 139 to 144 are drawings showing a locking system for the control part of the electrocautery surgical instrument of FIG. 86.

[0104] FIG. 145 is a perspective view showing the pitch locking device of the operating part locking system of FIG. 139.

[0105] FIG. 146 is a plan view illustrating the locked state of the pitch locking device of FIG. 145.

[0106] FIG. 147 is a plan view illustrating the unlocked state of the pitch lock of FIG. 145.

[0107] FIG. 148 is a plan view showing the locking device of the operating part locking system of FIG. 139.

[0108] FIG. 149 is a plan view illustrating the locked state of the locking device of FIG. 148.

[0109] FIG. 150 is a plan view illustrating the unlocked state of the locking device of FIG. 148.

[0110] FIGS. 151 to 155 are drawings showing the urethral operating part and the actuation operating part of the electrocautery surgical instrument of FIG. 86.

[0111] FIG. 156 is a plan view showing the tension control unit of the electrocautery surgical instrument of FIG. 86.

[0112] FIG. 157 is a perspective view showing the tension adjustment unit of FIG. 156 and the wire connected thereto.

[0113] FIG. 158 is a perspective view showing the body member of the tension adjustment unit of FIG. 156.

[0114] FIG. 159 is a cross-sectional view taken along the line A-A' of FIG. 158.

[0115] FIG. 160 is a cross-sectional view taken along the line B-B' of FIG. 158.

[0116] FIG. 161 is a cross-sectional view taken along the line C-C' of FIG. 158.

[0117] FIG. 162 is a perspective view showing the bolt member of FIG. 156 and the wire connected thereto.

[0118] FIG. 163 is a perspective view showing a bolt member with the wire removed from FIG. 162.

[0119] FIG. 164 is a cross-sectional perspective view showing the bolt member of FIG. 162 and the wire connected thereto.

[0120] FIG. 165 is a perspective view showing the bolt member of FIG. 162.

[0121] FIGS. 166 and FIGS. 167 are drawings showing a bolt member according to another embodiment of the present invention.

[0122] FIGS. 168 and 169 are exploded perspective views of an actuation lever and an actuation pulley of an electrocautery surgical instrument according to one embodiment of the present invention.

[0123] FIGS. 170 to 172 are drawings showing the operation process of the actuation lever of the electrocautery surgical instrument of FIG. 86.

[0124] FIG. 173 is a drawing showing the elastic member of the actuation pulley illustrated in FIG. 170.

[0125] FIG. 174 is a drawing showing an actuation lever and an elastic member of an instrument for electrocautery surgery according to one embodiment of the present invention.

[0126] FIG. 175 is a drawing showing the elastic deformation state of an elastic member when the actuation lever of the electrocautery surgical instrument of FIG. 174 is operated.

[0127] FIG. 176 is a drawing showing another variation of the actuation lever and elastic member of FIG. 174.

[0128] FIG. 177 is a drawing showing the elastic member of FIG. 176.

[0129] FIGS. 178 and FIGS. 179 are drawings showing the slide guide illustrated in FIG. 176.

[0130] FIG. 180 is a diagram showing the interference structure between the actuation lever and the cutting lever of the electrocautery surgical instrument of FIG. 86.

[0131] FIG. 181 is a diagram showing the interference state between the actuation lever and the cutting lever shown in FIG. 180.

[0132] FIG. 182 is a drawing showing the sealing operation part of the electrocautery surgical instrument of FIG. 86.

[0133] FIG. 183 is a drawing showing the pitch control section and the connection section of the electrocautery surgical instrument of FIG. 86.

[0134] FIG. 184 is a cutaway perspective view of the pitch control part and the connection part of FIG. 183.

[0135] FIGS. 185 to 187 are drawings showing the state of the pitch cover according to the pitch movement of the electrocautery surgical instrument of FIG. 86.

[0136] FIGS. 188 and FIGS. 189 are drawings showing a pitch cover according to an embodiment of the present invention.

[0137] One embodiment of the present invention provides an end tool for a surgical instrument comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and formed to be rotatable about a first rotation axis; a second jaw pulley connected to the second jaw and formed to be rotatable about the first rotation axis; and a blade assembly that moves between a proximal part and a distal part of the end tool, wherein at least a portion is formed between the first jaw pulley and the second jaw pulley, the first jaw comprises a first electrode disposed on a surface facing the second jaw, and the second jaw comprises a second electrode disposed on a surface facing the first jaw, wherein the first electrode and the second electrode do not come into direct contact with each other when the first jaw and the second jaw are closed.

[0138] In one embodiment of the present invention, at least one of the first group and the second group may further include a plurality of spacers spaced apart from each other on the electrode surface.

[0139] In one embodiment of the present invention, any pair of the plurality of spacers may be formed of a material different from the other spacers.

[0140] In one embodiment of the present invention, among the plurality of spacers, the spacer disposed at the end of the end tool may be formed of a metal material.

[0141] In one embodiment of the present invention, at least one of the plurality of spacers comprises a metal material, and an insulating member may be disposed around the perimeter of the at least one spacer.

[0142] In one embodiment of the present invention, the at least one spacer may be positioned to protrude beyond the insulating member.

[0143] In one embodiment of the present invention, the state in which the first set and the second set are arranged so that the first electrode and the second electrode are parallel to each other is defined as a neutral state, and in the neutral state, the ratio of the thickness of the plurality of spacers to the distance between the first electrode and the second electrode may be 2:1 to 4:3.

[0144] In one embodiment of the present invention, at least one of the first row and the second row may include a row wing portion extending from one side toward one side of the other row facing it.

[0145] In one embodiment of the present invention, a wing portion is disposed on one side of the first row and on one side of the second row, respectively, and the two wing portions may be disposed to face each other.

[0146] In one embodiment of the present invention, in an open state where the first row and the second row are spaced apart, the row wing portion may be formed such that at least one area overlaps with the side of the opposing row.

[0147] In one embodiment of the present invention, the jaw wing portion may restrict the insertion of body tissue into a pre-set area between the first jaw and the second jaw when body tissue is clamped between the first jaw and the second jaw.

[0148] In one embodiment of the present invention, at least one of the first row and the second row may include an internal projection of the row that protrudes toward the other row facing it.

[0149] In one embodiment of the present invention, the first row includes a first row internal projection disposed on one surface of the first row, and the second row includes a second row internal projection disposed on one surface of the second row, and the first row internal projection and the second row internal projection may be symmetrically disposed with respect to a virtual surface passing through the first row and the second row.

[0150] In one embodiment of the present invention, the internal projection of the jaw may restrict the insertion of the body tissue into a pre-set area between the first jaw and the second jaw when the body tissue is clamped between the first jaw and the second jaw.

[0151] One embodiment of the present invention provides an end tool for a surgical instrument comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and formed to be rotatable about a first rotation axis; a second jaw pulley connected to the second jaw and formed to be rotatable about the first rotation axis; and a blade assembly comprising a blade that moves between a proximal part and a distal part of the end tool, wherein at least a portion is formed between the first jaw pulley and the second jaw pulley, and the first jaw and the second jaw are arranged to intersect each other with a first point formed on the side distal to the first rotation axis as the rotation center.

[0152] In one embodiment of the present invention, at least one of the first jaw and the second jaw may include a jaw bridge forming the skeleton of the jaw and a jaw body wrapping at least a part of the jaw bridge.

[0153] In one embodiment of the present invention, the jaw bridge may include a metal material, and the jaw body may include an insulating material.

[0154] In one embodiment of the present invention, the jaw bridge may include: a first extension portion extending in the longitudinal direction of the jaw and coupled with the first jaw pulley or the second jaw pulley; a second extension portion extending in the longitudinal direction of the jaw and arranged parallel to the first extension portion; and a reinforcing portion connecting the first extension portion and the second extension portion.

[0155] In one embodiment of the present invention, the ratio of width to thickness of the reinforcing member may be 1:2 to 1:4.

[0156] In one embodiment of the present invention, the jaw bridge includes a first receiving groove recessed from the inner side of the jaw, and the first receiving groove can receive one side of a protruding guard portion of an actuation hub.

[0157] In one embodiment of the present invention, the jaw bridge may include a first opening formed through the first receiving groove toward the outside of the jaw; and a window formed on the side of the jaw bridge and positioned proximal to the first opening.

[0158] In one embodiment of the present invention, the window may be provided as a passage into which a wire fixing means for fixing a wire to the jaw bridge is inserted.

[0159] In one embodiment of the present invention, the invention further includes a wire connecting to the first or second wire, wherein the conductor of the wire is formed of a material selected from soft copper or stainless steel and may be composed of one of a wire configuration of 1×19, 1×7, 7×7, or 7×19.

[0160] In one embodiment of the present invention, a wire connecting to the first or second wire is further included, and the sheath of the wire may be composed of a material selected from a fluoropolymer series or a silicone rubber series.

[0161] In one embodiment of the present invention, the first jaw pulley and the second jaw pulley perform a yaw operation while rotating around the first rotation axis, and the first jaw and the second jaw can perform an actuation operation while rotating around an actuation rotation axis spaced apart from the first rotation axis to a certain degree.

[0162] In one embodiment of the present invention, the first jaw and the second jaw may each include an axial penetration portion into which the actuation rotation axis is axially coupled; a fluid coupling hole into which the first rotation axis is inserted through; and a jaw pulley coupling hole into which the jaw coupling portion of the first jaw pulley or the second jaw pulley is inserted.

[0163] In one embodiment of the present invention, the shaft penetration portion may be formed on the distal side relative to the fluid coupling hole and the jaw pulley coupling hole.

[0164] In one embodiment of the present invention, the fluid coupling hole may be formed to overlap with a virtual line connecting the shaft penetration portion and the jaw pulley coupling hole.

[0165] In one embodiment of the present invention, the first rotation axis may be movable relatively within the fluid coupling hole.

[0166] In one embodiment of the present invention, the fluid coupling hole may be formed in a shape corresponding to the trajectory of a virtual circle rotating around the jaw pulley coupling hole.

[0167] In one embodiment of the present invention, the distance between the center of the shaft penetration portion and the jaw pulley coupling hole may be 6 mm to 8 mm.

[0168] One embodiment of the present invention provides an end tool for a surgical instrument comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and configured to be rotatable about a first rotation axis; a second jaw pulley connected to the second jaw and configured to be rotatable about the first rotation axis; a blade that moves between a proximal and a distal portion of the end tool, with at least a portion formed between the first jaw pulley and the second jaw pulley; a blade wire coupled to the blade to transmit a driving force required for the movement of the blade; a guide tube formed to accommodate at least a portion of the blade wire and to be able to bend to a certain degree; and an actuation hub disposed between the first jaw and the second jaw, having a hollow formed therein to which one end of the guide tube is coupled.

[0169] In one embodiment of the present invention, the guide tube and the blade wire received within the guide tube may be formed to pass through the hollow formed inside the actuation hub.

[0170] In one embodiment of the present invention, the guide tube may not be directly coupled to the first set or the second set.

[0171] In one embodiment of the present invention, the actuation hub may be configured to rotate around the same rotation axis as the first set and the second set.

[0172] In one embodiment of the present invention, the actuation hub may be axially coupled to the first set by a first actuation rotation axis and axially coupled to the second set by a second actuation rotation axis.

[0173] In one embodiment of the present invention, when the first set and the second set are in an open state separated from each other, the actuation hub may be configured to be unilaterally movable toward either the first set or the second set.

[0174] In one embodiment of the present invention, the actuation hub may include a hub body extending in a first direction which is the longitudinal direction of the jaw, and a guard portion protruding in a second direction intersecting the first direction on one side of the hub body facing the distal part of the jaw.

[0175] In one embodiment of the present invention, the first portion or the second portion is provided with a receiving groove formed by being recessed inward, and the guard portion may be formed to be received in the receiving groove.

[0176] In one embodiment of the present invention, the guard portion may restrict the insertion of body tissue into a pre-set area between the first portion and the second portion when body tissue is clamped between the first portion and the second portion.

[0177] In one embodiment of the present invention, the actuation hub may include: a tube seating portion on which one end of the guide tube is seated; a blade receiving portion in which the blade is received; and a wire through hole through which a wire can pass between the tube seating portion and the blade receiving portion.

[0178] In one embodiment of the present invention, the blade may be configured to be withdrawn from the blade receiving portion and advance toward the distal portion of the jaw.

[0179] In one embodiment of the present invention, the tube seating portion includes a crimping region formed to be relatively thinner than other regions, and the crimping region may be configured to fix the guide tube by being deformed by pressure.

[0180] One embodiment of the present invention provides an end tool for a surgical instrument comprising: a first jaw and a second jaw that are rotatable independently of each other; a first jaw pulley connected to the first jaw and configured to be rotatable about a first rotation axis; a second jaw pulley connected to the second jaw and configured to be rotatable about the first rotation axis; a blade that moves between a proximal and a distal portion of the end tool, with at least a portion formed between the first jaw pulley and the second jaw pulley; a blade wire coupled to the blade to transmit a driving force required for the movement of the blade; a guide tube formed to accommodate at least a portion of the blade wire and to be able to bend to a certain degree; and an end tool hub in which the first rotation axis is inserted through one end and a third rotation axis different from the first rotation axis is inserted through the other end, and in which at least a portion of the first jaw pulley and the second jaw pulley are accommodated inside.

[0181] In one embodiment of the present invention, the first rotation axis includes a first sub-axis coupled to the first jaw pulley and a second sub-axis coupled to the second jaw pulley, and the first sub-axis and the second sub-axis of the first rotation axis are spaced apart by a certain distance, and a spaced-apart space may be formed between the first sub-axis and the second sub-axis.

[0182] In one embodiment of the present invention, at least a portion of the guide tube may be interposed between the first sub-axis and the second sub-axis.

[0183] In one embodiment of the present invention, the first sub-axis and the second sub-axis may each include a hollow portion formed in the axial direction.

[0184] In one embodiment of the present invention, the distance between the first sub-axis and the second sub-axis may be formed to be larger than the outer diameter of the guide tube.

[0185] In one embodiment of the present invention, the first sub-axis and the second sub-axis each include a head portion formed at the end of the axis, and the distance between the inner wall of the end tool hub to which the first rotation axis is coupled and the head portion may be formed to be greater than the distance between the head portion of the first sub-axis and the head portion of the second sub-axis.

[0186] In one embodiment of the present invention, the first jaw comprises a first jaw bridge forming the jaw frame and a first jaw body surrounding at least a portion of the first jaw bridge, and the second jaw comprises a second jaw bridge forming the jaw frame and a second jaw body surrounding at least a portion of the second jaw bridge, and the first jaw and the second jaw can be connected to the end tool hub through the first jaw bridge and the second jaw bridge.

[0187] In one embodiment of the present invention, at least a portion of the guide tube may be interposed between the first jaw bridge and the second jaw bridge.

[0188] In one embodiment of the present invention, the end tool hub includes a first jaw pulley coupling portion and a second jaw pulley coupling portion formed to face each other, the first jaw pulley is interposed between the first jaw bridge and the first jaw pulley coupling portion, and the first jaw bridge, the first jaw pulley, and the first jaw pulley coupling portion are connected through the first rotation axis, and the second jaw pulley is interposed between the second jaw bridge and the second jaw pulley coupling portion, and the second jaw bridge, the second jaw pulley, and the second jaw pulley coupling portion can be connected through the first rotation axis.

[0189] In one embodiment of the present invention, the end tool hub may include: a main body portion; a first jaw pulley coupling portion and a second jaw pulley coupling portion formed to extend in one direction from the main body portion and facing each other; and a first pitch pulley portion and a second pitch pulley portion formed to extend in the opposite direction from the main body portion and facing each other.

[0190] In one embodiment of the present invention, a yaw slit through which the guide tube can pass is formed between the first jaw pulley coupling part and the second jaw pulley coupling part, and a pitch slit through which the guide tube can pass is formed between the first pitch pulley part and the second pitch pulley part.

[0191] In one embodiment of the present invention, a yaw round portion having a predetermined curvature is formed on one side of the yaw slit to guide the yaw direction bending path of the guide tube, and a pitch round portion having a predetermined curvature is formed on one side of the pitch slit to guide the pitch direction bending path of the guide tube.

[0192] In one embodiment of the present invention, the radius of curvature of the pitch round portion may be formed to be larger than the radius of curvature of the yaw round portion.

[0193] In one embodiment of the present invention, the width of the yaw slit may be formed to be larger than the width of the pitch slit.

[0194] In one embodiment of the present invention, the end tool hub may be composed of a first part including the first pitch pulley portion and the first jaw pulley coupling portion, and a second part including the second pitch pulley portion and the second jaw pulley coupling portion.

[0195] In one embodiment of the present invention, the end tool hub includes a pitch pulley portion to which the third rotation axis is axially coupled, and the pitch pulley portion may form a stepped portion protruding from one surface adjacent to the pitch main pulley to which the third rotation axis is axially coupled.

[0196] In one embodiment of the present invention, the diameter of the stepped portion may be formed to be smaller than the outer diameter of the pitch main pulley.

[0197] In one embodiment of the present invention, a pitch hub may be further included in which the third rotational shaft is inserted through one side and at least a portion of a pitch pulley is accommodated inside, and a connecting part of a surgical instrument is coupled to the other side.

[0198] In one embodiment of the present invention, the pitch hub includes a plurality of holes penetrating the pitch hub in the longitudinal direction, wherein a first hole among the plurality of holes is positioned at the center of a cross-section perpendicular to the longitudinal direction of the pitch hub, and a second to fifth hole among the plurality of holes may be spaced apart from the first hole.

[0199] In one embodiment of the present invention, the first hole is provided to allow the guide tube to pass through, the second hole and the third hole are provided to allow the pitch wire and the jaw wire to pass through together, and the fourth hole and the fifth hole are provided to allow the jaw wire to pass through.

[0200] In one embodiment of the present invention, the first hole may have a cross-sectional shape in which the length of the second direction intersecting the first direction is longer than the length of the first direction.

[0201] In one embodiment of the present invention, the second hole and the third hole may have a cross-sectional shape formed elongated along the first direction.

[0202] In one embodiment of the present invention, the second hole and the third hole may each be arranged adjacent to the first hole along the second direction.

[0203] In one embodiment of the present invention, the second hole and the third hole may be formed symmetrically with respect to each other with respect to the longitudinal axis of the pitch hub corresponding to the longitudinal direction of the pitch hub, and the fourth hole and the fifth hole may be formed symmetrically with respect to each other.

[0204] In one embodiment of the present invention, the fourth hole may be positioned adjacent to the second hole, and the fifth hole may be positioned adjacent to the third hole.

[0205] One embodiment of the present invention provides an instrument for electrocautery surgery comprising: an end tool formed to include one or more jaws and be rotatable in two or more directions; a control unit for controlling the rotation of the end tool in the two or more directions; a connecting unit to which the end tool is connected on one side and the control unit is connected on the other side; a driving wire connected to the control unit to transmit the rotation of the control unit to the end tool; a jaw wire connected to the jaw to supply electrical energy to the jaw; a blade that moves between a proximal and a distal portion of the end tool; a blade wire connected to the blade to transmit the driving force required for the movement of the blade; a guide tube formed to accommodate at least a portion of the blade wire and be able to bend to a certain degree; a reinforcing tube made of metal that accommodates at least a portion of the guide tube; and a wire tube that accommodates at least a portion of the driving wire.

[0206] In one embodiment of the present invention, the wire tube may be disposed within a straight section of the connection part.

[0207] In one embodiment of the present invention, one end of the wire tube is connected to the driving wire on the end tool side, and the other end of the wire tube can be connected to the driving wire on the operating part side.

[0208] In one embodiment of the present invention, the wire tube may include a metal material.

[0209] In one embodiment of the present invention, a shrink tube is further included that accommodates at least a portion of the wire and at least a portion of the wire tube together inside, and the shrink tube can secure the wire to the wire tube.

[0210] In one embodiment of the present invention, the driving wire comprises a jaw wire that transmits a driving force required for the rotational movement of the jaw; and a pitch wire that transmits a driving force required for the pitch rotational movement of the end tool, wherein the jaw wire and the pitch wire are each connected to a wire tube, and the shrink tube can fix the jaw wire to one selected from the wire tube connected to the jaw wire or the wire tube connected to the pitch wire.

[0211] In one embodiment of the present invention, the shrink tube, the wire, and the wire tube can be tightly joined by heating and shrinking the shrink tube while the wire and the wire tube are inserted into the shrink tube.

[0212] In one embodiment of the present invention, the shrink tube may be positioned close to the end tool side within the connection portion.

[0213] In one embodiment of the present invention, a shrink tube is further included that accommodates at least a portion of the wire and at least a portion of the guide tube together inside, and the shrink tube can secure the wire to the guide tube.

[0214] In one embodiment of the present invention, the blade and the blade wire may comprise a metal material, and the guide tube may comprise a plastic material.

[0215] In one embodiment of the present invention, the reinforcing tube is disposed within the connection portion, and the reinforcing tube and the guide tube can be crimped and secured together.

[0216] In one embodiment of the present invention, the connecting portion may include a straight portion coupled to the end tool at the distal side; a bent portion coupled to the operating portion at the proximal side; and an intermediate connecting portion connecting the proximal part of the straight portion and the distal part of the bent portion.

[0217] In one embodiment of the present invention, the intermediate connecting portion may include a guide tube hole through which the guide tube passes, a wire hole through which the wire passes, and wire holes through which the driving wire passes.

[0218] In one embodiment of the present invention, the wire holes are provided in plurality and can be symmetrically arranged on both sides with respect to the guide tube holes.

[0219] In one embodiment of the present invention, the wire hole and the guide tube hole may be connected to each other to form a single structure.

[0220] In one embodiment of the present invention, the wire holes may be spaced apart from each other and adjacent to the wire holes.

[0221] In one embodiment of the present invention, the wire holes may be symmetrically arranged on both sides with respect to a virtual line set with respect to the guide tube hole.

[0222] In one embodiment of the present invention, the wire hole may be formed to have a diameter smaller than the guide tube hole and a diameter larger than the wire hole.

[0223] In one embodiment of the present invention, the bending portion includes a wire guide for fixing the wire, and the wire may extend from the operating portion along the bending portion to the intermediate connecting portion through the wire guide.

[0224] In one embodiment of the present invention, the bending portion may include a pair of fixing members spaced apart from each other to support the distal side and the proximal side of the guide tube, respectively.

[0225] In one embodiment of the present invention, the guide tube is fixed to the bent portion by the pair of fixing members and can be maintained in a straight shape between the fixing members.

[0226] In one embodiment of the present invention, the straight distance between the fixed members may be set to be greater than the distance the blade wire can move within the guide tube.

[0227] In one embodiment of the present invention, the invention further comprises a cutting intermediate block coupled to the end of the blade wire; and a cutting intermediate wire for linearly moving the cutting intermediate block, wherein the guide tube disposed between the fixed members may be disposed parallel to a straight section of the movement path of the cutting intermediate wire.

[0228] In one embodiment of the present invention, a cutting restoration elastic member that provides elastic force toward the proximal side of the bending portion with respect to the cutting intermediate block may be further included.

[0229] In one embodiment of the present invention, the cutting restoration elastic member may be configured to be fixed to the cutting intermediate block in a tensioned state.

[0230] In one embodiment of the present invention, the cutting restoration elastic member may be arranged parallel to a straight section of the movement path of the cutting intermediate wire.

[0231] One embodiment of the present invention comprises: an end tool comprising one or more jaws and formed to be rotatable in two or more directions; a control unit for controlling the rotation of the end tool in the two or more directions; a connecting part to which the end tool is coupled on one side and the control unit is coupled on the other side; a driving wire connected to the control unit to transmit the rotation of the control unit to the end tool; a blade moving between a proximal and a distal part of the end tool; and a blade wire coupled to the blade to transmit a driving force required for the movement of the blade, wherein the control unit includes a cutting control unit for controlling the movement of the blade wire, and the cutting control unit

[0232] A surgical instrument is provided comprising: a cutting lever rotatable about a cutting lever rotation axis; a cutting intermediate member configured to rotate about a rotation axis different from the cutting lever rotation axis; and a cutting lever wire connected between the cutting lever and the cutting intermediate member to transmit the rotation of the cutting lever to the cutting intermediate member.

[0233] In one embodiment of the present invention, the cutting intermediate member comprises a first cutting intermediate pulley, a second cutting intermediate pulley, and a third cutting intermediate pulley that rotate around the same axis of rotation, and the third cutting intermediate pulley may be positioned between the first cutting intermediate pulley and the second cutting intermediate pulley.

[0234] In one embodiment of the present invention, the first cutting intermediate pulley, the second cutting intermediate pulley, and the third cutting intermediate pulley may be interconnected and configured to rotate in the same direction.

[0235] In one embodiment of the present invention, the ratio of the diameter of the third cutting intermediate pulley to the diameter of the first cutting intermediate pulley may be 1:1 to 1:3.

[0236] In one embodiment of the present invention, the diameter of the wire coupling portion of the cutting lever and the diameter of the first cutting intermediate pulley are formed at a predetermined ratio, so that the amount of rotation of the cutting intermediate member according to the amount of rotation input of the cutting lever can be controlled.

[0237] In one embodiment of the present invention, the first cutting intermediate pulley, the third cutting intermediate pulley, and the wire coupling part may be set such that the ratio of the diameter of the third cutting intermediate pulley and the wire coupling part to the diameter of the first cutting intermediate pulley is 1:1 to 1:3 and 1:3 to 1:9, respectively.

[0238] In one embodiment of the present invention, the cutting operating part may further include a cutting lever tube formed to accommodate at least a portion of the cutting lever wire inside and to be able to bend to a certain degree.

[0239] In one embodiment of the present invention, the cutting lever wire may be formed to be movable along the cutting lever tube within the cutting lever tube.

[0240] In one embodiment of the present invention, the cutting operating member may further include a cutting lever wire holder to which one end of the cutting lever tube extending toward the cutting intermediate member is coupled.

[0241] In one embodiment of the present invention, the cutting lever wire holder is formed independently of the cutting intermediate member and is fixed to the frame of the operating part or the connecting part, and can maintain the position of the cutting lever tube regardless of the rotation of the cutting intermediate member.

[0242] In one embodiment of the present invention, the cutting lever wire holder includes an insertion portion into which the cutting lever tube is inserted, and the insertion portion may form a straight section.

[0243] In one embodiment of the present invention, when the cutting lever wire is wound or unwound on the cutting intermediate member, at least a portion of the cutting lever wire may move linearly within the cutting lever tube disposed in the insertion part.

[0244] In one embodiment of the present invention, when the cutting lever wire is wound or unwound on the cutting intermediate member, at least a portion of the cutting lever wire may move linearly within the cutting lever tube disposed in the insertion part.

[0245] In one embodiment of the present invention, the insertion portion is formed in a tubular shape so that the cutting lever tube is inserted in the longitudinal direction, and a slit may be formed on the side of the insertion portion to allow the cutting lever wire to be inserted laterally.

[0246] In one embodiment of the present invention, the inner diameter of the insertion portion may be formed to be smaller than the outer diameter of the cutting lever tube.

[0247] In one embodiment of the present invention, the cutting lever wire holder may include a ring-shaped body disposed around the circumference of the cutting intermediate pulley.

[0248] In one embodiment of the present invention, the operating unit further comprises: a wire connected to the jaw to supply electrical energy to the jaw; and a wire guide module for arranging the wire and the cutting lever wire within the operating unit, wherein the wire guide module may include a wire fixing part for fixing the wire and a first wire guide part for guiding the cutting lever wire.

[0249] In one embodiment of the present invention, the wire guide module may be positioned at a location corresponding to the pitch rotation axis of the operating part.

[0250] In one embodiment of the present invention, the first wire guide portion is formed protruding from the first surface of the base plate, and the wire fixing portion may be formed on the second surface opposite to the first surface.

[0251] In one embodiment of the present invention, the first wire guide includes a pair of guide profiles arranged to face each other, and the cutting lever wire may be positioned between the pair of guide profiles.

[0252] In one embodiment of the present invention, the operating part further includes a hub case that surrounds one side of the frame of the operating part and a terminal part connected to the end of the wire, and the hub case may include a terminal receiving part that accommodates the terminal part.

