CN219109560U

CN219109560U - Driving force transmission device of surgical instrument and surgical instrument comprising driving force transmission device

Info

Publication number: CN219109560U
Application number: CN202222368471.0U
Authority: CN
Inventors: 金亨泰
Original assignee: Meere Co Inc
Current assignee: Meere Co Inc
Priority date: 2021-09-07
Filing date: 2022-09-06
Publication date: 2023-06-02
Anticipated expiration: 2032-09-06
Also published as: CN115363647A; KR20230036373A; KR102648067B1

Abstract

An embodiment of the present utility model relates to a driving force transmission device for a surgical instrument, in which a shaft unit is provided and a clamp (Jaw) is provided at a proximal end of the shaft unit, comprising: a base provided with a distal end of the shaft unit; and a first coupler unit connected to a distal end of the shaft unit to transmit a driving force to the clamp, the first coupler unit including: a moving member that moves together with the shaft unit and adjusts the drive of the clamp; and a driving unit connected to the moving member, and transmitting a driving force to the moving member to move the moving member in an extending direction of the shaft unit.

Description

Driving force transmission device of surgical instrument and surgical instrument comprising driving force transmission device

Technical Field

Embodiments of the present utility model relate to a driving force transmission device of a surgical instrument and a surgical instrument including the same.

Background

Medically, surgery refers to the use of medical devices to cut or incise or manipulate the skin or mucosa and other body parts to cure a disease. In particular, the incision of the skin at the operation site causes problems such as bleeding, side effects, pain of the patient, and scars in performing a laparotomy operation such as treatment, shaping, or removal of an organ or the like in the operation site.

In order to solve such a problem, attention has been paid to "laparoscopic surgery" or "minimally invasive surgery", which is performed in vivo by inserting medical devices such as endoscopes, laparoscopes, surgical instruments (instruments), and microscopes for microsurgery through a tiny insertion hole instead of cutting the skin.

In the surgical instrument used for such a laparoscopic surgery, an operation portion capable of performing an operation required for the surgical operation is coupled to a proximal end of the shaft unit, and power is transmitted from a distal end of the shaft unit. The power is generated from a handle or a generator held by a user, and the generated power is transmitted to the shaft unit or the operation portion by a driving force transmission device disposed at a distal end portion of the shaft unit, thereby completing various actions required at the time of surgery.

The conventional surgical instrument transmits power from the distal end portion of the shaft unit to the driving portion, and the structure of the portion is complicated, and therefore, there are drawbacks in that: the time and the cost consumed in the manufacturing process of the surgical instrument are increased, and the size of the surgical instrument is increased.

In view of this, there is a need to simplify the power transmission structure of surgical instruments, reduce the time and cost consumed in the manufacturing process of surgical instruments, and make surgical instruments small in size.

Disclosure of Invention

Technical problem

Embodiments of the present utility model provide a driving force transmission device of a surgical instrument that transmits power from a driving part to a shaft unit and can simplify a structure, and a surgical instrument including the same.

Technical proposal

As a means for solving the above-described technical problems, an embodiment of the present utility model provides a driving force transmission device of a surgical instrument equipped with a shaft unit and a clamp (Jaw) provided at a proximal end of the shaft unit, comprising: a base provided with a distal end of the shaft unit; and a first coupler unit connected to a distal end of the shaft unit to transmit a driving force to the clamp. The first coupler unit includes: a moving member that moves together with the shaft unit and adjusts the drive of the clamp; and a driving unit connected to the moving member, and transmitting a driving force to the moving member to move the moving member in an extending direction of the shaft unit.

In one embodiment, the moving member is connected to a part of the shaft unit and is disposed along an extending direction of the shaft unit.

In one embodiment, the driving unit includes: the first rotating shaft is rotatably arranged on the base; and a link for connecting between the first rotation shaft and the moving member.