[0253] In one embodiment of the present invention, the terminal receiving portion may have a plurality of protrusions formed protruding into the interior of the receiving space to fix the position of the terminal portion.

[0254] In one embodiment of the present invention, the operating part further includes a locking device for locking or unlocking the pitch operation of the end tool, and the locking device may include a locking body part fixedly coupled to the connecting part and a locking part formed to be coupled to the locking body part.

[0255] In one embodiment of the present invention, the locking body may be positioned at a location corresponding to the pitch rotation axis of the operating part.

[0256] In one embodiment of the present invention, the locking body includes a second wire guide for guiding the cutting lever wire, and the second wire guide may be formed to protrude from one surface of the base plate.

[0257] In one embodiment of the present invention, the second wire guide includes a pair of guide profiles arranged to face each other, and the cutting lever wire may be arranged between the pair of guide profiles.

[0258] One embodiment of the present invention provides a surgical instrument comprising: an end tool formed to be rotatable in two or more directions, including one or more jaws; an operating part for controlling the rotation of the end tool in the two or more directions; a connecting part to which the end tool is coupled on one side and the operating part is coupled on the other side; and one or more driving wires connected to the operating part to transmit the rotation of the operating part to the jaws, wherein the operating part comprises: a pitch operating part for controlling the pitch movement of the end tool; a yaw operating part for controlling the yaw movement of the end tool; and a yaw locking device for selectively restricting or allowing the operation of the yaw operating part, wherein the yaw locking device comprises: a yaw locking main body fixedly coupled to the pitch operating part; a yaw locking part formed to be coupled to the yaw locking main body; and a yaw locking control part for controlling the transition between a coupled state and a separated state between the yaw locking main body and the yaw locking part, and controlling the operation of the yaw operating part according to whether the yaw locking main body and the yaw locking part are coupled.

[0259] In one embodiment of the present invention, a grip control unit configured to be coupled to or uncoupled from the yaw lock control unit is further included, and the yaw lock control unit may be configured to have its position fixed in a coupled state with the grip control unit.

[0260] In one embodiment of the present invention, the yaw locking control unit includes a pressure projection that is coupled to the grip control unit, and the grip control unit includes a grip member that grips the pressure projection, and the pressure projection can be gripped by the grip member or released from the grip member by pressing a part of the grip control unit.

[0261] In one embodiment of the present invention, the yaw lock control unit is formed to enable linear reciprocating motion, and as the yaw lock control unit moves in one direction, it presses the yaw lock unit so that the yaw lock unit can be separated from the yaw lock main body.

[0262] In one embodiment of the present invention, while the yaw lock control unit is coupled with the grip control unit, the yaw lock unit may be maintained in a state spaced apart from the yaw lock main body.

[0263] In one embodiment of the present invention, the operating unit is formed to be rotatable by operation of a user and further includes a locking operating lever connected to the yaw locking control unit, and the yaw locking control unit can move along one axis by rotation of the locking operating lever.

[0264] In one embodiment of the present invention, the yaw operating part is axially coupled to the pitch operating part, and the yaw locking device can control the rotational movement of the yaw operating part with respect to the pitch operating part.

[0265] In one embodiment of the present invention, the operating unit further includes a pitch locking device that selectively restricts or allows the operation of the pitch operating unit, and the pitch locking device includes: a pitch locking main body fixedly coupled to the connecting unit; a pitch locking part formed to be coupled to the pitch locking main body; and a pitch locking control unit that controls the switching between a coupled state and a separated state between the pitch locking main body and the pitch locking part, and the operation of the pitch operating unit can be controlled depending on whether the pitch locking main body and the pitch locking part are coupled.

[0266] In one embodiment of the present invention, when the yaw locking part is separated from the yaw locking body part, the pitch locking part may also be separated from the pitch locking body part.

[0267] In one embodiment of the present invention, the yaw lock control unit and the pitch lock control unit are connected to each other by a locking wire, and when the yaw lock control unit moves in a first direction and separates the yaw lock unit from the yaw lock main body, the pitch lock control unit can be pulled by the locking wire to separate the pitch lock unit from the pitch lock main body.

[0268] In one embodiment of the present invention, when the pitch lock control unit is in a first position, the pitch lock is formed to be coupled to the pitch lock main body, and when the pitch lock control unit is in a second position, the pitch lock is formed to be spaced apart from the pitch lock main body by a certain amount.

[0269] In one embodiment of the present invention, the pitch locking device further includes a first elastic member disposed adjacent to the pitch locking control unit, and the first elastic member is,

[0270] A predetermined elastic force can be applied to the pitch lock control unit so that the pitch lock control unit is positioned at either the first position or the second position.

[0271] In one embodiment of the present invention, when the pitch locking main body and the pitch locking part are connected, the yaw locking main body and the yaw locking part may also be connected.

[0272] In one embodiment of the present invention, the yaw lock control unit and the pitch lock control unit are connected to each other by a locking wire, and when the pitch lock control unit moves in a second direction and fastens the pitch lock to the pitch lock main body, the yaw lock control unit can be pulled by the locking wire to fasten the yaw lock to the yaw lock main body.

[0273] In one embodiment of the present invention, the pitch operating part is axially coupled with the connecting part, and the pitch locking device can control the rotational movement of the pitch operating part with respect to the connecting part.

[0274] One embodiment of the present invention provides a surgical instrument comprising: an end tool formed to be rotatable in two or more directions, including one or more jaws; an operating part for controlling the rotation of the end tool in the two or more directions; a connecting part to which the end tool is coupled on one side and the operating part is coupled on the other side; and a driving wire connected to the operating part to transmit the rotation of the operating part to the jaws, wherein the operating part comprises: a grippable handle; and an actuation operating part formed on one side of the handle and controlling the actuation movement of the end tool, wherein the actuation operating part comprises: an actuation lever rotatable about an actuation rotation axis; and an actuation pulley rotatable in conjunction with the actuation lever, wherein the driving wire is disposed on the actuation pulley, so that the opening and closing operation of the one or more jaws is performed according to the rotation of the actuation pulley.

[0275] In one embodiment of the present invention, the actuation operating unit further includes a tension adjustment unit for adjusting the tension of the driving wire, and the tension adjustment unit includes a bolt member that can be coupled to the end of the driving wire; and a body member disposed on one side of the actuation pulley and to which the bolt member is coupled, and may be configured to adjust the tension by tensioning or relaxing the driving wire while the bolt member is coupled to the body member.

[0276] In one embodiment of the present invention, the bolt member may include a cylindrical body having screw threads and a non-threaded portion formed integrally at one end of the body without screw threads.

[0277] In one embodiment of the present invention, the bolt member forms a receiving portion into which the driving wire and a fastening member coupled to one end of the driving wire are inserted, and the receiving portion may be formed to penetrate from one side to the other side along the longitudinal direction of the bolt member.

[0278] In one embodiment of the present invention, the receiving portion comprises: a first receiving portion capable of receiving the driving wire; and a second receiving portion capable of receiving the driving wire and the fastening member together; and the second receiving portion may be formed to communicate with the first receiving portion.

[0279] In one embodiment of the present invention, the receiving portion includes an open insertion path for receiving the fastening member and the driving wire, and the insertion path may be formed along the longitudinal direction of the bolt member and open to the side of the receiving portion to enable lateral insertion.

[0280] In one embodiment of the present invention, the non-screw portion may be formed with a diameter smaller than that of the body.

[0281] In one embodiment of the present invention, a first elastic member may be further included, which is elastically deformable between the actuation lever and the actuation pulley and transmits at least a portion of the rotational force of the actuation lever to the actuation pulley.

[0282] In one embodiment of the present invention, the first elastic member may be positioned such that one end is supported by a pressure projection of the actuation lever and the other end is supported by a support projection of the actuation pulley, thereby having a predetermined restoring force between the pressure projection and the support projection.

[0283] In one embodiment of the present invention, the first elastic member rotates in correspondence with the actuation lever and can transmit the rotational force to the actuation pulley.

[0284] In one embodiment of the present invention, the first elastic member can elastically deform when the rotational force applied by the pressure projection is greater than the restoring force when the actuation lever rotates according to the predetermined restoring force.

[0285] In one embodiment of the present invention, the first elastic member is provided in a plurality of numbers, and the plurality of first elastic members may be arranged symmetrically with respect to the actuation rotation axis and at equal intervals.

[0286] In one embodiment of the present invention, the operating member further includes a second elastic member that is elastically deformable between the handle and the actuation lever and provides a restoring force to the actuation lever, and the second elastic member may include a slide portion that can slide while in contact with the actuation lever.

[0287] In one embodiment of the present invention, the second elastic member may be a torsion spring having a first spring arm extending from the coil portion and connected to the handle; and a second spring arm extending from the coil portion and connected to the actuation lever.

[0288] In one embodiment of the present invention, the slide portion may be composed of a roller rotatably mounted on the end of the second spring arm.

[0289] In one embodiment of the present invention, the rotation axis of the roller may be formed to be parallel to the actuation rotation axis.

[0290] In one embodiment of the present invention, the second spring arm is formed to be shorter than the first spring arm, and

[0291] When the above actuation lever is rotated to its maximum extent, the angle formed by the first spring arm and the second spring arm can be elastically deformed to about 30 degrees.

[0292] In one embodiment of the present invention, the actuation lever has a slide guide formed by being recessed on one side of the actuation lever that contacts the second elastic member, and a part of the second elastic member may be inserted into the slide guide and be able to move along the slide guide.

[0293] In one embodiment of the present invention, the slide guide includes a contact surface that contacts the slide portion, and the contact surface includes a first region having a constant slope and a second region extending from the first region and formed by being recessed deeper than the first region, and the second elastic member can reduce the amount of elastic deformation due to rotation of the actuation lever by allowing the slide portion to slide along the second region from the first region.

[0294] In one embodiment of the present invention, a first surface formed in the first region and having a constant slope; a second surface formed in the second region and having a slope different from that of the first surface; and a curved portion that continuously connects the first surface and the second surface and has a predetermined curvature, wherein the intersection angle between the first surface and the second surface can be formed to be 90 degrees or more.

[0295] In one embodiment of the present invention, the actuation operating unit further comprises an actuation frame forming a skeleton, wherein the actuation frame may include a base frame coupled to the actuation rotation axis and disposed on the side of the actuation pulley; and a path changing unit that is bent at a preset angle relative to the base frame and has an inclined auxiliary pulley disposed on one side.

[0296] In one embodiment of the present invention, the rotation axis of the inclined auxiliary pulley disposed in the path changing part may be formed not to be parallel to the actuation rotation axis and the yaw rotation axis of the operating part.

[0297] In one embodiment of the present invention, the inclined auxiliary pulley can guide the path of a wire extending from a yaw main pulley coupled to the yaw rotation axis.

[0298] One embodiment of the present invention provides a surgical instrument comprising: an end tool formed to be rotatable in two or more directions, including a first jaw and a second jaw; an operating part for controlling the rotation of the end tool in the two or more directions; a connecting part to which the end tool is coupled on one side and the operating part is coupled on the other side; a driving wire connected to the operating part to transmit the rotation of the operating part to the end tool; a blade moving between a proximal and a distal part of the end tool; and a blade wire coupled to the blade to transmit the driving force required for the movement of the blade, wherein the operating part comprises: a grippable handle; an actuation operating part formed on one side of the handle and controlling the actuation movement of the end tool; and a cutting operating part disposed adjacent to the actuation operating part and controlling the movement of the blade wire, wherein the cutting operating part is configured to be operable when the actuation operating part is rotated at a predetermined angle.

[0299] In one embodiment of the present invention, the actuation operating unit includes an actuation lever rotatable about an actuation rotation axis, and the cutting operating unit includes a cutting lever rotatable about a cutting lever rotation axis spaced apart from the actuation rotation axis, and the cutting lever may be configured to interfere with the actuation lever and restrict rotation according to the position of the actuation lever.

[0300] In one embodiment of the present invention, either of the cutting lever and the actuation lever may include a protruding first interference structure, and the other may include a second interference structure formed to accommodate the first interference structure.

[0301] In one embodiment of the present invention, the actuation lever has the first and second jaws open when in an initial position and the first and second jaws closed when in an operating position, the first interference structure is accommodated in the second interference structure in the initial position, and the first interference structure can be separated from the second interference structure in the operating position.

[0302] In one embodiment of the present invention, when the actuation lever rotates beyond a preset angle, the cutting lever may be configured to be rotatable as the interference from the first interference structure is released from the second interference structure.

[0303] In one embodiment of the present invention, the operating unit is configured to control a switchboard for selectively applying electrical energy to the first set and the second set, and further includes a sealing operating unit formed to be rotatable about one axis, wherein the sealing operating unit includes a pressure button protruding on one side with respect to the one axis; and a contact pin protruding on the other side, and the contact pin may come into contact with the contact portion of the switchboard by applying pressure to the pressure button.

[0304] In one embodiment of the present invention, the ratio of the distance from the contact pin to the rotation axis of the sealing operating part to the distance from the pressure button to the rotation axis of the sealing operating part may be 1:1.2 to 1:1.8.

[0305] One embodiment of the present invention provides a surgical instrument comprising: an end tool formed to be rotatable in two or more directions, including one or more jaws; a control unit for controlling the rotation of the end tool in the two or more directions; and a connecting unit formed to be rotatable through the control unit and the control unit pitch rotation axis on one side, wherein the control unit comprises a hub case having an opening formed adjacent to a rotational connection portion with the connecting unit, and the connecting unit comprises a pitch cover disposed to cover the opening, wherein one side of the pitch cover is connected to the connecting unit and is formed to be maintained in a position capable of covering the opening even when the connecting unit rotates relative to the control unit.

[0306] In one embodiment of the present invention, the other side of the pitch cover may be in contact with the hub case and be capable of sliding movement.

[0307] In one embodiment of the present invention, the pitch cover may include a hinge portion rotatably coupled to the connecting portion; and a cover plate extending from the hinge portion and formed to shield the opening.

[0308] In one embodiment of the present invention, when the connecting part rotates relative to the operating part, the cover plate can maintain a state of contact with the inner surface of the hub case.

[0309] In one embodiment of the present invention, at least a portion of the cover plate is arranged to overlap with the inner surface of the hub case, and as the connecting portion rotates relative to the operating portion, the overlapping area between the cover plate and the hub case may be formed to increase or decrease.

[0310] In one embodiment of the present invention, the pitch cover further includes an elastic member disposed in the hinge portion, and the elastic member may provide a rotational restoring force so that the cover plate contacts the hub case.

[0311] In one embodiment of the present invention, the cover plate may include a plate-shaped first portion extending from the hinge portion; and a plate-shaped second portion formed by bending at a predetermined angle with respect to the first portion and formed to be slidable in contact with the hub case.

[0312] In one embodiment of the present invention, the connecting portion comprises a straight portion coupled to the end tool; and a bent portion coupled to the proximal side of the straight portion and rotatably coupled to the operating portion, wherein the operating portion may be disposed within a concave portion formed on the inner side of the bent portion.

[0313] In one embodiment of the present invention, as the bending portion rotates in a direction away from the operating portion, the opening area of ​​the opening may be expanded, and as the bending portion rotates in a direction closer to the operating portion, the opening area of ​​the opening may be reduced.

[0314] In one embodiment of the present invention, as the bending portion rotates in a direction away from the operating portion, the angle between the pitch cover and the bending portion increases, and as the bending portion rotates in a direction closer to the operating portion, the angle between the pitch cover and the bending portion may decrease.

[0315] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention.

[0316] Hereinafter, the following embodiments will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0317] Since the embodiments are capable of various modifications, specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the embodiments and the methods for achieving them will become clear by referring to the details described below in conjunction with the drawings. However, the embodiments are not limited to those disclosed below and can be implemented in various forms.

[0318] In describing the present invention, if it is determined that a detailed description of related known technology may obscure the essence of the present invention, such detailed description is omitted.

[0319] In the following embodiments, singular expressions include plural expressions unless the context clearly indicates otherwise. 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.

[0320] In the following examples, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0321] In the following embodiments, when a part such as a unit, area, or component is described as being on or above another part, it includes not only cases where it is directly on top of another part, but also cases where another unit, area, or component is interposed in between.

[0322] In the following embodiments, terms such as "connect" or "combine" do not necessarily imply a direct and / or fixed connection or combination of two members unless the context clearly indicates otherwise, nor do they exclude the interposition of another member between the two members.

[0323] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, so the following embodiments are not necessarily limited to those illustrated.

[0324] In the following embodiments, the x-axis, y-axis, and z-axis are not limited to three axes in an orthogonal coordinate system and can be interpreted in a broader sense that includes them. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but they may also refer to different directions that are not orthogonal to each other.

[0325] Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0326]

[0327] FIG. 1 is a perspective view illustrating a surgical instrument according to one embodiment of the present invention.

[0328] 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.

[0329] 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 (110a) is rotated counterclockwise, the end tool (120a) is also rotated counterclockwise.

[0330] 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, and when the operating part (110a) is rotated clockwise, the end tool (120a) is also rotated clockwise, and when the operating part (110a) is rotated counterclockwise, the end tool (120a) is also rotated counterclockwise.

[0331] In this case, from the perspective of the user's left and right directions, when the user moves the control unit (110a) to the left, the end tool (120a) moves to the right, and when the user moves the control unit (110a) to the right, the end tool (120a) moves to the left.

[0332] Consequently, as the direction of user operation and the direction of operation of the end tool were opposite, there was a problem that it could cause errors for the user and made operation difficult.

[0333] 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.

[0334] Referring to FIG. 1c, some of the conventional surgical instruments are formed in a mirror-symmetric shape 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, and 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.

[0335] In this case, from the perspective of the rotational direction of the control unit and the end tool, the rotational direction in which the user rotates the control unit (110b) and the corresponding rotational direction of the end tool (120b) are opposite to each other. Consequently, there was a problem in 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.

[0336] 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.

[0337] In this case, from the perspective of the rotational direction of the control unit and the end tool, the rotational direction in which the user rotates the control unit (110b) and the corresponding rotational direction of the end tool (120b) are opposite to each other. Consequently, there was a problem in 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.

[0338] Thus, regarding the pitch or yaw manipulation of a user of a conventional surgical instrument, the user's direction of manipulation and the direction of the end tool's movement do not coincide 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 in the joint structure of the conventional surgical instrument. Specifically, the end tool is formed in front of the end tool's center of rotation, whereas the operating part is formed behind the operating part's center of rotation.

[0339] In order to solve such problems, 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 ahead of the rotation center (121c) of the end tool, and the operating part (110c) is also formed ahead 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.

[0340] 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.

[0341] To explain this differently, in the case of conventional surgical instruments such as FIGS. 1a, 1b, 1c and 1d, the end tool is located in front of its center of rotation, whereas the operating part is formed behind its center of rotation. Since the end tool, which moves the front while the rear is fixed, is moved through the operation of the operating part which moves the rear while the front is fixed, the structure is not intuitively consistent.

[0342] Consequently, there was a problem in that inconsistencies occurred between the operation of the control unit and the movement of the end tool regarding the left-right direction or the rotational direction, which could cause confusion for the user, make it difficult to perform the operation of the control unit intuitively and quickly, and lead to errors. In contrast, the surgical instrument according to one embodiment of the present invention can be said to have intuitively corresponding operations structurally because both the end tool and the control unit move based on a rotational center formed at the rear. In other words, just as the moving part of the end tool moves based on a rotational center formed at the rear, the moving part of the control unit also moves based on the corresponding rotational center formed at the rear, so the operations can be said to be intuitively corresponding structurally. 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, a specific mechanism that enables this function will be described.

[0343]

[0344] (First embodiment of an instrument for electrocautery surgery)

[0345] FIG. 2 is a perspective view showing an electrocautery surgical instrument according to an embodiment of the present invention. FIGS. 3 to 8 are drawings showing the end tool of the electrocautery surgical instrument of FIG. 2. FIG. 9 is a perspective view showing the end tool hub of the electrocautery surgical instrument of FIG. 2. FIGS. 10 and 11 are incisional perspective views of the end tool hub of FIG. 9. FIGS. 12 and 13 are perspective views showing the end tool hub of FIG. 9. FIG. 14 is a side view showing the end tool hub and guide tube of FIG. 9. FIG. 15 is a top view showing the end tool hub and guide tube of FIG. 9. FIG. 16 is a perspective view showing the actuation hub of the electrocautery surgical instrument of FIG. 2 of FIG. 9. FIG. 17 is an incisional perspective view of the actuation hub of FIG. 16. FIG. 18 is an exploded perspective view showing the end tool of the electrocautery surgical instrument of FIG. 2. FIG. 19 is a perspective view showing the first set of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. 20 is a perspective view showing the second set of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. 21 is a perspective view showing the pulley of the first set of the electrocautery surgical instrument of FIG. 2. FIG. 22 is a plan view showing the opening and closing operation of the first set of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. 23 is a plan view showing the opening and closing operation of the second set of the end tool of the electrocautery surgical instrument of FIG. 2. FIG. 24 is a plan view showing the opening and closing operation of the first and second sets of the end tool of the electrocautery surgical instrument of FIG. 2.

[0346] Referring to FIGS. 2 to 24, etc., an instrument (10) for electrocautery surgery according to one embodiment of the present invention includes an end tool (1100), a control unit (200), a power transmission unit (300), and a connecting unit (400).

[0347] Here, the connecting part (400) is formed in the shape of a hollow shaft, so that one or more wires and electrical wires can be accommodated inside. An operating part (200) is coupled to one end of the connecting part (400), and an end tool (1100) is coupled to the other end, so that the connecting part (400) can perform the function of connecting the operating part (200) and the end tool (1100). Here, the connecting part (400) of the electrocautery surgical instrument (10) according to one embodiment of the present invention is characterized by having a straight part (401) and a bent part (402), wherein the straight part (401) is formed on the side coupled to the end tool (1100), and the bent part (402) is formed on the side coupled to the operating part (200). In this way, the operating portion (200) side end of the connecting portion (400) is formed by bending, so that the pitch operating portion (201), the yaw operating portion (202), and the actuation operating portion (203) are formed on the extension line of the end tool (1100) or adjacent to the extension line. Expressed in another aspect, it may be described that at least a portion of the pitch operating portion (201) and the yaw operating portion (202) are accommodated within the concave portion formed by the bending portion (402). Due to the shape of the bending portion (402) in this manner, the shape and operation of the operating portion (200) and the end tool (1100) can be matched more intuitively.

[0348] Meanwhile, the plane on which the bending portion (402) 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 portions can be reduced by forming the bending portion (402) on a plane substantially identical to the XZ plane. Of course, for intuitive operation of the end tool and the operating portion, configurations other than the XZ plane may also be possible.

[0349] Meanwhile, a connector (410) may be formed in the bent portion (402). The connector (410) may be connected to an external power source (not shown), and the connector (410) may also be connected to the group (1103) via electric wires (411) (412) to transmit electrical energy supplied from the external power source (not shown) to the group (1103). Here, the connector (410) may be a bipolar type with two electrodes formed, or the connector may be a monopolar type with one electrode formed.

[0350] The control unit (200) is formed at one end of the connecting unit (400) 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 (1100), 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 (200) 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 (1100) and can operate the end tool (1100) are possible.

[0351] The end tool (1100) is formed at the other end of the connecting part (400) and is inserted into the surgical site to perform operations necessary for surgery. As an example of such an end tool (1100), a pair of jaws (1103) 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 (1100). For example, a configuration such as a single-arm cauterizer may also be used as the end tool. Such an end tool (1100) is connected to the operating part (200) and the power transmission part (300), and by receiving the driving force of the operating part (200) through the power transmission part (300), it performs operations necessary for surgery, such as gripping, cutting, and suturing.

[0352] Here, the end tool (1100) of the electrocautery surgical instrument (10) according to one embodiment of the present invention is formed to be rotatable in at least one direction, for example, the end tool (1100) 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.

[0353] The power transmission unit (300) connects the operating unit (200) and the end tool (1100) to transmit the driving force of the operating unit (200) to the end tool (1100), and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0354] The end tool (1100), operating part (200), power transmission part (300), etc. of the electrocautery surgical instrument (10) of Fig. 2 will be explained in detail later.

[0355]

[0356] (Power transmission unit)

[0357] Below, the power transmission part (300) of the electrocautery surgical instrument (10) of FIG. 2 will be described in more detail.

[0358] Referring to FIGS. 2 to 8, etc., the power transmission unit (300) of the electrocautery surgical instrument (10) according to one embodiment of the present invention may include a wire (301), a wire (302), a wire (303), a wire (304), a wire (305), a wire (306), and a blade wire (307).

[0359] Here, wire (301) and wire (305) can form a pair and function as a first jaw wire. Wire (302) and wire (306) can form a pair and function as a second jaw wire. Here, the component encompassing the first jaw wires, wire (301) and wire (305), and the second jaw wires, wire (302) and wire (306), may be referred to as a jaw wire. Also, wire (303) and wire (304) can form a pair and function as a pitch wire.

[0360] Additionally, the power transmission unit (300) of the electrocautery surgical instrument (10) according to one embodiment of the present invention may include a fastening member (321), a fastening member (322), a fastening member (323), a fastening member (324), a fastening member (326), and a fastening member (327) that are coupled to each end of each wire to combine the wire and the pulley. Here, each fastening member may be in various shapes as needed, such as a ball shape or a tube shape.

[0361] Here, on the end tool (1100) side, the fastening member (321) / fastening member (322) may perform the role of a pitch wire-end tool fastening member, the fastening member (323) may perform the role of a first wire-end tool fastening member, and the fastening member (326) may perform the role of a second wire-end tool fastening member.

[0362] Additionally, on the side of the control unit (200), the fastening member (324) may perform the role of the first wire-operation unit fastening member, and the fastening member (327) may perform the role of the second wire-operation unit fastening member. Additionally, although not shown in the drawing, a pitch wire-operation unit fastening member and a blade wire-operation unit fastening member may be further formed on the side of the control unit (200).

[0363] The detailed connection relationships between the wires, fastening members, and each pulley are as follows.

[0364] First, the first wire (301) and the wire (305) may be a single wire. A fastening member (323), which is a first wire-end tool fastening member, is inserted at the midpoint of the first wire, which is a single wire, and after fixing the fastening member (323) by crimping, the two strands of the first wire can be referred to as the wire (301) and the wire (305), respectively, with the fastening member (323) at the center.

[0365] Alternatively, the first wire (301) and the wire (305) may each be formed as separate wires, and the wire (301) and the wire (305) may be connected by a fastening member (323).

[0366] And, by connecting this fastening member (323) to the pulley (1111), the wire (301) and the wire (305) can be fixedly connected to the pulley (1111). As a result, the pulley (1111) can rotate as the wire (301) and the wire (305) are pulled and released.

[0367] Meanwhile, the opposite end of the wire (301) and the wire (305) where the fastening member (323) is fastened can be joined to the first wire-operating member fastening member (324).

[0368] And, as such, the first wire-operating member (324) is coupled to the pulley (211), so that the wire (301) and the wire (305) can be fixedly coupled to the pulley (211). Consequently, when the pulley (211) is rotated by a motor or human power, the wire (301) and the wire (305) are pulled and released, allowing the pulley (1111) of the end tool (1100) to rotate.

[0369] In the same manner, the second wire (302) and the wire (306) are each connected to the second wire-end tool connecting member (326) and the second wire-operating member connecting member (327), respectively. The connecting member (326) is connected to the pulley (1121), and the second wire-operating member connecting member (327) is connected to the pulley (220). Consequently, when the pulley (220) is rotated by a motor or human power, the wire (302) and the wire (306) are pulled and released, allowing the pulley (1121) of the end tool (1100) to rotate.

[0370] In the same way, the pitch wire (304) is combined with the pitch wire-end tool fastening member (321) and the pitch wire-operating member (not shown). And the pitch wire (303) is combined with the pitch wire-end tool fastening member (322) and the pitch wire-operating member (not shown).

[0371] And, the fastening member (321) is coupled to the first pitch pulley section (1163a) of the end tool hub (1160), the fastening member (322) is coupled to the second pitch pulley section (1163b) of the end tool hub (1160), and the pitch wire-operating member (not shown) is coupled to the pulley (231). As a result, when the pulley (231) is rotated by a motor or human power, the wire (303) and the wire (304) are pulled and released, allowing the end tool hub (1160) of the end tool (1100) to rotate.

[0372] In describing the present invention, the part closer to the user, that is, the part closer to the operating part (200), is described as the proximal end, and the part farther from the user, that is, the part closer to the end tool (1100), is described as the distal end.

[0373] For example, referring to FIGS. 3 and FIGS. 47, the part of the end tool (1100) that is close to the operating part (200) is defined as the proximal part (1105) of the end tool (1100), and the part far from the operating part (200), that is, the part close to the end of the end tool (1100), is defined as the distal part (1104) of the end tool (1100). To explain this from another perspective, the proximal part (1105) of the end tool (1100) is described as the part close to the connecting part (400), and the distal part (1104) of the end tool (1100) is described as the part far from the connecting part (400).

[0374] Meanwhile, one end of the blade wire (307) is connected to the blade (1175) to be described later, and the other end is connected to the cutting operation unit (280) of the operation unit (200). By operating the cutting operation unit (280), the blade wire (307) can perform a cutting operation while moving from the proximal part (1105) of the end tool (1100) to the distal part (1104), or the blade wire (307) can return from the distal part (1104) of the end tool (1100) to the proximal part (1105).

[0375] At this time, at least a portion of the blade wire (307) may be accommodated within the guide tube (1170) to be described later. Thus, when the guide tube (1170) is bent according to the pitch or yaw motion of the end tool (1100), the blade wire (307) accommodated therein may also be bent together with the guide tube (1170). Such a guide tube (1170) will be described in more detail later.

[0376] Additionally, the blade wire (307) is formed to move linearly along the longitudinal direction of the connecting part (400) within the connecting part (400). Since one end of the blade wire (307) is connected to the blade (1175), when the blade wire (307) moves linearly along the longitudinal direction of the connecting part (400), the blade (1175) connected thereto also moves linearly. That is, when the blade wire (307) moves linearly along the longitudinal direction of the connecting part (400), the blade (1175) connected thereto moves toward the distal part (1104) or proximal part (1105) of the end tool (1100) and performs a cutting operation. This will be explained in more detail later.

[0377] Meanwhile, the member that moves linearly within the end tool (1100) by the blade wire (307) is not limited to the blade (1175) and may include a moving member for performing various purposes and functions. For example, various moving members that move linearly within the end tool may be included, such as a stapler wedge or a moving member like this.

[0378] In addition, the cutting operation unit of the operation unit is not limited to controlling the linear movement of the blade, and may include a staple operation unit that performs stapling and cutting by moving a moving member along the axis of the connecting unit (shaft) through the blade wire in a linear motion.

[0379]

[0380] (End Tool)

[0381] Below, the end tool (1100) of the electrocautery surgical instrument (10) of FIG. 2 will be described in more detail.

[0382] FIG. 2 is a perspective view showing an instrument for electrocautery surgery according to one embodiment of the present invention. FIG. 3 to 8 are drawings showing the end tool of the instrument for electrocautery surgery of FIG. 2.

[0383] Here, FIG. 3 illustrates the state in which the end tool hub (1160) and the pitch hub (1150) are combined, and FIG. 4 illustrates the state in which the end tool hub (1160) and the pitch hub (1150) are removed. FIG. 5 illustrates the state in which the first row (1101) and the second row (1102) are removed, and FIG. 6 illustrates the state in which the first row (1101), the second row (1102), the pulley (1111), the pulley (1121), etc. are removed. Meanwhile, FIG. 7 is a drawing mainly focused on the wires, and FIG. 8 is a drawing mainly focused on the pulleys.

[0384] Referring to FIGS. 2 to 24, an end tool (1100) of one embodiment of the present invention is provided with a pair of jaws for performing a grip operation, namely a first jaw (1101) and a second jaw (1102). Here, each of the first jaw (1101) and the second jaw (1102), or a component encompassing the first jaw (1101) and the second jaw (1102), may be referred to as a jaw (1103).

[0385] Additionally, the end tool (1100) may include pulleys (1111), pulley (1113), pulley (1114), pulley (1115), and pulley (1116) associated with the rotational movement of the first jaw (1101). Additionally, it may include pulleys (1121), pulley (1123), pulley (1124), pulley (1125), and pulley (1126) associated with the rotational movement of the second jaw (1102).

[0386] 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.

[0387] Additionally, an end tool (1100) of one embodiment of the present invention may include an end tool hub (1160) and a pitch hub (1150).

[0388] A first rotational shaft (1141), to be described later, is inserted through the end tool hub (1160), and at least a portion of a pulley (1111) and a pulley (1121) axially coupled to the first rotational shaft (1141), and a first jaw (1101) and a second jaw (1102) coupled thereto, may be accommodated inside the end tool hub (1160). Here, one embodiment of the present invention is characterized by the formation of a wire guide portion (1168) that performs the role of an auxiliary pulley in the end tool hub (1160). That is, a first wire guide portion (1168a) and a second wire guide portion (1168b) that guide the path of a wire (305) and a wire (302) may be formed in the end tool hub (1160). The wire guide section (1168) of the end tool hub (1160) can change the path of the wire by acting as an auxiliary pulley, and the first wire guide section (1168a) and the second wire guide section (1168b) of the end tool hub (1160) that act as auxiliary pulleys will be described in more detail later.

[0389] Meanwhile, a first pitch pulley section (1163a) and a second pitch pulley section (1163b) that perform the function of an end tool pitch pulley may be formed at one end of the end tool hub (1160). A wire (303) and a wire (304) that are pitch wires are coupled to the first pitch pulley section (1163a) and the second pitch pulley section (1163b) that perform the function of an end tool pitch pulley, and the end tool hub (1160) performs a pitch operation while rotating around a third rotation axis (1143).

[0390] A third rotation axis (1143) and a fourth rotation axis (1144) are inserted through the pitch hub (1150), and the pitch hub (1150) can be axially coupled with the end tool hub (1160) by the third rotation axis (1143). Thus, the end tool hub (1160) can be formed to be pitch-rotatable relative to the pitch hub (1150) around the third rotation axis (1143).

[0391] Additionally, the pitch hub (1150) can accommodate at least a portion of the pulleys (1113), pulley (1114), pulley (1123), and pulley (1124) axially coupled to the third rotation axis (1143). Additionally, the pitch hub (1150) can accommodate at least a portion of the pulleys (1115), pulley (1116), pulley (1125), and pulley (1126) axially coupled to the fourth rotation axis (1144).

[0392] One end of the pitch hub (1150) is connected to the end tool hub (1160), and the other end of the pitch hub (1150) is connected to the connection part (400).

[0393] Here, an end tool (1100) of one embodiment of the present invention may include a first rotation axis (1141), a third rotation axis (1143), and a fourth rotation axis (1144). As described above, the first rotation axis (1141) may be inserted through the end tool hub (1160), and the third rotation axis (1143) and the fourth rotation axis (1144) may be inserted through the pitch hub (1150).

[0394] The first rotation axis (1141), the third rotation axis (1143), and the fourth rotation axis (1144) can be arranged sequentially from the distal end (1104) of the end tool (1100) toward the proximal end (1105). Accordingly, starting from the distal end (1104), the first rotation axis (1141) may be referred to as pin number 1, the third rotation axis (1143) as pin number 3, and the fourth rotation axis (1144) as pin number 4.

[0395] Here, the first rotation axis (1141) functions as the end tool jaw pulley rotation axis, the third rotation axis (1143) functions as the end tool pitch rotation axis, and the fourth rotation axis (1144) can function as the end tool pitch auxiliary rotation axis of the end tool (1100).

[0396] Here, each rotation axis may include two axes, a first sub-axis and a second sub-axis. Alternatively, it may be expressed that each rotation axis is formed by dividing it into two.

[0397] For example, the first rotation axis (1141) may include two axes, a first sub-axis (1141a) and a second sub-axis (1141b). And, the third rotation axis (1143) may include two axes, a first sub-axis (1143a) and a second sub-axis (1143b). And, the fourth rotation axis (1144) may include two axes, a first sub-axis and a second sub-axis.

[0398] The reason each rotation axis is formed by dividing it into two parts as described above is to allow the guide tube (1170), which will be described later, to pass through the end tool hub (1160) and the pitch hub (1150). That is, the guide tube (1170) can pass between the first sub-axis and the second sub-axis of each rotation axis. This will be explained in more detail later. Here, the first sub-axis and the second sub-axis may be placed on the same axis, or they may be placed with a certain degree of offset.

[0399] Meanwhile, although the drawings show that each rotation axis is formed by being divided into two, the concept of the present invention is not limited thereto. That is, it is possible for each rotation axis to be formed to bend in the middle so that an escape path of the guide tube (1170) is formed.

[0400] One or more pulleys may be fitted into each of these rotation axes (1141)(1143)(1144), and this will be explained in detail below.

[0401] Meanwhile, the end tool (1100) may be further provided with an actuation rotation axis (1145). Specifically, the first set (1101) and the second set (1102) may be axially coupled by the actuation rotation axis (1145), and in this state, the first set (1101) and the second set (1102) may rotate around the actuation rotation axis (1145) to perform an actuation operation. Here, the actuation rotation axis (1145) may be positioned further distal (1104) than the first rotation axis (1141).

[0402] Here, an end tool (1100) of one embodiment of the present invention is characterized in that the first rotation axis (1141), which is the yaw rotation axis, and the actuation rotation axis (1145) are provided separately, rather than being on the same axis. That is, the first rotation axis (1141), which is the rotation axis of the jaw pulley pulley (1111) / pulley (1121) and the rotation axis of the yaw motion, and the actuation rotation axis (1145), which is the rotation axis of the second jaw (1102) relative to the first jaw (1101) and the rotation axis of the actuation motion, are formed with a certain degree of separation, thereby securing a space in which the guide tube (1170) and the blade wire (307) housed therein can bend smoothly. Such an actuation rotation axis (1145) will be explained in more detail later.

[0403] Pulley (1111) functions as the end tool first jaw pulley, and pulley (1121) functions as the end tool second jaw pulley. Pulley (1111) may be referred to as the first jaw pulley, and pulley (1121) may be referred to as the second jaw pulley, and these two components may be collectively referred to as the end tool jaw pulley or simply jaw pulley.

[0404] The pulleys (1111) and (1121), which are end tool jaw pulleys, are formed to face each other and are formed to rotate independently of each other around a first rotation axis (1141), which is the rotation axis of the end tool jaw pulley. At this time, the pulleys (1111) and (1121) are formed to be spaced apart to a certain degree, so that a blade assembly receiving portion can be formed between them. And at least a part of the blade assembly to be described later can be placed in this blade assembly receiving portion. In other words, a blade assembly including a guide tube (1170) is placed between the pulleys (1111) and (1121).

[0405] Here, the pulley (1111) is coupled with the first jaw (1101), so that when the pulley (1111) rotates around the first rotation axis (1141), the first jaw (1101) can also rotate around the first rotation axis (1141).

[0406] Meanwhile, the pulley (1121) is connected to the second jaw (1102), so that when the pulley (1121) rotates around the first rotation axis (1141), the second jaw (1102) connected thereto can rotate around the first rotation axis (1141).

[0407] Then, the yaw and actuation movements of the end tool (1100) are performed according to the rotation of the pulley (1111) and the pulley (1121). That is, when the pulley (1111) and the pulley (1121) rotate in the same direction around the first rotation axis (1141), the yaw movement is performed as the first jaw (1101) and the second jaw (1102) rotate around the first rotation axis (1141). Meanwhile, when the pulley (1111) and the pulley (1121) rotate in opposite directions around the first rotation axis (1141), the actuation movement is performed as the first jaw (1101) and the second jaw (1102) rotate around the actuation rotation axis (1145).

[0408] Pulleys (1113) and (1114) function as the end tool first pitch main pulleys, and pulleys (1123) and (1124) function as the end tool second pitch main pulleys, and these two components may be collectively referred to as the end tool pitch main pulleys.

[0409] Pulleys (1115) and (1116) function as end tool first pitch sub-pulleys, and pulleys (1125) and (1126) function as end tool second pitch sub-pulleys, and these two components may be collectively referred to as end tool pitch sub-pulleys.

[0410] The following describes the components related to the rotation of the pulley (1111).

[0411] Pulleys (1113) and (1114) function as the main pitch pulleys of the first row of the end tool. That is, they function as the main rotation pulleys for the pitch operation of the first row (1101). Here, the wire (301), which is the first row wire, is wound around pulley (1113), and the wire (305), which is the first row wire, is wound around pulley (1114).

[0412] Pulleys (1115) and (1116) function as the first pitch sub-pulleys of the end tool. That is, they function as sub-rotation pulleys for the pitch operation of the first row (1101). Here, the wire (301), which is the first row wire, is wound around pulley (1115), and the wire (305), which is the first row wire, is wound around pulley (1116).

[0413] Here, on one side of the pulley (1111), a pulley (1113) and a pulley (1114) are arranged facing each other. Here, the pulley (1113) and the pulley (1114) are formed to rotate independently of each other around a third rotation axis (1143), which is the end tool pitch rotation axis. Additionally, on one side of each of the pulley (1113) and the pulley (1114), a pulley (1115) and a pulley (1116) are arranged facing each other. Here, the pulley (1115) and the pulley (1116) are formed to rotate independently of each other around a fourth rotation axis (1144), which is the end tool pitch auxiliary rotation axis. Here, the drawings show that pulleys (1113), (1115), (1114), and (1116) 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 the configuration.

[0414] The first wire (301) is wound sequentially so that at least a portion of it contacts the pulley (1115), the pulley (1113), and the pulley (1111). Then, the wire (305) connected to the wire (301) by the fastening member (323) is wound sequentially so that at least a portion of it contacts the pulley (1111), the first wire guide portion (1168a) of the end tool hub (1160), the pulley (1114), and the pulley (1116).

[0415] To explain this from another perspective, the first wire (301) and the wire (305) are wound sequentially so as to come into contact with at least a portion of the pulley (1115), pulley (1113), pulley (1111), the first wire guide portion (1168a) of the end tool hub (1160), pulley (1114), and pulley (1116), and the wire (301) and the wire (305) are formed to move along the pulleys while rotating the pulleys.

[0416] Accordingly, when the wire (301) is pulled toward the arrow 301 in FIG. 7, the fastening member (323) to which the wire (301) is attached and the pulley (1111) attached thereto rotate counterclockwise. Conversely, when the wire (305) is pulled toward the arrow 305 in FIG. 7, the fastening member (323) to which the wire (305) is attached and the pulley (1111) attached thereto rotate clockwise in FIG. 7.

[0417] Next, the components related to the rotation of the pulley (1121) are described.

[0418] Pulleys (1123) and (1124) function as the main pitch pulleys for the second row of the end tool. That is, they function as the main rotation pulleys for the pitch operation of the second row (1102). Here, the wire (306), which is the second row wire, is wound around pulley (1123), and the wire (302), which is the second row wire, is wound around pulley (1124).

[0419] Pulleys (1125) and (1126) function as end tool second pitch sub-pulleys. That is, they function as sub-rotation pulleys for the pitch operation of the second row (1102). Here, the wire (306), which is the second row wire, is wound around pulley (1125), and the wire (302), which is the second row wire, is wound around pulley (1126).

[0420] Here, on one side of the pulley (1121), a pulley (1123) and a pulley (1124) are arranged facing each other. Here, the pulley (1123) and the pulley (1124) are formed to rotate independently of each other around a third rotation axis (1143), which is the end tool pitch rotation axis. Additionally, on one side of each of the pulley (1123) and the pulley (1124), a pulley (1125) and a pulley (1126) are arranged facing each other. Here, the pulley (1125) and the pulley (1126) are formed to rotate independently of each other around a fourth rotation axis (1144), which is the end tool pitch auxiliary rotation axis. Here, the drawings show that pulleys (1123), (1125), (1124), and (1126) 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 the configuration.

[0421] The second wire (306) is wound sequentially so that at least a portion of it contacts the pulley (1125), pulley (1123), and pulley (1121). Then, the wire (302) connected to the wire (306) by the fastening member (326) is wound sequentially so that at least a portion of it contacts the pulley (1121), the second wire guide portion (1168b) of the end tool hub (1160), pulley (1124), and pulley (1126).

[0422] To explain this from another perspective, the second wire (306) and wire (302) are wound sequentially so as to come into contact with at least a portion of the pulley (1125), pulley (1123), pulley (1121), the second wire guide part (1168b) of the end tool hub (1160), pulley (1124), and pulley (1126), and the wire (306) and wire (302) are formed to move along the pulleys while rotating the pulleys.

[0423] Accordingly, when the wire (306) is pulled toward arrow 306 in FIG. 7, the fastening member (326) to which the wire (306) is attached and the pulley (1121) attached thereto rotate in the clockwise direction of FIG. 7. Conversely, when the wire (302) is pulled toward arrow 302 in FIG. 7, the fastening member (326) to which the wire (302) is attached and the pulley (1121) attached thereto rotate in the counterclockwise direction of FIG. 7.

[0424] The pitch motion of the present invention will be explained in more detail below.

[0425] Meanwhile, when the wire (301) is pulled toward the arrow 301 of FIG. 7 and the wire (305) is simultaneously pulled toward the arrow 305 of FIG. 7 (i.e., when both strands of the first wire are pulled), as shown in FIG. 6, the wire (301) and the wire (305) are wound downwards by the pulley (1113) and the pulley (1114), which can rotate around the third rotation axis (1143) that is the end tool pitch rotation axis. Therefore, the pulley (1111) to which the wire (301) and the wire (305) are fixedly coupled, and the end tool hub (1160) to which the pulley (1111) is coupled, rotate together in a counterclockwise direction around the third rotation axis (1143), and as a result, the end tool (1100) rotates downwards and performs a pitch motion. At this time, since the second piece (1102) and the wire (302) and wire (306) fixedly coupled thereto are wound upwards by the pulley (1123) and pulley (1124) which can rotate around the third rotation axis (1143), the wire (302) and wire (306) are unwound in opposite directions to 302 and 306, respectively.

[0426] Conversely, when the wire (302) is pulled toward arrow 302 of FIG. 7 and the wire (306) is pulled toward arrow 306 of FIG. 7 at the same time, as in FIG. 6, the wire (302) and the wire (306) are wound upwards on the pulley (1123) and the pulley (1124), which are capable of rotating around the third rotation axis (1143), which is the end tool pitch rotation axis. Therefore, the pulley (1121) to which the wire (302) and the wire (306) are fixedly connected, and the end tool hub (1160) to which the pulley (1121) is connected, rotate together clockwise around the third rotation axis (1143), and as a result, the end tool (1100) rotates upwards and performs pitch motion. At this time, since the first band (1101) and the wire (301) and wire (305) fixedly coupled thereto are wound downwards by the pulley (1113) and pulley (1114) which can rotate around the third rotation axis (1143), the wire (302) and wire (306) move in opposite directions to 301 and 305, respectively.

[0427] Meanwhile, the end tool hub (1160) of the end tool (1100) of the electrocautery surgical instrument (10) of the present invention further comprises a first pitch pulley section (1163a) and a second pitch pulley section (1163b) that perform the role of an end tool pitch pulley, the operating section (200) further comprises a pulley (231) and a pulley (232) which are operating section pitch pulleys, and the power transmission section (300) may further comprise a wire (303) and a wire (304) which are pitch wires.

[0428] In detail, the end tool hub (1160), comprising a first pitch pulley section (1163a) and a second pitch pulley section (1163b), may be formed to be rotatable around a third rotation axis (1143), which is the end tool pitch rotation axis. Additionally, wires (303) and (304) may serve to connect the first pitch pulley section (1163a) and the second pitch pulley section (1163b) of the end tool (1100) with the pulley (231) and pulley (232) of the operating section (200).

[0429] Accordingly, when the pulley (231) and pulley (232) of the operating unit (200) rotate, the rotation of the pulley (231) and pulley (232) is transmitted to the end tool hub (1160) of the end tool (1100) through the wire (303) and wire (304), causing the end tool hub (1160) to rotate together, and as a result, the end tool (1100) performs pitch motion while rotating.

[0430] That is, an instrument (10) for electrocautery surgery according to one embodiment of the present invention is equipped with a first pitch pulley section (1163a) and a second pitch pulley section (1163b) of an end tool (1100) for power transmission for pitch movement, a pulley (231) and a pulley (232) of an operating section (200), and a wire (303) and a wire (304) of a power transmission section (300), so that the driving force of the pitch movement of the operating section (200) is transmitted more perfectly to the end tool (1100), thereby improving operational reliability.

[0431]

[0432] (Blade wire and guide tube)

[0433] The blade wire (307) and guide tube (1170) of the present invention will be described in more detail below.

[0434] The guide tube (1170) according to the present invention is formed to wrap around the blade wire (307) in a predetermined section, and the blade wire (307) can move inside the guide tube (1170). In other words, with the blade wire (307) inserted inside the guide tube (1170), the blade wire (307) can move relative to the guide tube (1170).

[0435] Here, the guide tube (1170) serves to guide the path of the blade wire (307) by preventing the blade wire (307) from bending in an unintended direction when the blade wire (307) is pushed or pulled. The cutting operation can be performed smoothly by means of such a guide tube (1170).

[0436] Meanwhile, one end of the guide tube (1170) can be fixedly coupled to an actuation hub (1190) to be described later. Here, the actuation hub (1190) can perform the role of a first coupling part. The other end of the guide tube (1170) can be fixedly coupled to a second coupling part (not shown) within the connecting part (400). Since both ends of the guide tube (1170) are fixedly coupled to a predetermined point (first coupling part and second coupling part) in this way, the total length of the guide tube (1170) can be maintained at a constant level. Accordingly, the length of the blade wire (307) inserted into the guide tube (1170) can also be maintained at a constant level.

[0437] Meanwhile, the guide tube (1170) according to the present invention may be formed of a flexible material so as to be bendable. Accordingly, when the end tool (1100) performs a yaw motion around the first rotation axis (1141) or a pitch motion around the third rotation axis (1143), the guide tube (1170) may bend while its shape is deformed in response. Additionally, when the guide tube (1170) is bent, the blade wire (307) inside it is also bent together.

[0438] Here, although the length of the guide tube (1170) is constant, the relative position and distance between the first coupling part (i.e., the actuation hub (1190)) and the second coupling part (not shown) may change as the end tool (1100) rotates pitch or yaw, and thus space is required for the guide tube (1170) to move according to this change in distance. To this end, a pitch slit (1164) and a yaw slit (1165) are provided in the end tool hub (1160) to form a space for the guide tube (1170) to move. The configuration of such an end tool hub (1160) will be described in detail later.

[0439] Meanwhile, as described above, a blade wire (307) is inserted through the guide tube (1170), and the blade wire (307) is movable relative to the guide tube (1170) inside the guide tube (1170). That is, when the blade wire (307) is pulled while the guide tube (1170) is fixed, the blade (1175) connected to the blade wire (307) moves toward the proximal part (1105), and when the blade wire (307) is pushed, the blade (1175) connected to the blade wire (307) moves toward the distal part (1104).

[0440] This can be explained in more detail as follows.

[0441] In order to reliably perform a cutting operation using the blade (1175), it is most reliable to push and pull the blade (1175) with the blade wire (307). Additionally, in order for the blade wire (307) to push and pull the blade (1175), a guide tube (1170) capable of guiding the path of the blade wire (307) must be provided. If the guide tube (1170) does not guide the path of the blade wire (307) (i.e., does not hold the blade wire (307)), cutting will not be performed even if the blade wire (307) is pushed, and the middle part of the blade wire (307) may bend. Therefore, to reliably perform a cutting operation using the blade (1175), the blade wire (307) and the guide tube (1170) must be included.

[0442] In detail, since the blade wire (307) must also bend according to the pitch and yaw movements, the blade wire (307) must be made of a flexible material wire. However, if one attempts to transmit a pushing force from one end to the other through a flexible material wire, the transmission distance is lost due to bending, making it very difficult to transmit the force. (For example, this can be likened to the situation of pushing an object placed on the floor with a stick versus pushing it with a rope.) In other words, the travel distance of the side applying the load is lost as a reduction in path length due to bending, and consequently, the travel distance of the side receiving the load becomes smaller than this. Therefore, to prevent such loss of travel distance, the reduction in path length must be prevented, and as a method to prevent this, the path lengths of both sides are fixed using a guide tube (1170).

[0443] Meanwhile, in order to drive the cutting motion using the blade wire (307), the blade wire (307) must be pushed while cutting, so a relatively stiff (i.e., not easily bent) wire must be used as the blade wire (307) so that the blade wire (307) can receive force. However, a stiff (i.e. not easily bent) wire has a small range of bending and may be permanently deformed if a force greater than a certain amount is applied.

[0444] To express this from another perspective, in the case of a stiff (i.e., not easily bent) wire, there exists a minimum radius of curvature at which it can be bent and straightened without permanent deformation. In other words, if the wire or guide tube is bent to a radius smaller than a specific radius of curvature, both the wire and the guide tube will be permanently deformed while bent, making it impossible to perform cutting while moving back and forth. Therefore, it is necessary to keep the blade wire (307) bent with a gentle curvature.

[0445] Therefore, in order to prevent the blade wire (307) from bending sharply as it passes through the pulleys, there is a space between the jaw (1103) (i.e., the actuation rotation axis (1145)) and the end tool hub (1160) (i.e., the first rotation axis (1141) which is the yaw axis) where the blade wire (307) can bend gently.

[0446] To this end, the present invention is characterized by separately providing a first rotation axis (1141) and an actuation rotation axis (1145), which are rotational axes, and by separating the first rotation axis (1141) and the actuation rotation axis (1145) by a certain degree, thereby forming a space in which the blade wire (307) and the guide tube (1170) can bend smoothly.

[0447] In addition, since the blade wire (307) and the guide tube (1170) must pass through the end tool hub (1160) and be connected to the blade (1175), and also since there is a space within the end tool hub (1160) where the blade wire (307) and the guide tube (1170) can bend, 1) a space within the end tool hub (1160) through which the blade wire (307) / guide tube (1170) can pass and bend, namely a pitch slit (1164) and a yaw slit (1165), are formed, 2) each rotation axis must be formed by dividing it into two, and 3) a pitch round section (1166) and a yaw round section (1167) are additionally formed to guide the bending of the blade wire (307) and the guide tube (1170).

[0448] To express this from another perspective, when one end of the guide tube (1170) is fixed within the connecting part (400) and the other end moves while performing pitch and yaw movements, the guide tube (1170) bends in a direction that can achieve the gentlest curvature (hereinafter referred to as "maximum gentle curvature") depending on the change in distance between the two ends. By achieving the maximum gentle curvature in a natural state in this way, the operation of the blade wire (307) is smooth and permanent deformation does not occur.

[0449] Therefore, in order to secure the maximum gentle curvature, a pitch slit (1164) and a yaw slit (1165) are formed along the path of the guide tube (1170), and furthermore, a pitch round section (1166) and a yaw round section (1167) can be additionally formed on the end tool hub (1160). As a result, the guide tube (1170) forms a shape that is as similar as possible to the maximum gentle curvature (even if not the maximum gentle curvature).

[0450] Below, we will describe the end tool hub (1160) in more detail.

[0451]

[0452] (End Tool Hub)

[0453] FIG. 9 is a perspective view showing the end tool hub of the electrocautery surgical instrument of FIG. 2. FIG. 10 and FIG. 11 are incisional perspective views of the end tool hub of FIG. 9. FIG. 12 and FIG. 13 are perspective views showing the end tool hub of FIG. 9. FIG. 14 is a side view showing the end tool hub and guide tube of FIG. 9. FIG. 15 is a top view showing the end tool hub and guide tube of FIG. 9.

[0454] Referring to FIGS. 9 to 15, the end tool hub (1160) includes a main body (1161), a first jaw pulley coupling part (1162a), a second jaw pulley coupling part (1162b), a first pitch pulley part (1163a), a second pitch pulley part (1163b), a pitch slit (1164), a yaw slit (1165), a pitch round part (1166), a yaw round part (1167), and a wire guide part (1168). The wire guide part (1168) includes a first wire guide part (1168a) and a second wire guide part (1168b).

[0455] A first jaw pulley coupling part (1162a) and a second jaw pulley coupling part (1162b) may be formed on the distal side of the end tool hub (1160). Here, the first jaw pulley coupling part (1162a) and the second jaw pulley coupling part (1162b) are formed to face each other, and a pulley (1111) and a pulley (1121) are accommodated inside. Here, the first jaw pulley coupling part (1162a) and the second jaw pulley coupling part (1162b) may be formed approximately parallel to a plane perpendicular to the first rotation axis (1141), which is the rotation axis.

[0456] The first pulley coupling part (1162a) and the second pulley coupling part (1162b) are connected by the main body part (1161). That is, the first pulley coupling part (1162a) and the second pulley coupling part (1162b), which are parallel to each other, are connected by the main body part (1161) which is formed in a direction approximately perpendicular to them, so that the first pulley coupling part (1162a), the second pulley coupling part (1162b), and the main body part (1161) form an approximately "U" shape, and the pulley (1111) and the pulley (1121) are accommodated inside.

[0457] To explain this from another perspective, it can be described as the first pulley coupling part (1162a) and the second pulley coupling part (1162b) being formed by extending from the main body (1161) in the X-axis direction.

[0458] Here, the first pulley (1111) is positioned adjacent to the first pulley coupling portion (1162a) of the end tool hub (1160), and the second pulley (1121) is positioned adjacent to the second pulley coupling portion (1162b) of the end tool hub (1160), so that a yaw slit (1165) can be formed between the first pulley coupling portion (1162a) and the second pulley coupling portion (1162b). Furthermore, at least a portion of the blade assembly to be described later can be positioned within the yaw slit (1165). Expressed from another perspective, this can also be expressed as at least a portion of the guide tube (1170) of the blade assembly being positioned between the first pulley coupling portion (1162a) and the second pulley coupling portion (1162b). One feature of the present invention is that a blade assembly including a guide tube (1170) is disposed between the first pulley (1111) and the second pulley (1121) in this manner, thereby enabling the pitch and yaw movements of the end tool (1100) as well as a cutting movement using the blade (1175). This will be explained in more detail later.

[0459] Meanwhile, a through hole is formed in the first pulley coupling part (1162a), so that the first rotation axis (1141) passes through the first pulley coupling part (1162a) and the pulley (1111) to axially connect them. Additionally, a through hole is formed in the second pulley coupling part (1162b), so that the first rotation axis (1141) passes through the second pulley coupling part (1162b) and the pulley (1121) to axially connect them.

[0460] At this time, as described above, the first rotation axis (1141), which is the rotation axis, can be formed by dividing it into a first sub-axis (1141a) and a second sub-axis (1141b), and a guide tube (1170) can pass between the first sub-axis (1141a) and the second sub-axis (1141b) of the first rotation axis (1141).

[0461] Additionally, a yaw slit (1165) may be formed between the first jaw pulley coupling part (1162a) and the second jaw pulley coupling part (1162b). By forming the yaw slit (1165) within the end tool hub (1160) in this manner, the guide tube (1170) can penetrate the interior of the end tool hub (1160).

[0462] Expressed from another perspective, the first rotation axis (1141) is separated vertically without penetrating the end tool hub (1160), and a yaw slit (1165) can be formed on a plane perpendicular to the first rotation axis (1141) near the first rotation axis (1141). Accordingly, the guide tube (1170) penetrates near the first rotation axis (1141) and is able to move (i.e., move left and right) within the yaw slit (1165).

[0463] Meanwhile, a yaw round portion (1167) may be further formed in the main body portion (1161). The yaw round portion (1167) may be formed roundly to have a predetermined curvature. Specifically, when viewed on a plane perpendicular to the first rotation axis (1141), which is the yaw rotation axis, the yaw round portion (1167) may be formed roundly to have a predetermined curvature. For example, the yaw round portion (1167) may be formed in a fan shape and may be formed along the path where the guide tube (1170) bends in the XY plane. Such a yaw round portion (1167) can perform the role of guiding the path of the guide tube (1170) when the end tool (1100) performs yaw rotation.

[0464] A wire guide section (1168) is formed on one side of the main body (1161) to guide the path of a wire passing through the end tool hub (1160). Here, the wire guide section (1168) includes a first wire guide section (1168a) and a second wire guide section (1168b). Here, the first wire guide section (1168a) may be formed on the inner surface of the first jaw pulley coupling section (1162a). And, the second wire guide section (1168b) may be formed on the inner surface of the second jaw pulley coupling section (1162b).

[0465] Here, the wire guide portion (1168) may be formed in the shape of a cylinder with a roughly semicircular cross-section. This semicircular portion may be positioned to protrude toward the pulley (1111) and the pulley (1121). Expressed from another perspective, the wire guide portion (1168) may be formed to protrude toward the space formed by the first pulley coupling portion (1162a), the second pulley coupling portion (1162b), and the main body portion (1161). Expressed from another perspective, the area adjacent to the first pulley coupling portion (1162a) and the second pulley coupling portion (1162b) in the wire guide portion (1168) may be formed with a curved cross-section having a predetermined curvature.

[0466] Alternatively, expressing this from another perspective, it can be said that the wire guide portion (1168) performs the function of a type of pulley member by having the wire (305) and wire (302) wound around its outer surface to guide the path of the wire (305) and wire (302). However, the wire guide portion (1168) is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as a part of the end tool hub (1160), and can be said to perform a function similar to a pulley in some respects by having the wire wound around its circumference.

[0467] In the drawing, the wire guide section (1168) is shown as being formed in a cylindrical shape with a cross-section that is approximately semicircular. That is, at least a portion of the cross-section of the wire guide section (1168) in the XY plane is shown as forming a predetermined arc shape. However, the concept of the present invention is not limited thereto, and it may be formed in various shapes and sizes suitable for guiding the path of the wire (305) and wire (302), such as the cross-section being formed to have a predetermined curvature like an ellipse or a parabola, or the corners of the polygonal column being formed to be rounded to a certain degree.

[0468] Here, a guide groove may be further formed in the portion of the wire guide section (1168) that contacts the wire (305) and the wire (302) to better guide the path of the wire (305) and the wire (302). The guide groove may be formed in the shape of a groove that is recessed to a certain degree from the protruding surface of the wire guide section (1168).

[0469] Here, although the drawing shows the guide groove being formed over the entire arc surface of the wire guide part (1168), the concept of the present invention is not limited thereto, and it is possible for the guide groove to be formed only on a part of the arc surface of the wire guide part (1168) as needed.

[0470] In this way, by further forming guide grooves in the wire guide section (1168), unnecessary friction with the wires can be reduced, thereby improving the durability of the wire.

[0471] A first pitch pulley section (1163a) and a second pitch pulley section (1163b) that serve as end tool pitch pulleys may be formed on the proximal side of the end tool hub (1160). Here, the first pitch pulley section (1163a) and the second pitch pulley section (1163b) may be formed to face each other. Here, the first pitch pulley section (1163a) and the second pitch pulley section (1163b) may be formed approximately parallel to a plane perpendicular to the third rotation axis (1143), which is the pitch rotation axis.

[0472] In detail, one end of the end tool hub (1160) is formed in a disc shape like a pulley, and a groove is formed on its outer surface to allow a wire to be wound, thereby forming a first pitch pulley section (1163a) and a second pitch pulley section (1163b). The wire (303) and wire (304) described above are coupled to the first pitch pulley section (1163a) and the second pitch pulley section (1163b), which perform the function of an end tool pitch pulley, and the end tool hub (1160) performs a pitch operation while rotating around a third rotation axis (1143).

[0473] Meanwhile, although not shown in the drawing, the pitch pulley may be formed as a separate member from the end tool hub (1160) and combined with the end tool hub (1160).

[0474] The first pitch pulley section (1163a) and the second pitch pulley section (1163b) are connected by the main body section (1161). That is, the first pitch pulley section (1163a) and the second pitch pulley section (1163b), which are parallel to each other, are joined by the main body section (1161), which is formed in a direction approximately perpendicular to them, so that the first pitch pulley section (1163a), the second pitch pulley section (1163b), and the main body section (1161) form an approximately "U" shape.

[0475] To explain this from another perspective, it can be described as the first pitch pulley section (1163a) and the second pitch pulley section (1163b) being formed by extending from the main body (1161) in the -X axis direction.

[0476] Meanwhile, a through hole is formed in the first pitch pulley section (1163a) so that the third rotation axis (1143) can pass through the first pitch pulley section (1163a). Additionally, a through hole is formed in the second pitch pulley section (1163b) so that the third rotation axis (1143) can pass through the second pitch pulley section (1163b).

[0477] At this time, as described above, the third rotation axis (1143), which is the pitch rotation axis, can be formed by dividing it into a first sub-axis (1143a) and a second sub-axis (1143b), and a guide tube (1170) can pass between the first sub-axis (1143a) and the second sub-axis (1143b) of the third rotation axis (1143).

[0478] A pitch slit (1164) may be formed between the first pitch pulley section (1163a) and the second pitch pulley section (1163b). By forming the pitch slit (1164) within the end tool hub (1160) in this manner, the guide tube (1170) can penetrate the inside of the end tool hub (1160).

[0479] Expressed from another perspective, the third rotation axis (1143) is separated left and right without penetrating the end tool hub (1160), and a pitch slit (1164) can be formed on a plane perpendicular to the third rotation axis (1143) near the third rotation axis (1143). Accordingly, the guide tube (1170) can move (i.e., move up and down) within the pitch slit (1164) while penetrating near the third rotation axis (1143).

[0480] Meanwhile, a pitch round portion (1166) may be further formed in the main body portion (1161). The pitch round portion (1166) may be formed roundly to have a predetermined curvature. Specifically, when viewed on a plane perpendicular to the third rotation axis (1143), which is the pitch rotation axis, the pitch round portion (1166) may be formed roundly to have a predetermined curvature. For example, the pitch round portion (1166) may be formed in a fan shape and may be formed along the path where the guide tube (1170) bends in the XZ plane. Such a pitch round portion (1166) can perform the role of guiding the path of the guide tube (1170) when the end tool (1100) performs pitch rotation.

[0481] Here, the pitch slit (1164) and the yaw slit (1165) can be formed to be connected to each other. Thus, the guide tube (1170) and the blade wire (307) inside it can be positioned to completely penetrate the inside of the end tool hub (1160). By doing so, the blade (1175) coupled to one end of the blade wire (307) can perform reciprocating linear motion inside the first row (1101) and the second row (1102).

[0482] As such, the present invention is characterized by the fact that, since the blade wire (307) and the guide tube (1170) must pass through the end tool hub (1160) and be connected to the blade (1175), and also have a space within the end tool hub (1160) where the blade wire (307) and the guide tube (1170) can be bent, 1) a space within the end tool hub (1160) through which the blade wire (307) / guide tube (1170) can pass and be bent, namely a pitch slit (1164) and a yaw slit (1165), are formed, 2) the rotation axes are formed in two parts, and 3) a pitch round portion (1166) and a yaw round portion (1167) are additionally formed to guide the bending of the blade wire (307) / guide tube (1170).

[0483] Below, the role and function of the wire guide part (1168) will be explained in more detail.

[0484] The wire guide section (1168) can perform the function of expanding the rotation radius of each of the first set (1101) and the second set (1102) by contacting the wire (305) and the wire (302) and changing the arrangement path of the wire (305) and the wire (302) to a certain degree.

[0485] That is, when auxiliary pulleys are not installed, the first pulley (1111) and the second pulley (1121) can each rotate only up to a right angle, but in one embodiment of the present invention, by additionally providing a wire guide part (1168) on the end tool hub (1160), the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0486] This enables the two sets of the end tool (1100) to separate for an actuation operation while in a state where they have rotated 90°. In other words, through the configuration of the wire guide section (1168) of the end tool hub (1160), it has the characteristic of being able to expand the range of yaw rotation that enables an actuation operation. In other words, through the configuration of the wire guide section (1168) of the end tool hub (1160), it has the characteristic of being able to expand the range of yaw rotation that enables an actuation operation.

[0487] Furthermore, by forming a wire guide section (1168) on an existing end tool hub (1160) without adding a separate structure such as an auxiliary pulley, it has the feature of being able to expand the rotation range without adding parts or manufacturing processes.

[0488] In this way, by not requiring the additional placement of a separate structure for expanding the rotation angle, the number of parts is reduced and the manufacturing process is simplified. Additionally, the length of the end tool is shortened by the size of the auxiliary pulley, which shortens the length of the end tool when performing pitching operations, thereby making it easier to perform surgical operations in confined spaces.

[0489] This can be explained in more detail as follows.

[0490] In an end tool (1100) of a surgical instrument according to one embodiment of the present invention, a wire guide portion (1168) capable of changing the path of a wire is formed on the inner wall of the end tool hub (1160), thereby changing the arrangement path of the wire without a separate structure. By forming the wire guide portion (1168) in the end tool hub (1160) in this manner, the arrangement path of the wire (305) and the wire (302) is changed to a certain degree, thereby changing the tangential direction of the wire (305) and the wire (302), and thus the rotation angle of the fastening member (323) and the fastening member (326) that connect each wire and the pulley is expanded.

[0491] That is, the fastening member (326) connecting the wire (302) and the pulley (1121) is rotatably positioned until it is located on the common inner tangent of the pulley (1121) and the wire guide portion (1168). Likewise, the fastening member (see 323 in FIG. 6) connecting the wire (305) and the pulley (1111) is rotatably positioned until it is located on the common inner tangent of the pulley (1111) and the wire guide portion (1168), so that the rotation angle of the fastening member (see 323 in FIG. 6) can be extended.

[0492] To explain this from another perspective, the wire (301) and the wire (305) wound around the pulley (1111) by the wire guide section (1168) are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis. At the same time, the wire (302) and the wire (306) wound around the pulley (1121) by the wire guide section (1168) are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0493] In other words, pulleys (1113) and (1114) are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis, and pulleys (1123) and (1124) are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0494] In other words, the wire (305) is positioned on the inner tangent of the pulley (1111) and the wire guide (1168), and the rotation angle of the pulley (1111) is extended by the wire guide (1168). Additionally, the wire (302) is positioned on the inner tangent of the pulley (1121) and the wire guide (1168), and the rotation angle of the pulley (1121) is extended by the wire guide (1168).

[0495] Compared to a surgical instrument of an embodiment in which a separate auxiliary pulley is formed, the length of the end tool of the surgical instrument of the present embodiment may be shortened, in which an auxiliary pulley is not formed and a wire guide portion (1168) capable of changing the path of the wire is formed on the inner wall of the end tool hub (1160). By shortening the length of the end tool in this way, the operator can easily manipulate the instrument when performing surgery in a narrow surgical space within the human body, and the effect of reducing side effects of the surgery can be obtained.

[0496] With the present invention, the rotation radius of the first pulley (1111) and the second pulley (1121) is widened, thereby increasing the effect of widening the operating range in which normal opening and closing actuation and cutting operations can be performed.

[0497]

[0498] (Actuation Hub)

[0499] FIG. 16 is a perspective view and an incisional perspective view showing the actuation hub of the electrocautery surgical instrument of FIG. 2 in FIG. 9. FIG. 17 is a drawing showing the state in which a guide tube, blade wire, and blade are mounted on the incisional perspective view of the actuation hub of FIG. 16. FIG. 18 is an exploded perspective view showing the end tool of the electrocautery surgical instrument of FIG. 2.

[0500] Referring to FIGS. 16 to 18, the actuation hub (1190) may be formed in the shape of a box with a hollow interior. The actuation hub (1190) is coupled to the first set (1101) and the second set (1102), respectively. Specifically, the actuation hub (1190) is axially coupled to the first set (1101) by the first actuation rotation axis (1145a). Additionally, the actuation hub (1190) is axially coupled to the second set (1102) by the second actuation rotation axis (1145b). At this time, the first actuation rotation axis (1145a) and the second actuation rotation axis (1145b) may be arranged on the same line in the Z-axis direction.

[0501] Additionally, a tube seating portion (1190a) may be formed inside the actuation hub (1190), and one end of the guide tube (1170) may be fixedly connected to the tube seating portion (1190a).

[0502] Meanwhile, a blade receiving portion (1190b) may be formed inside the actuation hub (1190), and a blade (1175) may be received within the blade receiving portion (1190b).

[0503] Additionally, a wire through hole (1190c) may be formed between the tube seating portion (1190a) and the blade receiving portion (1190b) inside the actuation hub (1190).

[0504] That is, a tube seating portion (1190a), a wire penetration hole (1190c), and a blade receiving portion (1190b) are formed in sequence inside the actuation hub (1190), and the blade wire (307) can pass through the inside of the actuation hub (1190) and be connected to the blade (1175).

[0505] In this way, by providing an actuation hub (1190) to which the guide tube (1170) is coupled between the first set (1101) and the second set (1102), the guide tube (1170) may not bend or the angle of bending may be reduced even if the first set (1101) or the second set (1102) rotates around the first rotation axis (1141) or the actuation rotation axis (1145).

[0506] In detail, when the guide tube (1170) is directly connected to the first row (1101) or the second row (1102), if the first row (1101) or the second row (1102) rotates, one end of the guide tube (1170) also rotates together with the first row (1101) or the second row (1102), causing the guide tube (1170) to bend.

[0507] In contrast, as in the present embodiment, when the guide tube (1170) is coupled to an actuation hub (1190) that is independent of the rotation of the jaw (1103), the guide tube (1170) does not bend even if the first jaw (1101) or the second jaw (1102) rotates, or even if it bends slightly, the angle of bending can be reduced.

[0508] That is, by changing the direct connection between the guide tube (1170) and the jaw (1103) via the actuation hub (1190) to an indirect connection, the effect of reducing the degree to which the guide tube (1170) bends due to the rotation of the jaw (1103) can be obtained.

[0509]

[0510] (Article 1, Article 2 and Actuation Action)

[0511] Below, the combined structure of the first section (1101) and the second section (1102) of the end tool (1100) of the surgical instrument (10) of FIG. 2 will be explained in more detail.

[0512] Referring to FIGS. 19 to 24, etc., the first jaw (1101) includes a flow coupling hole (1101c), a jaw pulley coupling hole (1101d), and an axial penetration part (1101e).

[0513] The first section (1101) is formed in the shape of an elongated rod overall, and a pulley (1111) is attached to one end so that it can rotate together with the pulley (1111).

[0514] Meanwhile, on the side that connects with the pulley (1111) in the first section (1101), that is, the proximal end side, a flow coupling hole (1101c), a jaw pulley coupling hole (1101d), and an axial penetration section (1101e) may be formed.

[0515] Here, the fluid coupling hole (1101c) is formed to have a predetermined curvature and may be formed in a roughly elliptical shape. The shaft coupling part (1111a) of the pulley (1111), which will be described later, may be fitted into this fluid coupling hole (1101c). Here, the semi-minor diameter of the fluid coupling hole (1101c) may be formed to be substantially the same as or slightly larger than the radius of the shaft coupling part (1111a). Meanwhile, the semi-major diameter of the fluid coupling hole (1101c) may be formed to be larger than the radius of the shaft coupling part (1111a). Thus, when the shaft coupling part (1111a) of the pulley (1111) is fitted into the fluid coupling hole (1101c) of the first set (1101), the shaft coupling part (1111a) is formed to be able to move to a certain extent within the fluid coupling hole (1101c). This will be explained in more detail later.

[0516] Meanwhile, the jaw pulley coupling hole (1101d) is formed in the shape of a cylindrical hole, and the jaw coupling part (1111b) of the pulley (1111), which will be described later, can be fitted into this jaw pulley coupling hole (1101d). Here, the radius of the jaw pulley coupling hole (1101d) can be formed to be substantially the same as or slightly larger than the radius of the jaw coupling part (1111b). Thus, the jaw coupling part (1111b) of the pulley (1111) can be formed to be rotatably coupled to the jaw pulley coupling hole (1101d) of the first jaw (1101). This will be explained in more detail later.

[0517] The shaft penetration (1101e) may be formed on the distal side of the first jaw (1101) relative to the fluid coupling hole (1101c) and the jaw pulley coupling hole (1101d). The shaft penetration (1101e) is formed in the shape of a hole, and an actuation rotation shaft (1145) may be inserted through the shaft penetration (1101e).

[0518] The second section (1102) includes a flow coupling hole (1102c), a jaw pulley coupling hole (1102d), and an axial penetration section (1102e).

[0519] The second section (1102) is formed in the shape of an elongated rod overall, and a pulley (1121) is attached to one end so that it can rotate together with the pulley (1121).

[0520] Meanwhile, on the side that connects with the pulley (1111) in the second section (1102), that is, the proximal end side, a flow coupling hole (1102c), a jaw pulley coupling hole (1102d), and an axial penetration section (1102e) may be formed.

[0521] Here, the fluid coupling hole (1102c) is formed to have a predetermined curvature and may be formed in a roughly elliptical shape. The shaft coupling part (1121a) of the pulley (1121), which will be described later, may be fitted into this fluid coupling hole (1102c). Here, the semi-minor diameter of the fluid coupling hole (1102c) may be formed to be substantially the same as or slightly larger than the radius of the shaft coupling part (1121a). Meanwhile, the semi-major diameter of the fluid coupling hole (1102c) may be formed to be larger than the radius of the shaft coupling part (1121a). Thus, when the shaft coupling part (1121a) of the pulley (1121) is fitted into the fluid coupling hole (1102c) of the second set (1102), the shaft coupling part (1121a) is formed to be able to move to a certain extent within the fluid coupling hole (1102c). This will be explained in more detail later.

[0522] Meanwhile, the jaw pulley coupling hole (1102d) is formed in the shape of a cylindrical hole, and the jaw coupling part (1121b) of the pulley (1121), which will be described later, can be fitted into this jaw pulley coupling hole (1102d). Here, the radius of the jaw pulley coupling hole (1102d) can be formed to be substantially the same as or slightly larger than the radius of the jaw coupling part (1121b). Thus, the jaw coupling part (1121b) of the pulley (1121) can be formed to be rotatably coupled to the jaw pulley coupling hole (1102d) of the second jaw (1102). This will be explained in more detail later.

[0523] Meanwhile, the shaft penetration portion (1102e) may be formed on the distal side of the second jaw (1102) relative to the fluid coupling hole (1102c) and the jaw pulley coupling hole (1102d). The shaft penetration portion (1102e) is formed in the shape of a hole, and an actuation rotation shaft (1145) may be inserted through the shaft penetration portion (1102e).

[0524] The first jaw pulley (1111) may include an axial coupling part (1111a) and a jaw coupling part (1111b). The pulley (1111) is formed in the shape of a rotatable disc, and the axial coupling part (1111a) and the jaw coupling part (1111b) may be formed protruding to a certain degree on one side thereof. As described above, the axial coupling part (1111a) of the pulley (1111) may be fitted into the movable coupling hole (1101c) of the first jaw (1101), and the jaw coupling part (1111b) of the pulley (1111) may be fitted into the jaw pulley coupling hole (1101d) of the first jaw (1101). The pulley (1111) may be formed to be rotatable around the first rotation axis (1141), which is the end tool jaw pulley rotation axis.

[0525] Meanwhile, the pulley (1121), which is the second jaw pulley, may also include an axial coupling part (1121a) and a jaw coupling part (1121b). The pulley (1121) is formed in the shape of a rotatable disc, and the axial coupling part (1121a) and the jaw coupling part (1121b) may be formed protruding to a certain degree on one side thereof. As described above, the axial coupling part (1121a) of the pulley (1121) may be fitted into the movable coupling hole (1102c) of the second jaw (1102), and the jaw coupling part (1121b) of the pulley (1121) may be fitted into the jaw pulley coupling hole (1102d) of the second jaw (1102). The pulley (1121) may be formed to be rotatable around the first rotation axis (1141), which is the end tool jaw pulley rotation axis.

[0526] The combination relationships between each component described above are as follows.

[0527] The first rotation axis (1141), which is the end tool jaw pulley rotation axis, is inserted through the shaft coupling part (1111a) of the pulley (1111), the fluid coupling hole (1101c) of the first jaw (1101), the fluid coupling hole (1102c) of the second jaw (1102), and the shaft coupling part (1121a) of the pulley (1121) in sequence.

[0528] The first actuation rotation axis (1145a) is inserted through the shaft penetration (1101e) of the first set (1101) and the actuation hub (1190) in sequence. The second actuation rotation axis (1145b) is inserted through the shaft penetration (1102e) of the second set (1102) and the actuation hub (1190) in sequence.

[0529] The shaft coupling portion (1111a) of the pulley (1111) is fitted into the movable coupling hole (1101c) of the first set (1101), and the jaw coupling portion (1111b) of the pulley (1111) is fitted into the jaw pulley coupling hole (1101d) of the first set (1101).

[0530] At this time, the jaw pulley coupling hole (1101d) of the first jaw (1101) and the jaw coupling part (1111b) of the pulley (1111) are axially coupled so as to be rotatable, and the movable coupling hole (1101c) of the first jaw (1101) and the axial coupling part (1111a) of the pulley (1111) are movably coupled. (Here, movable coupling means that the axial coupling part (1111a) of the pulley (1111) is coupled so that it can move to a certain extent within the movable coupling hole (1101c) of the first jaw (1101).)

[0531] The shaft coupling portion (1121a) of the pulley (1121) is fitted into the movable coupling hole (1102c) of the second row (1102), and the jaw coupling portion (1121b) of the pulley (1121) is fitted into the jaw pulley coupling hole (1102d) of the second row (1102).

[0532] At this time, the jaw pulley coupling hole (1102d) of the second jaw (1102) and the jaw coupling part (1121b) of the pulley (1121) are axially coupled so as to be rotatable, and the movable coupling hole (1102c) of the second jaw (1102) and the axial coupling part (1121a) of the pulley (1121) are movably coupled.

[0533] Here, pulley (1111) and pulley (1121) rotate around the first rotation axis (1141), which is the end tool jaw pulley rotation axis. Meanwhile, the first jaw (1101) and the second jaw (1102) rotate around the actuation rotation axis (1145). That is, the rotation axes of pulley (1111) and the first jaw (1101) are different from each other. Likewise, the rotation axes of pulley (1121) and the second jaw (1102) are different from each other.

[0534] That is, although the rotation angle of the first jaw (1101) is limited to a certain extent by the fluid coupling hole (1101c), it basically rotates around the actuation rotation axis (1145), which is the rotation axis of the jaw. Likewise, although the rotation angle of the second jaw (1102) is limited to a certain extent by the fluid coupling hole (1102c), it basically rotates around the actuation rotation axis (1145), which is the rotation axis of the jaw.

[0535] The amplification of grip force due to the combined relationship between each of the aforementioned components is explained.

[0536] A surgical instrument (110) according to one embodiment of the present invention is characterized in that the combined structure of the first group (1101) and the second group (1102) forms an X-shape, and when the first group (1101) and the second group (1102) rotate in a direction that brings them closer to each other (i.e., when the first group (1101) and the second group (1102) close), the grip force in the direction that the first group (1101) and the second group (1102) close becomes greater. This is explained in more detail as follows.

[0537] As described above, in the operation of opening and closing the first set (1101) and the second set (1102), there are two axes that serve as the center of rotation. That is, the first set (1101) and the second set (1102) perform the opening and closing operation around two axes: the first rotation axis (1141) and the actuation rotation axis (1145). At this time, the center of rotation of the first set (1101) and the second set (1102) is the actuation rotation axis (1145), and the center of rotation of the pulley (1111) and the pulley (1121) is the first rotation axis (1141). At this time, the first rotation axis (1141) is an axis whose position is relatively fixed, and the actuation rotation axis (1145) is an axis whose position moves linearly. In other words, when the pulley (1111) and the pulley (1121) rotate while the position of the first rotation axis (1141) is fixed, the actuation rotation axis (1145), which is the rotation axis of the first set (1101) and the second set (1102), moves back and forth, causing the first set (1101) and the second set (1102) to open / close. This is explained in more detail as follows.

[0538] r1 in FIG. 23 is the distance from the jaw joint (1121b) of the pulley (1121) to the shaft joint (1121a), and the length is constant. Accordingly, the distance from the first rotational shaft (1141) inserted into the shaft joint (1121a) to the jaw joint (1121b) is also constant as r1.

[0539] Meanwhile, r2 in FIG. 23 is the distance from the jaw pulley coupling hole (1102d) of the second jaw (1102) to the shaft penetration part (1102e), and the length is constant. Accordingly, the distance from the jaw coupling part (1121b) of the pulley (1121) inserted into the jaw pulley coupling hole (1102d) to the actuation rotation axis (1145) inserted into the shaft penetration part (1102e) is also constant as r2.

[0540] That is, the lengths of r1 and r2 are maintained at a constant. Therefore, when the pulley (1111) and the pulley (1121) each rotate around the first rotation axis (1141) in the direction of arrow B1 of FIG. 22 and arrow B2 of FIG. 23 to perform a close operation, the angle between r1 and r2 changes while the lengths of r1 and r2 are maintained at a constant, and the first group (1101) and the second group (1102) rotate around the actuation rotation axis (1145), and at this time, the actuation rotation axis (1145) itself also moves linearly (i.e., forward / backward) by the amount of arrow C1 of FIG. 22 and arrow C2 of FIG. 23.

[0541] That is, when the position of the first rotation axis (1141), which is the rotation axis of the end tool jaw pulley, is fixed, when the first jaw (1101) and the second jaw (1102) are closed, the actuation rotation axis (1145), which is the rotation axis of the jaw, receives force in the direction of forward movement (i.e., the distal direction), and thus the grip force in the direction in which the first jaw (1101) and the second jaw (1102) are closed becomes greater.

[0542] To express this from another perspective, as the second jaw (1102) rotates around the actuation rotation axis (1145), the lengths of r1 and r2 are kept constant; therefore, when the pulley (1121) rotates around the first rotation axis (1141), the angle between r1 and r2 changes while the lengths of r1 and r2 remain constant. That is, compared to θ1, the angle between r1 and r2 when the second jaw (1102) is open as in FIG. 23 (a), θ2, the angle between r1 and r2 when the second jaw (1102) is closed as in FIG. 23 (b), becomes larger.

[0543] Therefore, when the second member (1102) rotates from an open state to a closed state, the angle between r1 and r2 changes, and the actuation rotation axis (1145) receives force in the direction of forward movement.

[0544] At this time, since the first rotation axis (1141) is a relatively fixed axis, the actuation rotation axis (1145) advances in the direction of arrow C1 of FIG. 22 and arrow C2 of FIG. 23, and the grip force becomes even greater in the direction in which the second assembly (1102) closes.

[0545] To express this from another perspective, when the pulley (1111) and the pulley (1121) rotate around the first rotation axis (1141), which is a fixed axis in relative position, the angle (θ) between r1 and r2 changes while the distance between r1 and r2 remains constant. When the angle (θ) changes in this way, the first set (1101) and the second set (1102) push or pull the actuation rotation axis (1145), and thus the actuation rotation axis (1145) moves forward or backward. At this time, if the first set (1101) and the second set (1102) rotate in a closing direction, the actuation rotation axis (1145) moves forward in the direction of arrow C1 in FIG. 22 and arrow C2 in FIG. 23, and the grip force becomes even greater. Conversely, if the first set (1101) and the second set (1102) rotate in the direction of opening, the actuation rotation axis (1145) moves backward in the opposite direction of arrow C1 in FIG. 22 and arrow C2 in FIG. 23.

[0546] With this configuration, the grip force becomes stronger when the first group (1101) and the second group (1102) are closed, so that the operator can achieve the effect of performing the actuation motion strongly with less force.

[0547]

[0548] (Components related to cauterization and cutting)

[0549] Continuing with reference to FIGS. 2 to 24, an end tool (1100) of one embodiment of the present invention may include a first jaw (1101), a second jaw (1102), a first electrode (1151), a second electrode (1152), a guide tube (1170), and a blade (1175) to perform cautery and cutting operations.

[0550] Here, components such as a guide tube (1170) and a blade (1175) related to the driving of the blade may be collectively referred to as a blade assembly. One embodiment of the present invention is characterized by the fact that a blade assembly including a guide tube (1170) and a blade (1175) is disposed between a first pulley (1111) and a second pulley (1121), thereby enabling the pitch and yaw movements of the end tool (1100) as well as a cutting movement using the blade (1175). This will be explained in more detail.

[0551] As described above, the first set (1101) is connected to the first set pulley (1111), so that when the first set pulley (1111) rotates around the first rotation axis (1141), it rotates together with the first set pulley (1111) around the first rotation axis (1141).

[0552] Meanwhile, a first electrode (1151) may be formed on the surface facing the second section (1102) in the first section (1101). Also, a second electrode (1152) may be formed on the surface facing the first section (1101) in the second section (1102).

[0553] At this time, a slit (1151a) may be formed in the first electrode (1151), and the blade (1175) may move through the slit (1151a). Additionally, a slit (1152a) may be formed in the second electrode (1152), and the blade (1175) may move through the slit (1152a).

[0554] Meanwhile, although not shown in the drawing, a spacer (not shown) may be formed between the first plate (1101) and the first electrode (1151), and a spacer (not shown) may be formed between the second plate (1102) and the second electrode (1152). This spacer (not shown) may include an insulating material such as ceramic. Alternatively, the first plate (1101) and the second plate (1102) themselves may be composed of a non-conductor, so that the first electrode (1151) and the second electrode (1152) remain insulated from each other until they come into contact with each other without the need for a separate insulator.

[0555] Meanwhile, although not shown in the drawing, one or more sensors (not shown) may be further formed in at least one of the first section (1101) or the second section (1102). These sensors (not shown) may be formed to measure at least some of the current, voltage, resistance, impedance, and temperature while the tissue is positioned between the first section (1101) and the second section (1102) and current flows through the first electrode (1151) and the second electrode (1152) to perform cauterization.

[0556] Alternatively, without providing a separate sensor, monitoring and control of at least some of the current, voltage, resistance, impedance, and temperature may be performed directly by the generator (not shown) itself that supplies power to the electrode.

[0557] In one area of ​​the blade (1175), an edge portion may be formed that is sharply formed to cut tissue. As at least a portion of this blade (1175) moves between the distal portion (1104) and the proximal portion (1105) of the end tool (1100), tissue placed between the first row (1101) and the second row (1102) may be cut.

[0558] Here, an end tool (1100) of an electrocautery surgical instrument (10) according to one embodiment of the present invention is characterized by having a guide tube (1170) and a blade (1175) disposed between a pulley (1111) and a pulley (1121). Furthermore, by having the guide tube (1170) and the blade (1175) in this manner, it is characterized by enabling cauterization and cutting in a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movements. This is explained in more detail as follows.

[0559] Various types of instruments for electrocautery surgery have been developed to date. Among these, a vascular resection device known as an Advanced Energy Device or vessel sealer incorporates sensing capabilities compared to conventional bipolar cautery methods. It operates by supplying power of opposite polarity to two electrodes, using the resulting heat to denature blood vessels and stop bleeding, after which a blade cuts the hemostatic site. In this process, the device measures the impedance of the tissue (or blood vessel) while the current is flowing to determine if cauterization is complete; upon completion, it automatically cuts off the current supply and then uses the blade to cut the tissue.

[0560] In the case of such bipolar angiographs, a blade for cutting tissue after cauterization is essential, and since a mechanism for the blade to perform linear reciprocating motion must be additionally provided on the end tool, joint movements such as pitch and yaw were mostly impossible.

[0561] Meanwhile, there have been attempts to implement joint movement in bipolar angiographs using a flexible joint connecting multiple segments; however, this approach had the problem that the rotation angle was limited and precise motion control of the end tool was difficult to achieve.

[0562] On the other hand, in a different method that uses ultrasonic vibrations to perform hemostasis and cutting, it was impossible to incorporate joints due to the physical characteristics of ultrasound.

[0563] To solve such problems, an end tool (1100) of an electrocautery surgical instrument (10) according to one embodiment of the present invention is characterized by having a guide tube (1170) disposed between a pulley (1111) and a pulley (1121), and a blade (1175) that moves between a first position and a second position according to the movement of a blade wire (307) disposed inside the guide tube (1170). Furthermore, by providing the guide tube (1170) and the blade (1175) in this manner, a bipolar surgical instrument for tissue cauterization and cutting is characterized by enabling pitch / yaw / actuation movements in a pulley / wire manner.

[0564] FIG. 25 is a drawing showing the end tool of the electrocautery surgical instrument of FIG. 2 in a closed state, and FIG. 26 is a drawing showing the end tool of the electrocautery surgical instrument of FIG. 2 in an open state. FIG. 27 is a drawing showing the blade wire (307) and the blade (1175) in a first position, FIG. 28 is a drawing showing the blade wire (307) and the blade (1175) in a second position, and FIG. 29 is a drawing showing the blade wire (307) and the blade (1175) in a third position.

[0565] Referring to FIGS. 25 to 29, it may be described that when the first section (1101) and the second section (1102) are closed as in FIG. 25, the cutting operation of FIGS. 27 to 29 is performed so that the tissue between the first section (1101) and the second section (1102) is cut.

[0566] Here, the first position shown in FIG. 27 can be defined as a state in which the blade (1175) is retracted as much as possible toward the proximal part (1105) of the end tool (1100). Alternatively, it can be defined as a state in which the blade (1175) is located on the side adjacent to the pulley (1111) / pulley (1121).

[0567] Meanwhile, the third position illustrated in FIG. 29 can be defined as a state in which the blade (1175) is pulled out as far as possible toward the distal end (1104) of the end tool (1100). Alternatively, it can be defined as a state in which the blade (1175) is positioned as far as possible from the pulley (1111) / pulley (1121).

[0568] First, as shown in FIG. 26, with the first section (1101) and the second section (1102) open, the tissue to be cut is positioned between the first section (1101) and the second section (1102), and then an actuation operation is performed to close the first section (1101) and the second section (1102) as shown in FIG. 25.

[0569] Next, as shown in FIG. 27, with the blade wire (307) and the blade (1175) positioned in the first position, currents of different polarities are passed through the first electrode (1151) and the second electrode (1152) to cauterize the tissue between the first group (1101) and the second group (1102). At this time, the generator (not shown) itself, which supplies power to the electrodes, monitors at least some of the current, voltage, resistance, impedance, and temperature, and can stop supplying power when the cauterization is completed.

[0570] When the blade wire (307) moves sequentially in the direction of arrow A1 in FIG. 17 and arrow A2 in FIG. 29 after the cauterization is completed in this manner, the blade (1175) combined with the blade wire (307) moves from the first position of the proximal part (1105) of the end tool (1100) toward the third position of the distal part (1104) of the end tool (1100), and reaches the positions of FIG. 28 and FIG. 29 in sequence.

[0571] In this way, as the blade (1175) moves in the X-axis direction, it cuts the tissue between the first row (1101) and the second row (1102).

[0572] However, the linear motion of the blade (1175) here does not mean only a perfect straight line, and it should be understood that it means a motion that is not a perfect straight line, such as a section in the middle of the straight line being bent at a certain angle or a section having a gentle curvature in a certain section, but is capable of performing tissue cutting while forming a straight line overall.

[0573] Meanwhile, if the blade wire (307) is pulled in the opposite direction in this state, the blade (1175) connected to the blade wire (307) also returns to the first position.

[0574] With the present invention, the effect of enabling cauterization and cutting is achieved in a multi-joint / multi-degree-of-freedom surgical instrument capable of pitch / yaw / actuation movements.

[0575]

[0576] (Operation Department)

[0577] FIG. 47 is a perspective view showing the electrocautery surgical instrument of FIG. 2, and FIG. 48 and FIG. 49 are perspective views showing the operating part of the electrocautery surgical instrument of FIG. 2. FIG. 50 is a simplified drawing showing only the configuration of the pulley and wire constituting the joint of the electrocautery surgical instrument of FIG. 2.

[0578] Referring to FIGS. 2 to 24 and FIGS. 47 to 49, the operating part (200) of an electrocautery surgical instrument (10) according to one embodiment of the present invention includes a first handle (204) that can be grasped by a user, an actuation operating part (203) that controls the actuation movement of an end tool (1100), a yaw operating part (202) that controls the yaw movement of an end tool (1100), and a pitch operating part (201) that controls the pitch movement of an end tool (1100). Here, FIGS. 48 and 49 may be understood as showing only the components related to the pitch / yaw / actuation movement of the electrocautery surgical instrument (10).

[0579] Additionally, the operating unit (200) of the electrocautery surgical instrument (10) further includes a cutting operating unit (280) that controls the movement of the blade (1175) of the end tool (1100) to perform cutting, and a sealing operating unit (270) that controls the supply of electrical energy to the first electrode (1151) and the second electrode (1152) of the end tool (1100) to perform cauterization.

[0580] The operating unit (200) may include pulleys (211), pulley (212), pulley (213), pulley (214), pulley (215), pulley (217), pulley (218), pulley (219), and pulley (220) related to the rotational movement of the first jaw (1101). Additionally, it may include pulleys (221), pulley (222), pulley (223), pulley (224), pulley (225), pulley (227), pulley (228), pulley (229), and pulley (230) related to the rotational movement of the second jaw (1102). Additionally, it may include a pulley (262) related to the rotational movement of the first jaw and the second jaw. Furthermore, the operating unit (200) may include a pulley (231) related to the pitch movement. Additionally, it may include intermediate pulleys (235) positioned at intervals along the bending portions (402) of the connecting portion (400).

[0581] 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 operating part.

[0582] Additionally, the operating unit (200) of one embodiment of the present invention may include a rotation axis (241), a rotation axis (242), a rotation axis (243), a rotation axis (244), a rotation axis (245), and a rotation axis (246). Here, the rotation axis (241) functions as an actuation rotation axis of the operating unit, and the rotation axis (242) functions as a first yaw sub-rotation axis of the operating unit. Furthermore, the rotation axis (243) functions as a main rotation axis of the operating unit, and the rotation axis (244) functions as a second yaw sub-rotation axis of the operating unit. Furthermore, the rotation axis (245) functions as a pitch sub-rotation axis of the operating unit, and the rotation axis (246) functions as a main rotation axis of the operating unit.

[0583] The rotation axis (241), rotation axis (242), rotation axis (243), rotation axis (244), rotation axis (245), and rotation axis (246) can be arranged sequentially from the distal end (205) of the operating part (200) toward the proximal end (206).

[0584] One or more pulleys may be fitted into each of these rotation axes (241)(242)(243)(244)(245)(246), and this will be explained in detail later.

[0585] The pulley (262) functions as an actuation pulley for the first and second articles and can be referred to as an actuation pulley for the operating part.

[0586] Pulleys (211) and (212) function as first sub-pulleys of the first operating section, and pulleys (221) and (222) function as first sub-pulleys of the second operating section, and these components may be collectively referred to as first sub-pulleys of the operating section.

[0587] Pulleys (213) and (214) function as the first main pulleys of the operating unit, and pulleys (223) and (224) function as the second main pulleys of the operating unit, and these components may be collectively referred to as the main pulleys of the operating unit.

[0588] Pulley (215) functions as the second sub-pulley of the first operating section, and pulley (225) functions as the second sub-pulley of the second operating section, and these components may be collectively referred to as the second sub-pulley of the operating section.

[0589] Pulleys (217) and (218) function as first pitch sub-pulleys of the operating unit, and pulleys (227) and (228) function as second pitch sub-pulleys of the operating unit, and these components may be collectively referred to as pitch sub-pulleys of the operating unit.

[0590] Pulleys (219) and (220) function as the first pitch main pulleys of the operating unit, and pulleys (229) and (230) function as the second pitch main pulleys of the operating unit, and these components may be collectively referred to as the pitch main pulleys of the operating unit.

[0591] The pulley (231) may include a pulley (not shown) that functions as a main pulley for the operating pitch wire and as a sub-pulley for the operating pitch wire.

[0592] The above components are classified as follows in terms of the control unit for each movement (pitch / yaw / actuation).

[0593] A pitch control unit (201) that controls the pitch movement of an end tool (1100) may include a pulley (217), a pulley (218), a pulley (219), a pulley (220), a pulley (227), a pulley (228), a pulley (229), a pulley (230), and a pulley (231). Additionally, the pitch control unit (201) may include a rotation axis (245) and a rotation axis (246). Furthermore, the pitch control unit (201) may further include a pitch frame (208).

[0594] The yaw control unit (202) for controlling the yaw motion of the end tool (1100) may include a pulley (211), a pulley (212), a pulley (213), a pulley (214), a pulley (215), a pulley (221), a pulley (222), a pulley (223), a pulley (224), and a pulley (225). Additionally, the yaw control unit (202) may include a rotation axis (242), a rotation axis (243), and a rotation axis (244). Additionally, the yaw control unit (202) may further include a yaw frame (207).

[0595] The actuation control unit (203) that controls the actuation movement of the end tool (1100) may include a pulley (262) and a rotation axis (241).

[0596] Below, each component of the control unit (200) will be described in more detail.

[0597] The first handle (204) is formed so that a user can grip 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 (204). Furthermore, an actuation operating part (203) and a yaw operating part (202) are formed on the first handle (204), and a pitch operating part (201) is formed on one side of the yaw operating part (202). The other end of the pitch operating part (201) is connected to the bent part (402) of the connecting part (400).

[0598] The actuation operating unit (203) may include an actuation lever (261), an actuation pulley (262), and an actuation restoring elastic member (263).

[0599] Here, the actuation lever (261) is formed in the shape of a hand loop and can operate as a second handle.

[0600] Here, the rotation axis (241), which is the actuation rotation axis, can be formed to form a predetermined angle with the XZ plane where the connection part (400) is formed.

[0601] For example, the rotation axis (241) may be formed in a direction parallel to the Y-axis, and in this state, when the pitch control unit (201) or the yaw control unit (202) rotates, the coordinate system of the actuation control unit (203) may change relatively. Of course, the concept of the present invention is not limited thereto, and the rotation axis (241) may be formed in various directions to suit the hand structure of the user gripping the actuation control unit (203) through ergonomic design.

[0602] Meanwhile, the actuation pulley (262) may be fixedly coupled to the actuation lever (261) or may be formed as a single member. Thus, the actuation pulley (262) can rotate together with the rotation of the actuation lever (261).

[0603] Here, the actuation pulley (262) may be composed of a single pulley or two pulleys fixedly connected to each other.

[0604] The yaw control unit (202) may include a rotation axis (242), a rotation axis (243), pulleys (213) and (214) which are the first yaw main pulleys of the control unit, pulleys (223) and (224) which are the second yaw main pulleys of the control unit, and a yaw frame (207). Additionally, the yaw control unit (202) may further include pulleys (211) and (212) which are the first yaw sub-pulleys of the first yaw sub-pulleys of the control unit formed on one side of pulleys (213) and (214), and pulleys (221) and (222) which are the first yaw sub-pulleys of the second yaw sub-pulleys formed on one side of pulleys (223) and (224). Additionally, the yaw operating unit (202) may further include a pulley (215), which is a second yaw sub-pulley of the first operating unit formed on the other side of pulleys (213) and (214), and a pulley (225), which is a second yaw sub-pulley of the second operating unit formed on the other side of pulleys (223) and (224). Here, the pulleys (215) and (225) may be coupled to a pitch frame (208) to be described later.

[0605] Here, the drawing shows that the yaw operating unit (202) includes pulleys (213), pulleys (214), pulleys (223), and pulleys (224), and that the pulleys (213), pulleys (214), pulleys (223), and pulleys (224) are each 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 (202).

[0606] In detail, on one side of the actuation control unit (203) on the first handle (204), a rotation axis (242), which is the first sub-rotation axis of the control unit, is formed, and on one side of the rotation axis (242), a rotation axis (243), which is the main rotation axis of the control unit, is formed. At this time, the first handle (204) is formed to be rotatable around the rotation axis (243).

[0607] Here, the rotation axis (243) may be formed to form a predetermined angle with the XY plane in which the connecting part (400) is formed. For example, the rotation axis (243) may be formed in a direction parallel to the Z-axis, and when the pitch control part (201) rotates in this state, the coordinate system of the rotation axis (243) may change relatively as described above. Of course, the concept of the present invention is not limited thereto, and the rotation axis (243) may be formed in various directions to suit the hand structure of the user gripping the control part (200) through ergonomic design.

[0608] Meanwhile, pulleys (213), pulleys (214), pulleys (223), and pulleys (224) are coupled to the rotation axis (243) so as to be rotatable around the rotation axis (243). Then, a first wire, such as wire (301) or wire (305), can be wound around pulleys (213) and pulleys (214), and a second wire, such as wire (302) or wire (306), can be wound around pulleys (223) and pulleys (224). At this time, pulleys (213) and pulleys (214), and pulleys (223) and pulleys (224) can each be formed to face each other and can be 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 separated pulleys respectively, allowing them to operate without interfering with each other.

[0609] The yaw frame (207) rigidly connects the first handle (204), the rotation axis (242), and the rotation axis (243), and the actuation operating unit (203), which is combined with the rotation axis (241) and the actuation pulley (262), is rigidly connected to the yaw frame (207) either directly or through an intermediate member, so that the first handle (204), the yaw operating unit (202), and the actuation operating unit (203) can rotate together as a single unit around the rotation axis (243).

[0610] The pitch control unit (201) may include a rotation axis (246), pulleys (219) and (220) which are the first pitch main pulleys of the control unit, pulleys (229) and (230) which are the second pitch main pulleys of the control unit, and a pitch frame (208). Additionally, the pitch control unit (201) may further include a rotation axis (245), pulleys (217) and (218) which are the first pitch sub-pulleys of the control unit formed on one side of pulleys (219) and (220), and pulleys (227) and (228) which are the second pitch sub-pulleys of the control unit formed on one side of pulleys (229) and (230). The pitch control unit (201) may be connected to the bent portion (402) of the connecting portion (400) through the rotation axis (246).

[0611] In detail, the pitch frame (208) serves as the base frame of the pitch control unit (201), and a rotation axis (243) is rotatably coupled to one end. That is, the yaw frame (207) is formed to be rotatable about the rotation axis (243) relative to the pitch frame (208).

[0612] As described above, the yaw frame (207) connects the first handle (204), the rotation axis (243), the rotation axis (241), and the rotation axis (242). Additionally, since the yaw frame (207) is axially coupled with the pitch frame (208), when the pitch frame (208) pitches around the rotation axis (246), the yaw frame (207), the first handle (204), the rotation axis (241), the rotation axis (242), and the rotation axis (243) connected to the pitch frame (208) pitch rotate together. That is, when the pitch control unit (201) rotates around the rotation axis (246), the actuation control unit (203) and the yaw control unit (202) rotate together with the pitch control unit (201). In other words, when the user pitch-rotates the first handle (204) around the rotation axis (246), the actuation control unit (203), the yaw control unit (202), and the pitch control unit (201) move together.

[0613] Pulleys (219) and (220), and pulleys (229) and (230) are coupled to the rotation axis (246) so as to be rotatable around the rotation axis (246) of the pitch frame (208).

[0614] Here, pulleys (219) and (220) can be formed to face each other and rotate independently. Thus, the wire being wound in and the wire being wound out can be wound onto the separate pulleys respectively, allowing them to operate without interfering with each other. Similarly, pulleys (229) and (230) can also be formed to face each other and rotate independently. Thus, the wire being wound in and the wire being wound out can be wound onto the separate pulleys respectively, allowing them to operate without interfering with each other.

[0615] Next, the operation of the pitch wire, wire (303) and wire (304) is as follows.

[0616] In the end tool (1100), a pulley (1131), which is an end tool pitch pulley, is formed by being fixedly coupled to the end tool hub (1180), and in the operating unit (200), a pulley (231) and a pulley (232, not shown), which are operating unit pitch pulleys, are formed by being fixedly coupled to the pitch frame (208). These pulleys are connected to each other by a wire (303) and a wire (304), which are pitch wires, so that the pitch operation of the end tool (1100) can be performed more easily according to the pitch operation of the operating unit (200). Here, the wire (303) is fixedly coupled to the pitch frame (208) via the pulley (231), and the wire (304) is fixedly coupled to the pitch frame (208) via the pulley (232, not shown). That is, the pitch frame (208), pulley (231), and pulley (232) rotate together around the rotation axis (246) by the pitch rotation of the operating part (200), and as a result, the wire (303) and wire (304) also move, so that additional power for pitch rotation can be transmitted separately from the pitch operation of the end tool by the wire (301), wire (302), wire (305) and wire (306).

[0617] The connection relationships between the first handle (204), the pitch control unit (201), the yaw control unit (202), and the actuation control unit (203) are summarized as follows. On the first handle (204), a rotation axis (241), a rotation axis (242), a rotation axis (243), a rotation axis (244), a rotation axis (245), and a rotation axis (246) may be formed. At this time, since the rotation axis (242) and the rotation axis (243) are formed directly on the first handle (204), the first handle (204) and the yaw control unit (202) may be directly connected. On the other hand, since the pitch control unit (201) is formed to be connected to the yaw control unit (202) on one side of the yaw control unit (202), the pitch control unit (201) is not directly connected to the first handle (204), and the pitch control unit (201) and the first handle (204) can be formed to be indirectly connected through the yaw control unit (202). Additionally, since the actuation control unit (203) is formed to be connected to the yaw control unit (202) on the other side of the yaw control unit (202), the actuation control unit (203) is not directly connected to the first handle (204), and the actuation control unit (203) and the first handle (204) can be formed to be indirectly connected through the yaw control unit (202).

[0618] Referring further to the drawings, in an instrument (10) for electrocautery surgery according to one embodiment of the present invention, a pitch control section (201) and an end tool (1100) may be formed on the same or parallel axis (X-axis). That is, a rotation axis (246) of the pitch control section (201) is formed at one end of the bending section (402) of the connecting section (400), and an end tool (1100) is formed at the other end of the connecting section (400).

[0619] Additionally, one or more intermediate pulleys (235) that change or guide the path of the wires may be arranged at intervals along the connecting portion (400), particularly in the bending portion (402). By forming such intermediate pulleys (235) 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 (402).

[0620] Here, the drawing shows that the connecting part (400) is formed by being bent to have a predetermined curvature by having a bending part (402), but the concept of the present invention is not limited thereto, and the connecting part (400) 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 (201) and the end tool (1100) are formed on substantially the same or parallel axis. In addition, FIG. 2 shows that the pitch operating part (201) and the end tool (1100) 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 (201) and the end tool (1100) may be formed on different axes.

[0621]

[0622] (Actuation motion, yaw motion, pitch motion)

[0623] The actuation, yaw, and pitch movements in this embodiment are described as follows.

[0624] First, the actuation operation is as follows.

[0625] When a user rotates the actuation lever (261) using their finger while the user has their finger inserted into the finger loop formed on the actuation lever (261), the actuation pulley (262) fixedly coupled to the actuation lever (261) rotates around the rotation axis (241).

[0626] At this time, the wire (301) and wire (305), with one end fixedly connected to the pulley (262) and wound, and the wire (302) and wire (306), with one end fixedly connected to the same pulley (262) and wound, move as the pulley (262) rotates. Here, although the wires (301), (302), (305), and (306) are connected to a single actuation pulley (262), the movement of the wires according to the rotation of the pulley varies depending on the direction in which each wire is wound around the pulley (262). This will be explained in detail later.

[0627] Then, such rotational force is transmitted to the end tool (1100) through the power transmission unit (300), and the two jaws (1103) of the end tool (1100) perform an actuation operation.

[0628] Here, the actuation operation refers to the action of opening or closing the jaws (1101) (1102) by rotating the two jaws (1101) (1102) in opposite directions as described above. That is, when the actuation lever (261) of the actuation control unit (203) is rotated in a direction that approaches the first handle (204), the first jaw (1101) rotates counterclockwise and the second jaw (1102) rotates clockwise, thereby closing the end tool (1100). Conversely, when the actuation lever (261) of the actuation control unit (203) is rotated away from the first handle (204), the first jaw (1101) rotates clockwise and the second jaw (1102) rotates counterclockwise, causing the end tool (1100) to open.

[0629] Next, this operation is as follows.

[0630] When the user rotates the first handle (204) around the rotation axis (243) while holding the first handle (204), the actuation operating part (203) and the yaw operating part (202) yaw around the rotation axis (243). That is, when the actuation pulley (262), to which the wire (301) and wire (305) are fixedly coupled, rotates around the rotation axis (243), the wire (301) and wire (305) wound around the pulley (213) and pulley (214) move. At this time, one of the wire (301) and wire (305) is wound around the pulley (213) or pulley (214), and the other of the wire (301) and wire (305) is unwound from the pulley (213) or pulley (214). Likewise, since the wire (302) and wire (306) are also fixedly connected to the actuation pulley (262), when the actuation pulley (262) rotates around the rotation axis (243), the wire (302) and wire (306) wound on the pulley (223) and pulley (224) move. At this time, either one of the wire (302) and the wire (306) is wound onto the pulley (223) or the pulley (224), and the other of the wire (302) and the wire (306) is unwound from the pulley (223) or the pulley (224). At this time, the wire (301) and the wire (305) connected to the first set (1101), and the wire (302) and the wire (306) connected to the second set (1102) are wound onto the pulley (213), the pulley (214), the pulley (223), and the pulley (224) so ​​that the first set (1101) and the second set (1102) rotate in the same direction during yaw rotation. Then, such rotational force is transmitted to the end tool (1100) through the power transmission unit (300), and the two jaws (1103) of the end tool (1100) perform a yaw motion in which they rotate in the same direction.

[0631] At this time, since the yoke frame (207) connects the first handle (204), the rotation axis (241), the rotation axis (242), and the rotation axis (243), the first handle (204), the yoke operating part (202), and the actuation operating part (203) rotate together around the rotation axis (243).

[0632] Next, the pitch motion is as follows.

[0633] When the user rotates the first handle (204) around the rotation axis (246) while holding the first handle (204), the actuation operating part (203), the yaw operating part (202), and the pitch operating part (201) rotate pitch around the rotation axis (246). That is, when the actuation pulley (262), to which the wire (301) and wire (305) are fixedly coupled, rotates around the rotation axis (246), the wire (301) and wire (305) wound around the pulley (219) and pulley (220) move. Similarly, when the actuation pulley (262), to which the wire (302) and wire (306) are fixedly coupled, rotates around the rotation axis (246), the wire (302) and wire (306) wound around the pulley (229) and pulley (230) move. At this time, as explained through FIG. 50, the first wire (301) and the wire (305) move in the same direction as the second wire (302) and the wire (306) move in the same direction as the first wire (1101) and the second wire (1102), so that the wire (301), the wire (305), the wire (302), and the wire (306) are wound onto the pulley (219), the pulley (220), the pulley (229), and the pulley (230), which are the pitch main pulleys of the operating unit, respectively, so that the first wire (1101) and the second wire (1102) can perform pitch rotation. Then, such rotational force is transmitted to the end tool (1100) through the power transmission unit (300), and the two jaws (1103) of the end tool (1100) perform a pitch operation.

[0634] At this time, the pitch frame (208) is connected to the yaw frame (207), and since the yaw frame (207) is connected to the first handle (204), the rotation axis (241), the rotation axis (242), and the rotation axis (243), when the pitch frame (208) rotates around the rotation axis (246), the yaw frame (207), the first handle (204), the rotation axis (241), the rotation axis (242), and the rotation axis (243) connected to the pitch frame (208) rotate together. That is, when the pitch control unit (201) rotates around the rotation axis (246), the actuation control unit (203) and the yaw control unit (202) rotate together with the pitch control unit (201).

[0635] In summary, an electrocautery surgical instrument (10) 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 (1100). 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.

[0636] FIG. 50 is a simplified diagram showing only the configuration of the pulleys and wires constituting the joint of the electrocautery surgical instrument (10) according to one embodiment of the present invention shown in FIG. 2. In FIG. 50, intermediate pulleys for changing the path of the wire regardless of joint movement are omitted.

[0637] Referring to FIG. 50, the operating unit (200) may include pulleys (211), pulley (212), pulley (213), pulley (214), pulley (215), pulley (217), pulley (218), pulley (219) and pulley (220) associated with the rotational movement of the first jaw (1101).

[0638] Additionally, the operating unit (200) may include pulleys (221), pulley (222), pulley (223), pulley (224), pulley (225), pulley (227), pulley (228), pulley (229), and pulley (230) related to the rotational movement of the second jaw (1122). Additionally, it may include a pulley (262) related to the rotational movement of the first jaw and the second jaw. (Since the arrangement and configuration of each pulley in the operating unit (200) are in principle identical to the arrangement and configuration of each pulley in the end tool (1100), specific notation of drawing symbols in the drawing is partially omitted.)

[0639] Pulleys (211) and (212) and pulleys (221) and (222) can be formed to rotate independently of each other around a rotation axis (242) which is the same axis. At this time, pulleys (211) and (212) can be formed as two pulleys that are formed to face each other and rotate independently. Similarly, pulleys (221) and (222) can be formed as two pulleys that are formed to face each other and rotate independently, and at this time, the two pulleys can be formed to have different diameters.

[0640] Pulleys (213) and (214) and pulleys (223) and (224) can be formed to rotate independently of each other around a rotation axis (243) which is the same axis. At this time, pulleys (213) and (214), and pulleys (223) and (224), respectively, can be formed as two pulleys that face each other and rotate independently.

[0641] The pulley (215) and the pulley (225) can be formed to rotate independently of each other around the same axis, the rotation axis (244).

[0642] Pulleys (217) and (218) and pulleys (227) and (228) can be formed to rotate independently of each other around a rotation axis (245) which is the same axis. At this time, pulleys (217) and (218) can be formed to have different diameters. Additionally, pulleys (227) and (228) can be formed to have different diameters.

[0643] Pulleys (219) and (220), and pulleys (229) and (230) can be formed to rotate independently of each other around a rotation axis (246) which is the same axis.

[0644] The wire (301) passes sequentially through the pulley (219), pulley (217), pulley (215), pulley (213), and pulley (211) of the operating unit (200) and is wound onto the pulley (262), after which it is connected to the pulley (262) by a fastening member (264a). Meanwhile, the wire (305) passes sequentially through the pulley (220), pulley (218), pulley (214), and pulley (212) of the operating unit (200) and is connected to the pulley (262) by a fastening member (264c). Here, the fastening members (264a) (264c) may be directly coupled to the pulley (262), or the fastening members (264a) (264c) may be coupled to a separate coupling member (264), and the coupling member (264) may be coupled to the pulley (262) so that the fastening members (264a) (264c) are coupled to the pulley (262). Accordingly, when the pulley (262) rotates, the wire (301) and the wire (305) are wound or unwound on the pulley (262) as a result, causing the first set (1101) to rotate.

[0645] The wire (306) passes sequentially through the pulley (229), pulley (227), pulley (225), pulley (223), and pulley (221) of the operating unit (200) and is wound onto the pulley (262), after which it is connected to the pulley (262) by a fastening member (264d). Meanwhile, the wire (302) passes sequentially through the pulley (230), pulley (228), pulley (224), and pulley (222) of the operating unit (200) and is connected to the pulley (262) by a fastening member (264b). Here, the fastening member (264b) (264d) may be directly coupled to the pulley (262), or the fastening member (264b) (264d) may be coupled to a separate coupling member (264), and the coupling member (264) may be coupled to the pulley (262) so that the fastening member (264b) (264d) is coupled to the pulley (262). Accordingly, when the pulley (262) rotates, the wire (302) and the wire (306) are wound or unwound on the pulley (262) as a result, causing the second set (1102) to rotate.

[0646]

[0647] (Pulley and Wire Concept Diagram)

[0648] FIGS. 52 and FIGS. 53 are drawings illustrating the configuration of pulleys and wires related to the actuation and yaw movements of an electrocautery surgical instrument (10) according to an embodiment of the present invention shown in FIG. 2, respectively, in detail for the first and second sets. FIG. 52 is a drawing showing only the pulleys and wires related to the second set, and FIG. 53 is a drawing showing only the pulleys and wires related to the first set. FIG. 51 is a perspective view showing the yaw movement of the surgical instrument of FIG. 2.

[0649] First, the wire motion of the actuation motion is explained.

[0650] Referring to FIG. 53, when the actuation lever (261) rotates around the rotation axis (241) in the direction of arrow OPA1, the pulley (262) connected to the actuation lever (261) rotates, and the wire (301) and wire (305) wound around the pulley (262) move in the directions W1a and W1b, respectively, so that as a result, the first jaw (1101) of the end tool (1100) rotates in the direction of arrow EPA1.

[0651] Referring to FIG. 52, when the actuation lever (261) rotates around the rotation axis (241) in the direction of arrow OPA2, the pulley (262) connected to the actuation lever (261) rotates, and the two strands of wire (302) and wire (306) wound around the pulley (262) move in the directions W2a and W2b, respectively, so that the second jaw (1102) of the end tool (1100) rotates in the direction of arrow EPA2. Therefore, when the user operates the actuation lever (261) in a direction that brings it closer to the first handle (204), the first jaw (1101) and the second jaw (1102) of the end tool move closer to each other.

[0652] Next, the wire motion of this movement is explained.

[0653] First, since the rotation axis (243), the rotation axis (241), and the rotation axis (242) are connected by a yaw frame (see 207 in FIG. 48), the rotation axis (243), the rotation axis (241), and the rotation axis (242) rotate together as a single unit.

[0654] Referring to FIG. 53, when the first handle (204) is rotated around the rotation axis (243) in the direction of arrow OPY1, the pulley (262), pulley (211), pulley (212), pulley (213) and pulley (214), and the wire (301) and wire (305) wound thereon rotate together around the rotation axis (243), and as a result, the wire (301) and wire (305) wound on the pulley (213) and pulley (214) move in the directions W1a and W1b, respectively, and as a result, the first jaw (1101) of the end tool (1100) rotates in the direction of arrow EPY1.

[0655] Referring to FIG. 52, when the first handle (204) is rotated around the rotation axis (243) in the direction of arrow OPY2, the pulley (262), pulley (221), pulley (222), pulley (223) and pulley (224), and the wire (302) and wire (306) wound thereon rotate together around the rotation axis (243), and as a result, the wire (302) and wire (306) wound on the pulley (223) and pulley (224) move to the opposite side of W2a and the opposite side of W2b, respectively, and as a result, the first jaw (1101) of the end tool (1100) rotates in the direction of arrow EPY2.

[0656] FIGS. 55 and 56 are drawings illustrating the configuration of pulleys and wires related to the pitch motion of an electrocautery surgical instrument (10) according to an embodiment of the present invention shown in FIG. 2, separated for each of the first and second sets. FIG. 56 is a drawing showing only the pulleys and wires related to the second set, and FIG. 55 is a drawing showing only the pulleys and wires related to the first set. As shown in FIG. 2, etc., there are two pulleys related to the pitch motion, and since both strands of each wire are wound along the same path, FIG. 55 represents this as a single line. FIG. 54 is a perspective view showing the pitch motion of the surgical instrument of FIG. 2.

[0657] Referring to FIG. 55, when the first handle (204) is rotated around the rotation axis (246) in the direction of arrow OPP1, the pulley (262), pulley (217), pulley (219), etc., and the wire (301) wound thereon, etc., rotate together around the rotation axis (246). At this time, the first wire (301) and wire (305), which are the first wires, move toward arrow W1 because they are wound above the pulley (219) and pulley (220). As a result, the first wire (1101) of the end tool (1100) rotates in the direction of arrow EPP1.

[0658] Referring to FIG. 56, when the first handle (204) is rotated around the rotation axis (246) in the direction of arrow OPP2, the pulley (262), pulley (227), pulley (229), etc., and the wire (302) wound thereon, etc., rotate together around the rotation axis (246). At this time, the wire (302) and wire (306), which are the second set of wires, move toward arrow W2 because they are wound below the pulley (229) and pulley (230). As a result, the second set (1102) of the end tool (1100) rotates in the direction of arrow EPP2.

[0659] Therefore, actuation, yaw, and pitch operations can be operated independently of each other.

[0660] (Actuation lever operation)

[0661] FIGS. 57 to 60 are perspective views showing the operation of the actuation lever of the electrocautery surgical instrument shown in FIG. 2, and FIGS. 61 and 62 are drawings showing the movement of the wire when the actuation lever of the electrocautery surgical instrument shown in FIG. 2 is operated. FIGS. 63 and 64 are partial cross-sectional views showing the actuation lever return spring of the electrocautery surgical instrument shown in FIG. 2.

[0662] FIG. 57 shows the state in which the actuation lever of the electrocautery surgical instrument shown in FIG. 2 is not operated, and FIG. 58 shows the state in which the actuation lever of the electrocautery surgical instrument shown in FIG. 2 is operated. FIG. 59 shows the state in which the case of the electrocautery surgical instrument shown in FIG. 57 is removed and the actuation lever is not operated, and FIG. 60 shows the state in which the case of the electrocautery surgical instrument shown in FIG. 58 is removed and the actuation lever is operated.

[0663] Referring to FIGS. 57 to 60, an electrocautery surgical instrument (10) according to one embodiment of the present invention can rotate an actuation pulley (262) by pulling the actuation lever (261) toward the first handle (204) while gripping the first handle (204) with the palm and inserting the fingers into the actuation lever (261). That is, an actuation operation can be performed by operating a single lever.

[0664] FIG. 61(a) is a side view showing the wire in the actuation pulley (262) of the electrocautery surgical instrument shown in FIG. 2, and FIG. 61(b) is a top view showing the wire in the end tool (1100). FIG. 62(a) is a side view showing the movement of the wire in the actuation pulley (262) when the actuation lever is operated, and FIG. 62(b) is a top view showing the movement of the wire in the end tool (1100).

[0665] Referring to FIGS. 50, 61, and 62, in a surgical instrument (10) according to one embodiment of the present invention, the first jaw wire (301) and wire (305), and the second jaw wire (302) and wire (306) are all connected to a single actuation pulley (262), so that by appropriately configuring the arrangement of each wire, the movement of each wire can be varied by only one rotation of the pulley. That is, through the rotation of the actuation pulley (262) in one direction by the actuation lever (261), the first jaw (1101) and the second jaw (1102) can be made to rotate in different directions. In other words, depending on the rotation of the actuation pulley (262), the first jaw (1101) and the second jaw (1102) can perform an opening or closing operation, such as opening or closing.

[0666] Specifically, the first wire, wire (301) and wire (305), can be wound in opposite directions on the actuation pulley (262). For example, as illustrated in FIG. 50, wire (301) can be wound counterclockwise on the actuation pulley (262) and wire (305) can be wound clockwise on the actuation pulley (262). Likewise, the second wire, wire (302) and wire (306), can be wound in opposite directions on the actuation pulley (262). For example, as illustrated in FIG. 50, wire (302) can be wound clockwise on the actuation pulley (262) and wire (306) can be wound counterclockwise on the actuation pulley (262).

[0667] At this time, when the actuation pulley (262) rotates counterclockwise, the wire (301) is wound onto the actuation pulley (262), and the wire (305) is unwound. Accordingly, the wire (301) is unwound and the wire (305) is wound onto the first jaw pulley (1111) of the end tool (1100), causing the end tool first jaw pulley (1111) to rotate counterclockwise.

[0668] Additionally, when the actuation pulley (262) rotates counterclockwise, the wire (306) is wound onto the actuation pulley (262), and the wire (302) is unwound. Accordingly, the wire (306) is unwound and the wire (302) is wound onto the second jaw pulley (1121) of the end tool (1100), causing the second jaw pulley (1121) of the end tool to rotate clockwise.

[0669] Likewise, when the actuation pulley (262) rotates clockwise, the first jaw pulley (1111) rotates clockwise and the second jaw pulley (1121) rotates counterclockwise.

[0670] Accordingly, when the actuation pulley (262) rotates, the first jaw pulley (1111) and the second jaw pulley (1121) rotate in opposite directions to each other, and the first jaw and the second jaw of the end tool (1100) are opened or closed.

[0671] Meanwhile, referring to FIGS. 63 and 64, an electrocautery surgical instrument (10) according to one embodiment of the present invention may include an actuation restoring elastic member (263) between an actuation lever (261) and a first handle (204). For example, a spring-shaped member may be placed in a spaced-apart space between the actuation lever (261) and the first handle (204). When the actuation lever (261) is pulled toward the first handle (204) for actuation operation, the actuation lever (261) may move closer toward the first handle (204) and compress the actuation restoring elastic member (263). Accordingly, the restoring force of the actuation restoring elastic member (263) acts on the actuation lever (261), causing the actuation lever (261) to receive force in a direction that moves it away from the first handle (204). Therefore, when the user releases the actuation lever (261), the actuation lever (261) automatically returns to its original position. Consequently, as previously explained, as the actuation pulley (262) rotates clockwise, the first jaw wire and the second jaw wire move, and the first jaw (1101) and the second jaw (1102) open.

[0672]

[0673] (Sealing control unit)

[0674] Hereinafter, a sealing operation part (270) of an electrocautery surgical instrument (10) according to one embodiment of the present invention will be described.

[0675] FIGS. 65 and FIGS. 66 are perspective views showing the operation of the sealing button of the electrocautery surgical instrument shown in FIG. 2. FIG. 65(a) is a perspective view showing the sealing operating part when the sealing button is not operated, and FIG. 65(b) is a partial cross-sectional view showing the interior of the sealing operating part at this time. FIG. 66(a) is a perspective view showing the sealing operating part when the sealing button is operated, and FIG. 66(b) is a partial cross-sectional view showing the interior of the sealing operating part at this time.

[0676] Referring to FIGS. 65 and 66, the sealing operation unit (270) may include a main body (275), a sealing button (271), a sealing rotation axis (272), and contact parts (273) (274).

[0677] The sealing operation unit (270) may be formed in an area adjacent to the actuation lever (261) of the actuation operation unit (203). It may also be formed on one side of the cutting lever (281) of the cutting operation unit (280) to be described later. Specifically, it may be formed in a position that allows the user to operate the actuation lever (261) or the cutting lever (281) while holding the first handle (204) and to easily operate the sealing button (271). For example, as shown in the drawing, the sealing button (271) may be positioned on the distal side of the operation unit (200), and may be formed so that when the sealing button (271) is pressed, one area of ​​the sealing button (271) can be drawn into the sealing operation unit (270).

[0678] Additionally, the main body (275) may be formed in the shape of an elongated rod. A sealing button (271) may be formed at one end of the main body (275), and a contact portion (273) may be formed at the other end of the main body (275). Additionally, a sealing rotation axis (272) may be attached to the central part of the main body (275). Thus, the main body (275) can rotate around the sealing rotation axis (272). Meanwhile, a contact portion (274) may be formed on the surface facing the contact portion (273) inside the sealing operation portion (270).

[0679] As described above, a contact portion (273) may be formed at one end of the main body portion (275) with respect to the sealing rotation axis (272), and a sealing button (271) protruding to the outside of the operating portion (200) may be formed at the other end.

[0680] Accordingly, when the sealing button (271) is pressed, the main body (275) rotates around the sealing rotation axis (272), and the contact part (273) formed at the end of the main body (275) moves to come into contact with the contact part (274).

[0681] In this way, pressure or an electrical signal can be generated at the contact portion (274) depending on the operation of the sealing button (271), and electrical energy can be supplied to the first electrode (1151) and the second electrode (1152) to perform cauterization.

[0682]

[0683] (Cutting operation unit, cutting intermediate member and cutting intermediate assembly)

[0684] FIG. 67 is a perspective view showing the cutting intermediate assembly of the electrocautery surgical instrument shown in FIG. 2, and FIG. 68 is a perspective view showing the cutting operating part and the cutting intermediate assembly of the electrocautery surgical instrument shown in FIG. 2. FIG. 69 and FIG. 70 are drawings illustrating the cutting principle of the electrocautery surgical instrument shown in FIG. 2. FIG. 71 and FIG. 72 are perspective views showing the cutting lever operation of the electrocautery surgical instrument shown in FIG. 2, and FIG. 73 and FIG. 74 are drawings showing the movement of the cutting intermediate assembly and the blade of the end tool during the cutting lever operation of the electrocautery surgical instrument shown in FIG. 2. FIG. 75 and FIG. 76 are drawings briefly illustrating only the configuration of the cutting intermediate member and the cutting intermediate assembly during the cutting lever operation of the electrocautery surgical instrument shown in FIG. 2. FIGS. 77 and 78 are drawings showing the cutting operating part and the wire when the cutting lever of the electrocautery surgical instrument shown in FIG. 2 is operated.

[0685] Referring to FIGS. 67 to 78, an electrocautery surgical instrument (10) according to one embodiment of the present invention may include a cutting operating part (280), a cutting intermediary member (287), and a cutting intermediary assembly (290).

[0686] Here, the cutting intermediate assembly (290) is characterized by having a structure capable of converting the rotational motion of the cutting intermediate member (287), which will be described later, into linear motion.

[0687] A cutting intermediate assembly (290) may be formed in a bent portion (402) of a connecting portion (400). Specifically, a cutting intermediate assembly (290) may be formed within a bent portion (402) that accommodates a plurality of wires, electrical wires, and intermediate pulleys (235).

[0688] A cutting intermediate assembly (290) according to one embodiment of the present invention may include a first cutting intermediate wire (291), a second cutting intermediate wire (292), a cutting intermediate block (293), and a cutting restoring elastic member (294).

[0689] Here, the first cutting intermediate wire (291) and the second cutting intermediate wire (292) are each connected to the cutting intermediate member (287) and can extend towards the distal end within the bending portion (402). Specifically, one end of the first cutting intermediate wire (291) and one end of the second cutting intermediate wire (292) are each fixed to the cutting intermediate member (287) and can be wound from the cutting intermediate member (287) through the intermediate pulley (235) to the pulley of the bending portion (402) and coupled to the cutting intermediate block (293). Here, at least one region of the cutting intermediate wire is wound onto the pulley so that the cutting intermediate wire can form a loop-shaped path overall, as shown in FIG. 69.

[0690] Specifically, one end of the first cutting intermediate wire (291) may be connected to the cutting intermediate member (287) and the other end may be connected to one side of the cutting intermediate block (293), and one end of the second cutting intermediate wire (292) may be connected to the cutting intermediate member (287) and the other end may be connected to the opposite side of the cutting intermediate block (293). In other words, the second cutting intermediate wire (292) may be connected to the distal side of the cutting intermediate block (293), and the first cutting intermediate wire (291) may be connected to the proximal side of the cutting intermediate block (293).

[0691] As another example, the cutting intermediate wire is a single wire, and both ends of the cutting intermediate wire are connected to the cutting intermediate member (287), and a cutting intermediate block (293) may be attached to any part of the cutting intermediate wire.

[0692] Meanwhile, the movement path of the first cutting intermediate wire (291) and the second cutting intermediate wire (292) connected to the cutting intermediate block (293) may include a straight section in which they move in a straight direction in at least one section. For example, a wire connected between one pulley and another pulley may form a straight section by applying tension.

[0693] In this way, when a wire having a linear path moves, a cutting intermediate block (293) connected to the wire can also move in a straight direction along the path of the wire. For example, the path formed by the first cutting intermediate wire (291) and the second cutting intermediate wire (292) may be a straight direction approximately from the proximal side of the operating unit (200) to the distal side, or the opposite direction. At this time, the cutting intermediate block (293) combined with the cutting intermediate wires (291) (292) can also move in a straight direction toward the distal side or the proximal side of the operating unit (200).

[0694] Meanwhile, one end of the blade wire (307) may be connected to the distal side of the cutting intermediate block (293). That is, one end of the blade wire (307) may be connected to the distal side of the cutting intermediate block (293) like the second cutting intermediate wire (292) and may be positioned parallel to the linear movement section formed by the second cutting intermediate wire (292) and the first cutting intermediate wire (291). Therefore, when the cutting intermediate block (293) moves linearly toward the distal side or proximal side of the operating unit according to the movement of the cutting intermediate wire, the blade wire (307) connected to the cutting intermediate block (293) may also move linearly toward the distal side or proximal side of the operating unit.

[0695] Additionally, at least a portion of the blade wire (307) can be accommodated within the guide tube (1170). Thus, the movement path of the blade wire (307) can be guided by the guide tube (1170).

[0696] Here, one end of the guide tube (1170) is fixed to one side of the end tool (1100), and the other end can be fixed by being coupled with a fixing member (421) and a fixing member (422) within the bending portion (402). Here, the fixing member (421) and the fixing member (422) serve to fix the guide tube (1170) by being fixedly coupled to the bending portion (402). Specifically, the fixing member (421) is coupled to one end of the guide tube (1170) to fix one end of the guide tube (1170), and the fixing member (422) is positioned at a certain distance from the fixing member (421) and can fix the guide tube (1170) by being coupled to another point spaced apart from one end of the guide tube (1170). Accordingly, the guide tube (1170) positioned between the fixed member (421) and the fixed member (422) is fixed and does not move, so it can maintain a straight section.

[0697] Accordingly, as the cutting intermediate block (293) moves toward the distal side of the operating part (200), the blade wire (307) connected to the cutting intermediate block (293) moves and is guided so that the blade wire (307) does not bend when it is fed into the guide tube (1170).

[0698] Meanwhile, the cutting intermediate assembly (290) may further include a cutting restoration elastic member (294). The cutting restoration elastic member (294) is connected to the cutting intermediate block (293) and can apply a force to pull the cutting intermediate block (293) toward the proximal side of the operating part. For example, one end of the cutting restoration elastic member (294) may be connected to the proximal side of the operating part, and the other end may be connected to the cutting intermediate block (293). At this time, when the cutting intermediate block (293) moves toward the distal side of the operating part, the elastic member stretches and a restoring force is applied, thereby applying a force to pull the cutting intermediate block (293) toward the proximal side.

[0699] One or more such cutting restoration elastic members (294) may be provided and may be placed one on each side of the cutting intermediate block (293) as shown in the drawing, but the concept of the present invention is not limited thereto and the number or arrangement of the cutting restoration elastic members (294) may vary.

[0700] Meanwhile, referring to FIGS. 68 to 78, the cutting intermediate member (287) may be formed at the connection point between the operating part (200) and the bending part (402). Additionally, since the cutting intermediate member (287) serves to mediate between the cutting operating part (280) and the cutting intermediate assembly (290), it is obvious that it may be appropriately formed at either the operating part (200) or the connection part (400).

[0701] In an electrocautery surgical instrument (10) according to one embodiment of the present invention, the cutting intermediate member (287) may include a first cutting intermediate pulley (287a), a second cutting intermediate pulley (287b), and a third cutting intermediate pulley (287c).

[0702] The first cutting intermediate pulley (287a), the second cutting intermediate pulley (287b), and the third cutting intermediate pulley (287c) are pulleys that rotate around the same axis of rotation, wherein the third cutting intermediate pulley (287c) is located in the center of the cutting intermediate member (287), and the first cutting intermediate pulley (287a) and the second cutting intermediate pulley (287b) may be located on opposite sides of each other with respect to the third cutting intermediate pulley (287c). That is, the first cutting intermediate pulley (287a), the third cutting intermediate pulley (287c), and the second cutting intermediate pulley (287b) can be stacked in sequence, and the axis of rotation can pass through them to join them. Additionally, the first cutting intermediate pulley (287a), the second cutting intermediate pulley (287b), and the third cutting intermediate pulley (287c) can rotate as a single unit in the same direction.

[0703] Meanwhile, the first cutting intermediate wire (291) and the second cutting intermediate wire (292) of the cutting intermediate assembly (290) described above can be connected to the third cutting intermediate pulley (287c). Specifically, one end of the first cutting intermediate wire (291) and one end of the second cutting intermediate wire (292) can be wound in opposite directions to the third cutting intermediate pulley (287c) and fixedly connected. Thus, as the third cutting intermediate pulley (287c) rotates, one of the first cutting intermediate wire (291) and the second cutting intermediate wire (292) is wound onto the third cutting intermediate pulley (287c) and the other is unwound. That is, depending on the rotation of the cutting intermediate member (287), the first cutting intermediate wire (291) and the second cutting intermediate wire (292) connected thereto can move in opposite directions.

[0704] Accordingly, as explained above, when the second cutting intermediate wire (292) connected to the distal side of the cutting intermediate block (293) is wound onto the third cutting intermediate pulley (287c), the first cutting intermediate wire (291) connected to the proximal side of the cutting intermediate block (293) is unwound from the third cutting intermediate pulley (287c). Consequently, the second cutting intermediate wire (292) pulls the cutting intermediate block (293) toward the distal side of the operating part, allowing the cutting intermediate block (293) to move from the proximal side to the distal side.

[0705] Conversely, when the second cutting intermediate wire (292) is unwound from the third cutting intermediate pulley (287c), the first cutting intermediate wire (291) is wound onto the third cutting intermediate pulley (287c), and the first cutting intermediate wire (291) pulls the cutting intermediate block (293) toward the proximal side of the operating part, so that the cutting intermediate block (293) can move from the distal side to the proximal side.

[0706] In this way, the cutting intermediate block (293) can move to the proximal side of the operating part or the distal side of the operating part within the bending part (402) according to the rotation of the cutting intermediate member (287).

[0707] Below, a cutting operation unit (280) that rotates the cutting intermediate member (287) will be described.

[0708] The operating part (200) of the electrocautery surgical instrument (10) according to one embodiment of the present invention may include a cutting operating part (280) that rotates a cutting intermediate member (287). The cutting operating part (280) may include a cutting lever (281), a cutting lever rotation axis (282), a first cutting lever wire (283), and a second cutting lever wire (284).

[0709] Referring to FIG. 48 and the like, the cutting lever (281) and the cutting lever rotation axis (282) may be formed adjacent to the actuation pulley (262). Specifically, the cutting lever rotation axis (282) may be formed as an axis parallel to the rotation axis (241) of the actuation pulley (262) in an area that does not interfere with the rotation of the actuation pulley (262) and the actuation lever (261). Additionally, the cutting lever (281) may rotate around the cutting lever rotation axis (282), and one end of the cutting lever (281) may rotate in a direction closer to or further away from the actuation lever (261).

[0710] The cutting lever (281) may include a body portion (281a) and a wire connecting portion (281b). Here, the body portion (281a) is a part that functions as a handle, and the wire connecting portion (281b) is formed by branching off from the body portion (281a) and may be a part to which the cutting lever wire described later is connected.

[0711] Specifically, the cutting lever (281) may have a body part (281a) formed on one side that protrudes outside the operating part (200) and functions as a handle based on the point where it is coupled with the cutting lever rotation axis (282), and the opposite side may be formed in a shape that branches out from the body part (281a) to both sides and wraps around both sides of the actuation pulley (262).

[0712] Expressed from another perspective, the wire coupling portion (281b) may be formed by extending from the body portion (281a) and branching off from the body portion (281a) at the point where the cutting lever rotation axis (282) is formed. That is, one wire coupling portion (281b) branching off from the body portion (281a) and another wire coupling portion (281b) facing it may be formed. Here, one of the branching wire coupling portions (281b) may be formed in a shape that wraps around at least a part of one side of the actuation pulley (262), and the other of the branching wire coupling portion (281b) may be formed in a shape that wraps around at least a part of the other side of the actuation pulley (262). That is, the actuation pulley (262) may be positioned between one wire coupling portion (281b) branched off from the cutting lever (281) and the other wire coupling portion (281b).

[0713] Meanwhile, the cutting lever wire can be connected to the branched portion of the other end of the cutting lever (281) described above. Specifically, the first cutting lever wire (283) and the second cutting lever wire (284) can be connected to each of the branched ends of the cutting lever (281).

[0714] Additionally, the first cutting lever wire (283) can be connected to the first cutting intermediate pulley (287a), and the second cutting lever wire (284) can be connected to the second cutting intermediate pulley (287b).

[0715] In other words, one end of the first cutting lever wire (283) and the second cutting lever wire (284) can be connected to the cutting lever (281), and the other end of the first cutting lever wire (283) and the second cutting lever wire (284) can be connected to the cutting intermediate member (287).

[0716] Additionally, the cutting operating part (280) may include a cutting lever tube (285)(286) formed to accommodate at least a portion of the cutting lever wire (283)(284) internally and to be bent to a certain degree. This will be explained in detail later.

[0717] Below, the principle of making the cutting intermediate member (287) rotatable according to the rotation of the cutting lever (281) is explained.

[0718] According to one embodiment of the present invention, the first cutting lever wire (283) of the cutting operation unit (280) may be wound around the cutting lever (281) in a first direction relative to the cutting lever rotation axis (282) and then wound around the cutting intermediate member (287) in a first direction, and the second cutting lever wire (284) may be wound around the cutting lever (281) in a second direction opposite to the first direction and then wound around the cutting intermediate member (287) in a second direction. Specifically, it can be described that the first cutting lever wire (283) is wound around one wire coupling unit (281b) and the second cutting lever wire (284) is wound around another wire coupling unit (281b).

[0719] Additionally, one end of the first cutting lever wire (283) may be fixed to one side of the cutting lever (281) with respect to a plane perpendicular to the cutting lever rotation axis (282), and the other end of the first cutting lever wire (283) may be fixed to the other side of the cutting intermediate member (287), and one end of the second cutting lever wire (284) may be fixed to the other side of the cutting lever (281) with respect to a plane perpendicular to the cutting lever rotation axis (282), and the other end of the second cutting lever wire (284) may be fixed to one side of the cutting intermediate member (287).

[0720] For example, one end of the first cutting lever wire (283) may be connected to one side of the branched end of the cutting lever (281), and the other end may be connected to the second cutting intermediate pulley (287b). And one end of the second cutting lever wire (284) may be connected to the other side of the branched end of the cutting lever (281), and the other end may be connected to the first cutting intermediate pulley (287a).

[0721] Accordingly, when the first cutting lever wire (283) is wound onto the cutting intermediate member (287) according to the operation of the cutting lever (281), the second cutting lever wire (284) is unwound from the cutting intermediate member (287), and when the first cutting lever wire (283) is unwound from the cutting intermediate member (287), the second cutting lever wire (284) can be wound onto the cutting intermediate member (287).

[0722] That is, depending on the operation of the cutting lever (281), the first cutting lever wire (283) and the second cutting lever wire (284) can move in opposite directions to rotate the cutting intermediate member (287).

[0723] In this way, the cutting lever wires (283) (284) can transmit the rotation of the cutting lever (281) to the cutting intermediate member (287) to generate rotational movement of the cutting intermediate member (287). Additionally, as described above, the cutting intermediate assembly (290) can convert the rotational movement of the cutting intermediate member (287) into linear movement of the cutting intermediate block (293).

[0724] Specifically, referring to FIGS. 69 and 70, when the cutting lever (281) rotates in the direction of arrow A, the first cutting lever wire (283) moves in the direction of arrow B and the second cutting lever wire (284) moves in the direction of arrow C, and the cutting intermediate member (287) rotates in the direction of arrow D. At this time, when the cutting intermediate member (287) rotates in the direction of arrow D, the first cutting intermediate wire (291) fixedly coupled to the cutting intermediate member (287) moves in the direction of arrow E and the second cutting intermediate wire (292) moves in the direction of arrow F, and together with this, the cutting intermediate block (293) fixedly coupled to the first cutting intermediate wire (291) also moves in the direction of arrow G. Accordingly, the blade wire (307) fixedly coupled to the cutting intermediate block (293) also moves in the direction of arrow G. At this time, since the blade wire (307) is housed inside the guide tube (1170), its movement path is guided by the guide tube (1170).

[0725] Additionally, referring to FIGS. 73 to 76, the cutting intermediate assembly (290) can move the cutting intermediate block (293) toward the distal side of the operating part according to the movement of the cutting intermediate wire (291) (292) and feed the blade wire (307) into the guide tube (1170).

[0726] Here, the guide tube (1170) containing the blade wire (307) may be connected to the end tool (1100) as described above. And a blade (1175) may be attached to the end of the blade wire (307).

[0727] Accordingly, when the blade wire (307) moves within the guide tube (1170) by means of the cutting intermediary block (293), the blade wire (307) and the blade (1175) within the end tool (100) can be moved toward the distal side of the end tool (1100). That is, by moving the blade (1175) of the end tool (1100) through the operation of the cutting lever (281), a cutting operation to cut tissue can be performed.

[0728] Meanwhile, the cutting operation unit (280) may further include a cutting lever tube (285) (286) formed to accommodate at least a portion of the cutting lever wire (283) (284) internally and to be bent to a certain degree. For example, the first cutting lever wire (283) may be accommodated in the first cutting lever tube (285), and the second cutting lever wire (284) may be accommodated in the second cutting lever tube (286).

[0729] Additionally, the cutting lever wire (283)(284) can be connected to the cutting intermediate member (287) by penetrating the interior of the cutting lever tube (285)(286). The cutting lever wire (283)(284) can be formed to be movable along the cutting lever tube (285)(286) within the cutting lever tube (285)(286). Furthermore, when the cutting lever tube (285)(286) is bent to a certain degree, the cutting lever wire (283)(284) inside the cutting lever tube (285)(286) can also be bent together with the cutting lever tube (285)(286).

[0730] Meanwhile, one end of the cutting lever tube (285)(286) may be fixed to one side of the cutting lever (281), and the other end of the cutting lever tube (285)(286) may be fixed to one side of the cutting intermediate member (287). Also, the cutting lever wire (283)(284) may be formed to be exposed at the end of the cutting lever tube (285)(286).

[0731] That is, both ends of the cutting lever tube (285)(286) are fixed in position and their length does not change, but the cutting lever wire (283)(284) contained within the cutting lever tube (285)(286) is connected to the cutting lever (281) and the cutting intermediate member (287) so that it can move within the cutting lever tube (285)(286) according to the rotation of the cutting lever (281).

[0732] Specifically, referring to FIGS. 77 and 78, the second cutting lever tube (286) may be fixed to one side of the cutting lever (281) and to one side of the cutting intermediate member (287). Here, the side of the cutting intermediate member (287) to which the second cutting lever tube (286) is fixed is not configured to rotate like the first cutting intermediate pulley (287a) but is configured to be fixed to the frame of the operating unit (200). Therefore, when the cutting lever (281) rotates as indicated by the arrow, the second cutting lever wire (284) moves within the second cutting lever tube (286) and can rotate the first cutting intermediate pulley (287a).

[0733]

[0734] (Structure of the guide tube)

[0735] FIGS. 79 and 80 are drawings illustrating the path of a guide tube in the end tool and connection part of the electrocautery surgical instrument shown in FIG. 2. FIG. 81 is a drawing illustrating the path of a guide tube in the end tool and operation part when the end tool of the electrocautery surgical instrument shown in FIG. 2 is rotated +90° yaw, and FIG. 82 is a drawing illustrating the path of a guide tube in the end tool and operation part when the end tool of the electrocautery surgical instrument shown in FIG. 2 is rotated -90° yaw. FIGS. 83 and 84 are perspective views showing the pitch movement of the electrocautery surgical instrument shown in FIG. 2, and FIG. 85 is a perspective view showing the combined yaw and pitch movement of the electrocautery surgical instrument shown in FIG. 2.

[0736] Referring to FIGS. 79 and 80, one end of the guide tube (1170) that accommodates the blade wire (307) is connected to the fixing member (421) (422) of the bending part (402), and the other end of the guide tube (1170) can be connected to the end tool (1100). Additionally, the guide tube (1170) can be formed so that the portion between the two ends is not fixed and can move to some extent within the connecting part (400). In other words, one end of the guide tube (1170) is fixed to the end tool (1100) and the other end is fixed to the operating part (200) side, but the guide tube (1170) between the two ends can be bent. However, since both ends of the guide tube (1170) are fixed and do not move, the total length of the guide tube (1170) between the two fixed ends of the guide tube (1170) can be described as constant.

[0737] Here, the guide tube (1170) may be formed to have a spare length within the connection part (400). That is, as shown in FIG. 80, since the guide tube (1170) is pulled further toward the end tool (1100) when it is in a neutral state rather than during the yaw motion of the end tool (1100), the guide tube (1170) must be contained within the connection part (400) for the length that is pulled.

[0738] Meanwhile, referring to FIGS. 81 and 82, the cutting lever tubes (285) (286) that accommodate the cutting lever wires (283) (284) may intersect each other at the bottom of the yaw rotation axis (243) of the operating part (200). Additionally, the cutting lever tubes (285) (286) may be formed to have a spare length.

[0739] As explained above, since one end of the cutting lever tube (285)(286) is fixed to the cutting lever (281) and the other end is fixed to one side of the cutting intermediate member (287), the total length of the cutting lever tube (285)(286) between the two ends is constant. Therefore, even if the cutting lever tube (285)(286) is bent or moves slightly, the length of the cutting lever wire (283)(284) contained within the cutting lever tube (285)(286) is constant, and the cutting lever wire (283)(284) may not move within the cutting lever tube (285)(286).

[0740] Accordingly, as illustrated in the drawing, when the cutting lever tube (285)(286) is pulled or released according to the rotation of the first handle (204) and the cutting operation part (280) at the bottom of the yaw rotation axis (243) during the yaw operation of the end tool (1100), the cutting lever wire (283)(284) inside the cutting lever tube (285)(286) does not move and the cutting intermediate member (287) does not rotate. That is, since the cutting intermediate assembly (290) is not operated, the blade (1175) does not move from the end tool (1100).

[0741] In other words, it can be explained that the electrocautery surgical instrument (10) according to one embodiment of the present invention can perform a cutting operation independently of the yaw motion without interfering with the yaw motion of the end tool (1100). Likewise, the electrocautery surgical instrument (10) according to one embodiment of the present invention can perform a cutting operation independently of the pitch motion without interfering with the pitch motion of the end tool (1100).

[0742] As explained in FIG. 2, the actuation control unit (203), yaw control unit (202), and pitch control unit (201) 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.

[0743] In particular, an electrocautery surgical instrument (10) 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 (1100). 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.

[0744] Meanwhile, as described above, the yaw control unit (202) and the actuation control unit (203) are formed directly on the first handle (204). Therefore, when the first handle (204) rotates around the rotation axis (246), the yaw control unit (202) and the actuation control unit (203) also rotate together with the first handle (204). As a result, the coordinate system of the yaw control unit (202) and the actuation control unit (203) is not fixed but continues to change relatively according to the rotation of the first handle (204). That is, in FIG. 2, the yaw control unit (202) and the actuation control unit (203) are shown as being parallel to the Z-axis. However, when the first handle (204) rotates, the yaw control unit (202) and the actuation control unit (203) are not parallel to the Z-axis. That is, the coordinate system of the yaw control unit (202) and the actuation control unit (203) changes according to the rotation of the first handle (204). However, for convenience of explanation in this specification, unless otherwise specified, the coordinate system of the yaw control unit (202) and the actuation control unit (203) is described based on the state in which the first handle (204) is positioned vertically with respect to the connecting unit (400) as shown in FIG. 2.

[0745]

[0746] (Pitch, yaw, and cutting motion of the end tool)

[0747] FIGS. 30 and 31 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by +90°. FIGS. 32 and 33 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by -90°.

[0748] As illustrated in FIGS. 30 to 33, the end tool of an electrocautery surgical instrument according to one embodiment of the present invention is formed so that the jaws can perform normal opening and closing operations, i.e., actuation operations, even when rotated by +90° to -90°.

[0749] FIGS. 34 and 35 illustrate the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by +90°.

[0750] As illustrated in FIGS. 34 and 35, the end tool of an electrocautery surgical instrument according to one embodiment of the present invention is formed so that the jaws can perform a normal cutting operation even when rotated by +90°.

[0751] FIGS. 36 and 37 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by a pitch of +90°. FIGS. 38 and 39 illustrate the process of performing an opening and closing operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by a pitch of -90°. FIG. 40 is an incisional perspective view of the end tool of the electrocautery surgical instrument of FIG. 38. FIGS. 41 and 42 illustrate the process of performing a cutting operation with the end tool of the electrocautery surgical instrument of FIG. 2 rotated by a pitch of -90°.

[0752] As illustrated in FIGS. 36 to 42, the end tool of an electrocautery surgical instrument according to one embodiment of the present invention is formed so that the jaws can perform a normal cutting operation even when rotated by a pitch of -90°.

[0753] Meanwhile, FIG. 43 is a drawing showing the jaws rotated by -90° pitch and simultaneously rotated by +90° yaw, and FIG. 44, FIG. 45, and FIG. 46 are perspective views showing the cutting operation of the end tool of the electrocautery surgical instrument of FIG. 2, showing the cutting operation performed in a state where the jaws rotated by -90° pitch and simultaneously rotated by +90° yaw.

[0754] As illustrated in FIGS. 43 to 46, the end tool of an electrocautery surgical instrument according to one embodiment of the present invention is formed so that the jaws can perform a normal cutting operation even when they are pitch-rotated by -90° and yaw-rotated by +90° at the same time.

[0755]

[0756] (Second embodiment of an electrocautery surgical instrument)

[0757] FIG. 86 is a perspective view showing an instrument for electrocautery surgery according to a second embodiment of the present invention. FIG. 87 is a perspective view showing an end tool of the instrument for electrocautery surgery of FIG. 86. FIG. 88 is a drawing for explaining the electrode portion of the first jaw of the end tool of FIG. 87. FIG. 89 is a drawing showing the jaw of the end tool of FIG. 87 in a closed state. FIG. 90 is an enlarged view showing portion A of FIG. 88. FIG. 91 to 93 are partial cross-sectional views taken along line I-I' of FIG. 90. FIG. 94 is a perspective view showing the end tool of FIG. 87 from a different angle. FIG. 95 is a side view showing the first jaw of the end tool of FIG. 87. FIG. 96 is a cross-sectional view taken along line II-II' of FIG. 95. FIG. 97 is a perspective view showing the opening of the first jaw of FIG. 95. FIG. 98 is a cross-sectional view schematically showing the wire of the first set of FIG. 97. FIG. 99 and FIG. 100 are plan views showing the first set of the end tool of FIG. 87. FIG. 101 is an exploded perspective view showing the end tool of FIG. 87.

[0758] Referring to FIGS. 86 to 87, etc., an instrument (20) for electrocautery surgery according to a second embodiment of the present invention includes an end tool (2100), a control part (2200), a power transmission part (300, see FIG. 7), and a connecting part (2400).

[0759] First, the end tool (2100) of the electrocautery surgical instrument (20) according to the second embodiment of the present invention will be described. Here, the end tool (2100) of the electrocautery surgical instrument according to the second embodiment of the present invention is characterized by a jaw, actuation hub, end tool hub, pitch hub, etc., compared to the end tool of the surgical instrument according to the first embodiment of the present invention described above (see 1100 in FIG. 2, etc.). The configuration that is different from the first embodiment will be explained in detail later.

[0760] The end tool (2100) is formed at the other end of the connecting part (2400) and is inserted into the surgical site to perform the necessary operations for surgery. As an example of such an end tool (2100), a pair of jaws (2103) for performing a gripping operation may be used, as shown in FIG. 87.

[0761] Such an end tool (2100) is connected to a control unit (2200) and a power transmission unit (300), and by receiving the driving force of the control unit (2200) through the power transmission unit (300), it performs operations necessary for surgery, such as gripping, cutting, and suturing.

[0762] Here, the end tool (2100) of the electrocautery surgical instrument (20) according to the second embodiment of the present invention is formed to be rotatable in at least one direction, for example, the end tool (2100) may be formed to perform pitch movement around the Y-axis of FIG. 86, while simultaneously performing yaw movement and actuation movement around the Z-axis of FIG. 86.

[0763]

[0764] (End tool according to the second embodiment)

[0765] The end tool (2100) may include pulleys (2111, 2113, 2114, 2115, 2116, see FIG. 113 and FIG. 115) associated with the rotational motion of the first jaw (2101). Additionally, it may include pulleys (2121, 2123, 2124, 2125, 2126, see FIG. 113 and FIG. 115) associated with the rotational motion of the second jaw (2102).

[0766] 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.

[0767] Meanwhile, although not illustrated in the drawings, the electrocautery surgical instrument (20) according to the second embodiment of the present invention may include wires (301), wires (302), wires (303), wires (304), wires (305), wires (306), and blade wires (307) in the same manner as the first embodiment of the present invention. Here, wires (301), wires (302), wires (303), wires (304), wires (305), wires (306), etc. are used for the yaw or pitch movement of the end tool (2100) and may be referred to as driving wires.

[0768] Referring to FIG. 87, the end tool (2100) of the second embodiment of the present invention may include an end tool hub (2160) and a pitch hub (2150).

[0769] The end tool hub (2160) has a first rotational shaft (2141), which will be described later, inserted through it, and can also accommodate at least a portion of a pulley (2111) and a pulley (2121) axially coupled to the first rotational shaft (2141) inside. Such an end tool hub (2160) will be described in detail later.

[0770] Referring to FIG. 87, the pitch hub (2150) has a third rotation axis (2143) and a fourth rotation axis (2144), which will be described later, inserted through it, and can be axially coupled with the end tool hub (2160) by the third rotation axis (2143). Thus, the end tool hub (2160) can be formed to be rotatable relative to the pitch hub (2150) around the third rotation axis (2143). Additionally, one end of the pitch hub (2150) is connected to the end tool hub (2160), and the other end of the pitch hub (2150) is connected to the connecting part (2400). Such a pitch hub (2150) will be described in detail later.

[0771] Referring to FIG. 87, the first rotation axis (2141) functions as the end tool jaw pulley rotation axis, the third rotation axis (2143) functions as the end tool pitch rotation axis, and the fourth rotation axis (2144) functions as the end tool pitch auxiliary rotation axis of the end tool (2100).

[0772] Here, each rotation axis can be formed by dividing it into two, and each divided rotation axis can be spaced apart. Each rotation axis is formed by dividing it into two in this way so that the guide tube (2170) passes through the end tool hub (2160) and the pitch hub (2150).

[0773] That is, a guide tube (2170) can pass between the first sub-axis and the second sub-axis of each rotation axis. This will be explained in more detail later. Here, the first sub-axis and the second sub-axis may be positioned on the same axis, or may be positioned offset to a certain degree.

[0774] Pulley (2111) functions as the end tool first jaw pulley, and pulley (2121) functions as the end tool second jaw pulley. Pulley (2111) may be referred to as the first jaw pulley, and pulley (2121) may be referred to as the second jaw pulley, and these two components may be collectively referred to as the end tool jaw pulley or simply jaw pulley.

[0775] The pulleys (2111) and (2121), which are end tool jaw pulleys, are formed to face each other and can be arranged side by side, and are formed to rotate independently of each other around a first rotation axis (2141), which is the rotation axis of the end tool jaw pulleys.

[0776] As described in the end tool according to the first embodiment of the present invention, the first jaw (2101) is connected to the first jaw pulley (2111), so that when the first jaw pulley (2111) rotates around the first rotation axis (2141), it rotates integrally with the first jaw pulley (2111) around the first rotation axis (2141). Likewise, the second jaw (2102) is connected to the second jaw pulley (2121), so that when the second jaw pulley (2121) rotates around the first rotation axis (2141), it rotates integrally with the second jaw pulley (2121) around the first rotation axis (2141).

[0777] Meanwhile, the end tool (2100) of the second embodiment of the present invention may further include components such as a first electrode (2151), a second electrode (2152), a guide tube (2170), and a blade (2175, see FIG. 103) to perform cautery and cutting operations.

[0778] Here, components such as a guide tube (2170) and a blade (2175) related to the driving of the blade can be collectively referred to as a blade assembly.

[0779] At this time, the pulley (2111) and the pulley (2121) are formed to be spaced apart to a certain degree, so that a blade assembly can be accommodated between them.

[0780] In other words, a blade assembly including a guide tube (2170) can be placed between the pulley (2111) and the pulley (2121).

[0781] In this way, one variant of the present invention is characterized by the fact that a blade assembly including a blade (2175) is disposed between a first pulley (2111) and a second pulley (2121), thereby enabling the pitch and yaw movements of the end tool (2100) as well as a cutting movement using the blade.

[0782]

[0783] (Spacer)

[0784] Hereinafter, the spacer of the end tool of the second embodiment of the present invention will be described.

[0785] Referring to FIGS. 87 to 89, a first electrode (2151) may be formed on the surface of the first section (2101) facing the second section (2102). Additionally, a second electrode (2152) may be formed on the surface of the second section (2102) facing the first section (2101).

[0786] At this time, a slit (2151a) may be formed in the first electrode (2151), and the blade (2175) may move through this slit (2151a). Additionally, a slit (not shown) may be formed in the second electrode (2152), and the blade (2175) may move along a preset direction through this slit.

[0787] Meanwhile, the first set (2101) may include a spacer (2101s) disposed on the first electrode (2151). Since the spacer (2101s) is formed to protrude beyond the first electrode (2151), when the first set (2101) and the second set (2102) are closed, the spacer (2101s) may come into contact with the second electrode (2152). In other words, the spacer (2101s) functions to form a gap between the first electrode (2151) and the second electrode (2152). That is, the spacer (2101s) prevents the first electrode (2151) and the second electrode (2152) from coming into direct contact with each other.

[0788] A state in which the first set (2101) and the second set (2102) are arranged so that the first electrode (2151) and the second electrode (2152) are parallel to each other can be defined as a 'neutral state'. In the neutral state, the distance between the first electrode (2151) and the second electrode (2152) can be formed to be greater than the thickness of the spacer (2101s), and accordingly, the spacer (2101s) may not come into contact with the opposing electrode.

[0789] Specifically, the ratio of the thickness (t1) of the spacer to the distance (d1) between the first electrode (2151) and the second electrode (2152) may be 2:1 to 4:3. As an example, the ratio of the thickness (t1) of the spacer to the distance (d1) between the first electrode (2151) and the second electrode (2152) may be 8:5.

[0790] Here, a plurality of spacers (2101s) may be spaced apart from each other on the first electrode (2151). Specifically, the plurality of spacers (2101s) may form pairs and be placed one on each side of the slit (2151a). When a plurality of pairs of spacers (2101s) are provided, each pair of spacers (2101s) may be spaced apart from each other along the length direction of the slit (2151a).

[0791] For example, as illustrated in FIG. 88, the first set (2101) may include first to sixth spacers (2101s1, 2101s2, 2101s3, 2101s4, 2101s5, 2101s6). Here, the first spacer (2101s1) and the second spacer (2101s2) may form a pair and be placed on each side of the slit (2151a), the third spacer (2101s3) and the fourth spacer (2101s4) may form a pair and be placed on each side of the slit (2151a), and the fifth spacer (2101s5) and the sixth spacer (2101s6) may form a pair and be placed on each side of the slit (2151a).

[0792] In this way, when three pairs of spacers (2101s) are arranged on the first electrode (2151), one pair of spacers (2101s) is arranged on the distal side and the proximal side of the first set (2101), respectively, and another pair of spacers (2101s) may be arranged between them. However, the concept of the present invention is not limited thereto, and a plurality of spacers (2101s) may be arranged in various ways, and it is also obvious that spacers (2101s) may be arranged on the second electrode (2152).

[0793] Meanwhile, in one embodiment, any pair of the plurality of spacers (2101s) may be formed of a different material from the other spacers (2101s).

[0794] Specifically, at least one of the plurality of spacers (2101s) may be made of a metal material, and the other spacers (2101s) may be made of a plastic material. Here, the spacer (2101s) formed of a metal material has higher rigidity than the spacer (2101s) formed of a plastic material, so it can support a larger load acting between the first electrode (2151) and the second electrode (2152).

[0795] For example, when the jaw is closed, the spacer (2101s) located at the outermost end comes into contact with the opposing electrode first, and thus receives more force than the other spacers (2101s). Therefore, the first spacer (2101s1) and the second spacer (2101s2) placed at the end of the end tool (2100) can be formed of a metal material. Thus, the end spacer (2101s) formed of a metal material comes into contact, and the remaining spacers (2101s) formed of plastic material can also come into contact with the opposing electrode sequentially.

[0796] FIG. 90 is an enlarged view of part A of FIG. 88, and FIG. 91 to 93 are partial cross-sectional views taken along line I-I' of FIG. 90.

[0797] Referring to FIG. 90, an insulating member (2101t) may be disposed around a first spacer (2101s1) formed of a metal material. For example, the insulating member (2101t) may include a ring, a sleeve, etc. formed of a non-conductive material. The insulating member (2101t) disposed around the first spacer (2101s1) functions to electrically insulate the first electrode (2151) from the spacer and may maintain the insulation between the first electrode (2151) and the second electrode (2152) until they come into contact with each other.

[0798] Referring to FIG. 91, in one embodiment, the insulating member (2101t) may be positioned at the same height as the first electrode (2151). That is, the upper surface of the first electrode (2151) and the upper surface of the insulating member (2101t) may be located on the same line in cross-section. The first spacer (2101s1) may be positioned to protrude above the upper surface of the insulating member (2101t) and the first electrode (2151), and the distance (d11) from the upper surface of the first electrode (2151) to the upper surface of the first spacer (2101s1) may be the same as the distance from the upper surface of the insulating member (2101t) to the upper surface of the first spacer (2101s1).

[0799] Referring to FIG. 92, in one embodiment, the insulating member (2101t) may be positioned higher than the first electrode (2151) but lower than the first spacer (2101s1). That is, the first spacer (2101s1) may be positioned to protrude above the upper surface of the insulating member (2101t). Expressed in another way, the distance (d12) from the upper surface of the first electrode (2151) to the upper surface of the first spacer (2101s1) may be greater than the distance (d13) from the upper surface of the first electrode (2151) to the upper surface of the insulating member (2101t).

[0800] Referring to FIG. 93, in one embodiment, the insulating member (2101t) may be positioned lower than the first electrode (2151), and the first spacer (2101s1) may be positioned higher than the first electrode (2151). That is, the first spacer (2101s1) may be positioned to protrude above the upper surface of the insulating member (2101t), and the distance (d11) from the upper surface of the first electrode (2151) to the upper surface of the first spacer (2101s1) may represent a height protruding above the first electrode (2151), and the distance (d14) from the upper surface of the first electrode (2151) to the upper surface of the insulating member (2101t) may represent a depth recessed above the first electrode (2151).

[0801]

[0802] (Wing section, internal protrusion)

[0803] Referring to FIG. 94 and the like, the jaw of the end tool according to the second embodiment of the present invention may include a jaw wing portion and an internal jaw projection.

[0804] Here, the wing portion may be a part that extends from one side of the bird toward the opposite side of the bird.

[0805] In other words, at least one of the first row (2101) and the second row (2102) may include a row wing portion extending from one side toward one side of the other row facing it.

[0806] In one embodiment, as shown in FIG. 94, the first row (2101) may include a first row wing portion (2117) extending toward the side of the second row (2102), and the second row (2102) may include a second row wing portion (2127) extending toward the side of the first row (2101).

[0807] Here, the first wing portion (2117) is positioned on one side of the first wing (2101), and the second wing portion (2127) is positioned on one side of the second wing (2102), and the first wing portion (2117) and the second wing portion (2127) may be positioned to face each other.

[0808] In another embodiment, jaw wing portions may be disposed on both sides of either the first jaw (2101) or the second jaw (2102). For example, jaw wing portions may be formed extending from both sides of the first jaw (2101) toward both sides of the second jaw (2102).

[0809] Referring further to FIG. 89, when the first row (2101) and the second row (2102) are in a closed state, the first row wing portion (2117) may be positioned to overlap one side of the second row (2102), and the second row wing portion (2127) may be positioned to overlap one side of the first row (2101). At this time, the first row wing portion (2117) and the second row wing portion (2127) may be positioned to face each other. And an actuation hub (2190), which will be described later, may be positioned between the first row wing portion (2117) and the second row wing portion (2127).

[0810] Additionally, when the first row (2101) and the second row (2102) are in an open state, the wing portion (2117) of the first row may overlap with one side of the second row (2102) in at least one area, and the wing portion (2127) of the second row may overlap with one side of the first row (2101) in at least one area. In other words, the wing portions may be formed so that at least one area overlaps with the side of the opposing row.

[0811] Additionally, the first wing portion (2117) may be positioned on the proximal side of the first row (2101), and the second wing portion (2127) may be positioned on the proximal side of the second row (2102). That is, the wing portion may be positioned on the proximal side of the row.

[0812] Meanwhile, according to the tissue cauterization and cutting process, with the first row (2101) and the second row (2102) open, the tissue to be cut is positioned between the first row (2101) and the second row (2102), and then an actuation operation is performed to close the first row (2101) and the second row (2102). Next, currents of different polarities are passed through the first electrode (2151) and the second electrode (2152) to cauterize the tissue between the first row (2101) and the second row (2102). With the cauterization completed in this manner, the blade (2175) described above moves from the proximal end to the distal end along the longitudinal direction of the row between the first row (2101) and the second row (2102), thereby cutting the tissue located between the first row (2101) and the second row (2102).

[0813] Here, the position where the blade (2175) is retracted as far as possible toward the proximal side of the end tool (2100) can be defined as the initial position of the blade (2175). At this time, the initial position of the blade (2175) may be located proximal to the first electrode (2151) and the second electrode (2152). Therefore, after the tissue is cauterized, the blade (2175) can move toward the distal side and cut the tissue.

[0814] In this way, for the tissue to be safely cauterized and cut, when the tissue is placed between the first section (2101) and the second section (2102), it is necessary to restrict the tissue so that it is not placed on the proximal side of the area where the first electrode (2151) and the second electrode (2152) are placed.

[0815] According to an embodiment of the present invention, the first jaw (2101) and the second jaw (2102) each include a first jaw wing portion (2117) and a second jaw wing portion (2127), and these first jaw wing portion (2117) and second jaw wing portion (2127) can prevent body tissue from entering the proximal side between the first jaw (2101) and the second jaw (2102) not only when the first jaw (2101) and the second jaw (2102) are closed but also when they are open. Additionally, tissue entrapment through the sides of the jaws can be prevented.

[0816] In other words, when body tissue is clamped between the first jaw (2101) and the second jaw (2102), the jaw wing portion may restrict the insertion of body tissue into a pre-set area between the first jaw (2101) and the second jaw (2102).

[0817] Accordingly, according to an embodiment of the present invention, the cauterization and cutting operations of an electrocautery surgical instrument can be performed stably.

[0818] Meanwhile, the internal projection of the chamber may be a part that protrudes from one side of the interior of the chamber toward the opposing chamber.

[0819] In other words, at least one of the first section (2101) and the second section (2102) may include an internal projection that protrudes toward the other opposing section.

[0820] In one embodiment, as shown in FIG. 94, the first row (2101) may include a first row internal projection (2118) protruding toward the inner surface of the second row (2102), and the second row (2102) may include a second row internal projection (2128) protruding toward the inner surface of the first row (2101).

[0821] Specifically, the first section (2101) may include a first section internal projection (2118) disposed on one side of the first section (2101), and the second section (2102) may include a second section internal projection (2128) disposed on one side of the second section (2102).

[0822] Here, the first internal projection (2118) and the second internal projection (2128) may be symmetrically arranged with respect to a virtual plane passing through the first (2101) and the second (2102).

[0823] To explain this from another perspective, when the first section (2101) and the second section (2102) are closed, the first section internal protrusion (2118) and the second section internal protrusion (2128) can be arranged to face each other based on the virtual plane.

[0824] Meanwhile, when the first section (2101) and the second section (2102) are open, the first section internal protrusion (2118) and the second section internal protrusion (2128) may be spaced apart from each other, and when the first section (2101) and the second section (2102) are closed, the first section internal protrusion (2118) and the second section internal protrusion (2128) may overlap each other.

[0825] Additionally, the first inner projection (2118) may be spaced apart from the first wing portion (2117), and the second inner projection (2128) may be spaced apart from the second wing portion (2127). At this time, when the blade (2175) moves toward the distal side while the first row (2101) and the second row (2102) are closed, the blade (2175) may pass between the first inner projection (2118) and the first wing portion (2117), and may pass between the second inner projection (2128) and the second wing portion (2127).

[0826] Additionally, the first internal projection (2118) may be positioned on the proximal side of the first jaw (2101), and the second internal projection (2128) may be positioned on the proximal side of the second jaw (2102). That is, the internal projection of the jaw may be positioned on the proximal side of the jaw.

[0827] According to an embodiment of the present invention, the first row (2101) and the second row (2102) each include a first row internal projection (2118) and a second row internal projection (2128), and these first row internal projection (2118) and second row internal projection (2128), together with the first row wing portion (2117) and the second row wing portion (2127), can prevent body tissue from entering the proximal side between the first row (2101) and the second row (2102).

[0828] In other words, the internal projection of the jaw can restrict the insertion of body tissue into a pre-set area between the first jaw (2101) and the second jaw (2102) when body tissue is clamped between the first jaw (2101) and the second jaw (2102).

[0829]

[0830] (Jo Bridge Structure)

[0831] Referring to FIGS. 95 to 97, etc., the jaw of an end tool according to a second embodiment of the present invention may include a jaw body and a jaw bridge.

[0832] Here, the jaw bridge forms the skeleton of the jaw, and the jaw body can be formed in a shape that wraps around at least a part of the jaw bridge. Below, the first jaw (2101) will be described as an example.

[0833] The first jaw (2101) may include a first jaw bridge (2101B) and a first jaw body (2101A). The first jaw body (2101A) may be coupled to the first jaw bridge (2101B) to form the outer shape of the first jaw (2101). Specifically, the first jaw body (2101A) may be coupled to the distal side of the first jaw (2101) that performs a grip operation. Additionally, the first jaw body (2101A) may have the aforementioned first jaw wing portion (2117) and first jaw internal projection (2118) formed thereon.

[0834] Meanwhile, the first jaw body (2101A) may include an insulating material (e.g., plastic material), and the first jaw bridge (2101B) may include a metal material. In one embodiment, the first jaw body (2101A) and the first jaw bridge (2101B) may be formed by a double injection molding structure.

[0835] The first jaw bridge (2101B) is formed to extend along the longitudinal direction of the jaw, and the distal side of the first jaw bridge (2101B) performs a gripping action, while the proximal side can be coupled with the end tool hub (2160). Here, the proximal side of the first jaw bridge (2101B) can be formed to be coupled with the first rotation axis (2141).

[0836] In other words, the first bridge (2101B) can be formed to be rotatable around the first axis of rotation (2141) by being coupled to the end tool hub (2160) through the first axis of rotation (2141).

[0837] In addition, the distal side of the first bridge (2101B) provides a base on which the first electrode (2151) is placed and can perform the function of gripping the tissue.

[0838] Here, the first electrode (2151) may be connected with an insulator such as ceramic in between, rather than being directly connected to the first jaw bridge (2101B). In other words, the insulator may be connected to the first jaw bridge (2101B) and positioned between the first electrode (2151) and the first jaw bridge (2101B).

[0839] The first bridge (2101B) may include an electrode placement section where the first electrode (2151) is placed, and a first extension section (2101B1) and a second extension section (2101B2) extending from the electrode placement section.

[0840] Here, the first extension part (2101B1) and the second extension part (2101B2) extend in the longitudinal direction of the jaw and can be arranged parallel to each other. And between the first extension part (2101B1) and the second extension part (2101B2), an actuation hub receiving part (2101g) in which an actuation hub (2190) to be described later is received can be formed.

[0841] The first extension part (2101B1) is coupled with the first jaw pulley (2111) and can also be coupled with the first rotation axis (2141). Specifically, on the side of the first extension part (2101B1) that is coupled with the first jaw pulley (2111), that is, the proximal side, a fluid coupling hole (2101c), a jaw pulley coupling hole (2101d), and an axis penetration part (2101e) may be formed. Here, the axis penetration part (2101e) is a place where the actuation rotation axis (2145) is inserted through, and it may be formed on the distal side of the fluid coupling hole (2101c). This will be explained in detail later.

[0842] The second extension part (2101B2) may be spaced apart from the first extension part (2101B1) and arranged parallel to the first extension part (2101B1). Here, the distance between the first extension part (2101B1) and the second extension part (2101B2) may be greater than the width of the electrode placement part.

[0843] Additionally, the second extension part (2101B2) may include an axis mounting part (2101f) to which an actuation rotation axis (2145) is coupled. The axis mounting part (2101f) of the second extension part (2101B2) is formed at a position corresponding to the axis penetration part (2101e) of the first extension part (2101B1), so that the actuation rotation axis (2145) can be sequentially inserted through the axis mounting part (2101f) of the second extension part (2101B2) and the axis penetration part (2101e) of the first extension part (2101B1).

[0844] Meanwhile, the first bridge (2101B) may further include a reinforcing member (2101B3) connecting the first extension member (2101B1) and the second extension member (2101B2). For example, the reinforcing member (2101B3) may be formed spaced apart from the electrode placement member. To explain this from another perspective, the reinforcing member (2101B3) may be formed spaced apart from the first body (2101A).

[0845] The first extension (2101B1) and the second extension (2101B2) can be formed as thin and long plate-like structures, but if there is no reinforcing part (2101B3), the first extension (2101B1) and the second extension (2101B2) may be twisted or bent.

[0846] On the other hand, according to one embodiment of the present invention, a reinforcing member (2101B3) is formed between the first extension member (2101B1) and the second extension member (2101B2) to connect them, so that the first extension member (2101B1) and the second extension member (2101B2) can support each other. Therefore, the first bridge (2101B) can be prevented from twisting by forming the reinforcing member (2101B3).

[0847] In one embodiment, the ratio of the width (w11) to the thickness (t2) of the reinforcing member (2101B3) may be 1:2 to 1:4. Preferably, the ratio of the width (w11) to the thickness (t2) of the reinforcing member (2101B3) may be 1:3. For example, the thickness (t2) of the reinforcing member (2101B3) may be 0.5 mm, and the width (w11) of the reinforcing member (2101B3) may be 1.5 mm.

[0848] Meanwhile, the first bridge (2101B) may include an actuation hub receiving portion (2101g) in which an actuation hub (2190) to be described later is received, and a first receiving groove (2101h) in which a protruding guard portion (2192) of the actuation hub (2190) is received.

[0849] Specifically, the first receiving groove (2101h) may be formed to be recessed from the inner side of the jaw. Here, the inner side of the jaw refers to the space between the first jaw (2101) and the second jaw (2102), that is, the area facing the second jaw (2102) from the perspective of the first jaw (2101). And the outer side of the jaw refers to the space opposite the inner side of the jaw, that is, the upper side of the jaw based on the drawing shown in FIG. 96.

[0850] This first receiving groove (2101h) may be formed in the first jaw bridge (2101B) or in the first body (2101A). Alternatively, if the first receiving groove (2101h) is formed in the area where the first body (2101A) and the first jaw bridge (2101B) are joined, it may be formed so that the groove formed in the first jaw bridge (2101B) and the groove formed in the first body (2101A) are connected.

[0851] Meanwhile, the first jaw bridge (2101B) may further include a first opening (OP1) formed through the first receiving groove (2101h) toward the outside of the jaw. To explain this from another perspective, the first opening (OP1) may be formed to penetrate the outside of the jaw and the inside of the jaw. And the first opening (OP1) may be formed to communicate with the actuation hub receiving portion (2101g).

[0852] Additionally, the first bridge (2101B) may include a second opening (OP2) formed on the proximal side to the first opening (OP1). This second opening (OP2) can be said to be formed by the aforementioned reinforcing member (2101B3). That is, the reinforcing member (2101B3) can form the second opening (OP2) by connecting the first extension member (2101B1) and the second extension member (2101B2). To explain this from another perspective, the reinforcing member (2101B3) can form one side of the second opening (OP2).

[0853] Additionally, the first jaw bridge (2101B) may include a window (WD) formed on the side of the first jaw bridge (2101B) and positioned proximal to the first opening (OP1). Here, the window (WD) may also be referred to as the third opening. Specifically, the window (WD) may be formed on the second extension (2101B2) and may be formed adjacent to the second opening (OP2). The window (WD) may be formed smaller than the size of the second opening (OP2). In one embodiment, the window (WD) may be formed with a horizontal side and a vertical side of 1.5 mm and 1.0 mm, respectively.

[0854] Here, the window (WD) may be provided as a passage into which a wire fixing means for fixing the joint wire (411), which will be described later, is inserted. Specifically, when the first joint bridge (2101B) and the first joint body (2101A) are double-injected, the joint wire (411) needs to be fixed so that the joint wire (411) is connected to the first joint (2101). At this time, an external wire fixing means can be inserted through the window (WD) and can serve to fix the joint wire (411).

[0855] Meanwhile, although not shown in the drawing, the second part (2102) may also include a second part body and a second part bridge, and since the specifications of the second part (2102) are identical to the first part (2101) in the corresponding scope, a detailed description will be omitted.

[0856] Meanwhile, an instrument for electrocautery surgery according to one embodiment of the present invention includes a wire (411) connected to a first electrode (2151) of a first group (2101) and a wire (412) connected to a second electrode (2152) of a second group, and the wires (411) and (412) can transmit electrical energy supplied from an external power source (not shown) to the group (1103) by connecting the connector (410) of the operating part and the group (1103).

[0857] Here, the wire (411)(412) may include a conductor formed by a collection of multiple wires and an insulating layer surrounding the circumference of the conductor. The conductor of the wire (411)(412) may be formed from a material selected from soft copper or stainless steel. Here, the soft copper may be plated with one of tin, silver, or nickel. Also, the conductor of the wire (411)(412) may be composed of one of a wire configuration of 1×19, 1×7, 7×7, or 7×19. However, the concept of the present invention is not limited thereto, and the wire configuration and material of the wire (411)(412) may be selected in various ways as needed.

[0858] The insulating layer of the wire (411)(412), that is, the sheath of the wire, may be composed of a material selected from a fluoropolymer series or a silicone rubber series. Here, the fluoropolymer series may be, for example, PTFE (Polytetrafluoroethylene), PFA (Perfluoroalkoxy), FEP (Fluorinated Ethylene Propylene), ETFE (Ethylene Tetrafluoroethylene), PCTFE (Polychlorotrifluoroethylene), etc. However, the concept of the present invention is not limited thereto, and the sheath material of the wire (411)(412) may be selected in various ways as needed.

[0859] In one embodiment, the total diameter (D1) of the wire (411)(412) may be 0.7 to 0.74 mm, and the diameter (D2) of the conductor may be 0.4 mm, but is not limited thereto.

[0860]

[0861] (Actuation operation of Article 1 and Article 2)

[0862] Referring further to FIGS. 99 to 101, the first jaw (2101) may include a flow coupling hole (2101c), a jaw pulley coupling hole (2101d), and an axial penetration part (2101e).

[0863] The first section (2101) is formed in an overall elongated rod shape, and a pulley (2111) is attached to one end so that it can rotate together with the pulley (2111).

[0864] Meanwhile, on the side that connects with the pulley (2111) in the first section (2101), that is, the proximal end side, a flow coupling hole (2101c), a jaw pulley coupling hole (2101d), and an axial penetration section (2101e) may be formed.

[0865] In other words, the fluid coupling hole (2101c), jaw pulley coupling hole (2101d), and axial penetration part (2101e) can be formed on the proximal side of the aforementioned first extension part (2101B1).

[0866] Here, the fluid coupling hole (2101c) is formed to have a predetermined curvature and can be formed in an approximately elliptical shape.

[0867] To explain this from another perspective, the fluid coupling hole (2101c) may be formed in a shape connecting two circles of the same diameter so that the first sub-axis (2141a) can move within the hole. For example, referring to FIG. 100, the fluid coupling hole (2101c) may be formed in a shape connecting a circle centered on C1 and a circle centered on C2. To explain this from another perspective, the fluid coupling hole (2101c) may be formed in a shape corresponding to the trajectory of a virtual circle orbiting around the jaw pulley coupling hole (2101d). Here, the diameter of the two circles, that is, the diameter of the virtual circle, may be formed to be 2.4 mm. Also, the fluid coupling hole (2101c) may be formed to overlap with a virtual line connecting the shaft penetration part (2101e) and the jaw pulley coupling hole (2101d). That is, the fluid coupling hole (2101c) can be formed between the shaft penetration part (2101e) and the jaw pulley coupling hole (2101d).

[0868] A first sub-axis (2141a), which will be described later, can be fitted into this fluid coupling hole (2101c). Here, the semi-minor diameter of the fluid coupling hole (2101c) can be formed to be substantially the same as or slightly larger than the radius of the first sub-axis (2141a). For example, the semi-minor diameter of the fluid coupling hole can be formed to be 1.2 mm.

[0869] Meanwhile, the major radius of the fluid coupling hole (2101c) may be formed to be larger than the radius of the first sub-axis (2141a). Accordingly, when the first sub-axis (2141a) is inserted into the fluid coupling hole (2101c) of the first set (2101), it is formed so that the first sub-axis (2141a) can move to a certain extent within the fluid coupling hole (2101c). This will be explained in more detail later.

[0870] Meanwhile, the jaw pulley coupling hole (2101d) is formed in the shape of a cylindrical hole, and the jaw coupling part (2111b) of the pulley (2111), which will be described later, can be fitted into this jaw pulley coupling hole (2101d). Here, the radius of the jaw pulley coupling hole (2101d) can be formed to be substantially the same as or slightly larger than the radius of the jaw coupling part (2111b). For example, the diameter of the jaw pulley coupling hole (2101d) can be formed to be about 1 mm. Thus, the jaw coupling part (2111b) of the pulley (2111) can be formed to be rotatably coupled to the jaw pulley coupling hole (2101d) of the first jaw (2101). This will be explained in more detail later.

[0871] Meanwhile, the shaft penetration portion (2101e) may be formed on the distal side of the first jaw (2101) relative to the fluid coupling hole (2101c) and the jaw pulley coupling hole (2112d). The shaft penetration portion (2101e) is formed in the shape of a hole, and the actuation rotation axis (1145) may be inserted through the shaft penetration portion (2101e). The radius of the shaft penetration portion (2101e) may be formed to be substantially the same as or slightly larger than the radius of the actuation rotation axis (1145). For example, the diameter of the shaft penetration portion (2101e) may be formed to be about 1 mm.

[0872] In one embodiment, the distance (d21) between the center of the shaft penetration (2101e) and the center of the jaw pulley coupling hole (2101d) may be 6 mm to 8 mm. The angle (θ11) between the line passing through the center of the jaw pulley coupling hole (2101d) and parallel to the first direction (DR1) in the drawing and the line connecting the center of the shaft penetration (2101e) and the center of the jaw pulley coupling hole (2101d) may be formed to be approximately 16°. The angle (θ12) between the first center (C1) and the second center (C2) of the flow coupling hole (2101c) may be formed to be 51° to 53°. The distance (R1) from the center of the jaw pulley coupling hole (2101d) to the first center (C1) and the distance (R1) from the center of the jaw pulley coupling hole (2101d) to the second center (C2) may be formed to be 2.45 mm. That is, the trajectory of the center moving ...

Claims

An end tool comprising one or more jaws and formed to be rotatable in two or more directions; A control unit for controlling the rotation of the above end tool in the above two or more directions; A connecting part to which the end tool is connected on one side and the operating part is connected on the other side; A drive wire connected to the above-mentioned operating unit and transmitting the rotation of the above-mentioned operating unit to the end tool; A jaw wire connected to the above jaw to supply electrical energy to the above jaw; A blade that moves between the proximal and distal portions of the above end tool; A blade wire coupled to the blade and transmitting the driving force required for the movement of the blade; A guide tube formed to accommodate at least a portion of the blade wire inside and to be able to bend to a certain degree; A reinforcing tube made of metal material that accommodates at least a portion of the above guide tube inside; and An instrument for electrocautery surgery comprising a wire tube that accommodates at least a portion of the drive wire inside. In Article 1, The above wire tube is an instrument for electrocautery surgery that is positioned within a straight section of the above connection. In Article 1, An instrument for electrocautery surgery, wherein one end of the wire tube is connected to the drive wire on the end tool side and the other end of the wire tube is connected to the drive wire on the operating part side. In Article 1, The above wire tube is an instrument for electrocautery surgery comprising a metal material. In Article 1, It further includes a shrink tube that accommodates at least a portion of the above-mentioned wire and at least a portion of the above-mentioned wire tube together inside, The above-mentioned shrink tube is an instrument for electrocautery surgery that secures the above-mentioned wire to the above-mentioned wire tube. In Article 5, The above driving wire is, A jaw wire that transmits the driving force required for the rotational movement of the above jaw; and It includes a pitch wire that transmits the driving force required for the pitch rotational movement of the above end tool, and The above jaw wire and the above pitch wire are each connected to a wire tube, and The above-mentioned shrink tube is an instrument for electrocautery surgery that secures the jaw wire to one selected from the wire tube connected to the jaw wire or the wire tube connected to the pitch wire. In Article 5, An instrument for electrocautery surgery in which the above-mentioned wire and the above-mentioned wire tube are inserted into the above-mentioned wire tube, and the above-mentioned wire tube is heated and contracted so that the above-mentioned wire tube and the above-mentioned wire tube are tightly joined. In Article 5, The above-mentioned shrink tube is an electrocautery surgical instrument positioned close to the end tool side within the connection portion. In Article 1, It further includes a shrink tube that accommodates at least a portion of the above-mentioned wire and at least a portion of the above-mentioned guide tube together inside, The above-mentioned shrink tube is an instrument for electrocautery surgery that secures the above-mentioned wire to the above-mentioned guide tube. In Article 1, An instrument for electrocautery surgery, wherein the blade and the blade wire comprise a metal material, and the guide tube comprises a plastic material. In Article 1, The above reinforcing tube is disposed within the above connection part, and An instrument for electrocautery surgery in which the reinforcing tube and the guide tube are crimped and joined and fixed to each other. In Article 1, The above connecting part is, A straight section joined to the above end tool on the distal side; A bending part coupled to the above-mentioned operating part and the proximal side; and An instrument for electrocautery surgery comprising: an intermediate connecting portion connecting the proximal portion of the straight portion and the distal portion of the bent portion. In Article 12, The above intermediate connecting part is, An instrument for electrocautery surgery comprising a guide tube hole through which the guide tube passes, a wire hole through which the wire passes, and a wire hole through which the driving wire passes. In Article 13, The above-mentioned wire holes are provided in multiple numbers and are symmetrically arranged on both sides with respect to the guide tube holes, for an electrocautery surgical instrument. In Article 13, An instrument for electrocautery surgery in which the above-mentioned wire hole and the above-mentioned guide tube hole are connected to each other to form a single structure. In Article 13, The above wire holes are adjacent to the above wire holes and spaced apart from each other, an instrument for electrocautery surgery. In Article 13, The above wire holes are symmetrically arranged on both sides of a virtual line set based on the guide tube hole, in an instrument for electrocautery surgery. In Article 13, The above wire hole is, An instrument for electrocautery surgery formed to have a diameter smaller than the guide tube hole and a diameter larger than the wire hole. In Article 12, The above-mentioned bending portion includes a wire guide for fixing the above-mentioned wire, and The above-mentioned wire is an instrument for electrocautery surgery, extending from the operating part along the bending part to the intermediate connecting part through the wire guide. In Article 12, The above-mentioned bent portion is, An instrument for electrocautery surgery comprising a pair of fixing members spaced apart from each other to support the distal and proximal sides of the guide tube, respectively. In Article 20, The above guide tube is, It is fixed to the bent portion by the above pair of fixing members, and An instrument for electrocautery surgery that is maintained in a straight line shape between the above-mentioned fixed members. In Article 21, An instrument for electrocautery surgery, wherein the straight distance between the fixed members is set to be greater than the distance at which the blade wire can move within the guide tube. In Article 21, A cutting intermediate block coupled to the end of the blade wire; and It further includes a cutting intermediate wire for linearly moving the above cutting intermediate block, and The guide tube disposed between the fixed members is an instrument for electrocautery surgery that is positioned parallel to a straight section of the movement path of the cutting intermediate wire. In Article 23, An instrument for electrocautery surgery further comprising a cutting restoration elastic member that provides elastic force toward the proximal side of the bend portion with respect to the cutting mediating block. In Article 24, An instrument for electrocautery surgery, wherein the above-mentioned cutting restoration elastic member is configured to be fixed to the cutting intermediate block in a tensioned state. In Article 24, The above-described cutting restoration elastic member is an electrocautery surgical instrument positioned parallel to a straight section of the movement path of the above-described cutting intermediate wire.

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