In one embodiment, the method further comprises: and a second coupler unit disposed on one side of the shaft unit and configured to adjust for driving the shaft unit to roll (roll).

In one embodiment, the second coupler unit includes: a first connecting pulley provided to the shaft unit; the second connecting pulley is rotatably arranged on the base; and the connecting piece is connected with the first connecting pulley and the second connecting pulley, and transmits driving force from the second connecting pulley so as to drive the first connecting pulley to roll.

In one embodiment, the second coupler unit includes: a ring gear rotatably provided to the base and rotated by a driving force; and a pinion gear that meshes with the ring gear in a state of being provided to the shaft unit, and rotates together with the shaft unit by rotation of the ring gear, while causing the shaft unit to perform a rolling motion.

In one embodiment, the method further comprises: and an elastic member disposed along an extending direction of the shaft unit to provide an elastic force to the moving member.

In another embodiment of the present utility model, there is provided: the driving force transmission device is provided with: the device comprises a shaft unit, a clamp (Jaw) assembled at the proximal end of the shaft unit, and a first coupler unit provided with the distal end of the shaft unit at a base for transmitting driving force to the clamp. The first coupler unit includes: a moving member that moves together with the shaft unit and adjusts the drive of the clamp; and a driving unit connected to the moving member, and transmitting a driving force to the moving member to move the moving member in an extending direction of the shaft unit.

In one embodiment, the shaft unit includes: an anvil; a first shaft disposed outside the anvil, the distal end of the first shaft being provided with the mover; and a second shaft disposed outside the first shaft and configured to perform a rolling motion together with the anvil and the first shaft.

In one embodiment, the shaft unit further includes: the anvil; the first shaft; and a fitting for extending through the second shaft. The first shaft is provided with a long hole for penetrating the joint.

In one embodiment, one side of the clamp is rotatably arranged on the first shaft, the other side of the clamp is rotatably arranged on the second shaft, and when the first shaft moves, the holding force is generated by the anvil piece and the clamp.

In one embodiment, the driving force transmission device further includes: a second coupler unit provided on one side of the shaft unit for driving the second shaft to roll (r ₀ ll) are adjusted.

Other aspects, features, and advantages than the above will become apparent from the following drawings, claims, and summary.

Advantageous effects

According to the driving force transmission device of the surgical instrument and the surgical instrument comprising the driving force transmission device, the driving force transmission structure of the surgical instrument can be simplified, the time and the cost consumed in the manufacturing process of the surgical instrument are reduced, and the surgical instrument is manufactured to be small in size.

Drawings

FIG. 1 is a conceptual diagram of a surgical system according to one embodiment of the utility model;

FIG. 2 shows the surgical instrument and generator unit of FIG. 1;

FIG. 3 illustrates a surgical instrument according to an embodiment of the present utility model;

FIG. 4 is a plan view of the proximal portion of the surgical instrument of FIG. 3;

FIG. 5 is a cross-sectional view taken along line A-A' of FIG. 4;

fig. 6 is an oblique view showing the driving force transmission device in fig. 3 from one direction;

fig. 7 is an oblique view showing the driving force transmission device in fig. 6 from another direction;

FIG. 8 is a plan view of the drive clamp in the surgical instrument illustrated in FIG. 3;

FIGS. 9 and 10 illustrate the actuation of region A of FIG. 8;

FIGS. 11 and 12 illustrate the actuation of region B of FIG. 8;

FIG. 13 is a plan view of the drive shaft unit tumbled in the surgical instrument of FIG. 3;

Fig. 14 and 15 show another embodiment of the second coupling unit of the driving force transmission device.

Symbol description

10: an instrument; 20: a generator unit; 100: surgical instruments;

110: a clamp (Jaw); 130: a shaft unit; 150: a driving force transmission device.

Detailed Description

Hereinafter, the following embodiments are described in detail with reference to the accompanying drawings. When described with reference to the drawings, the same or corresponding members are denoted by the same reference numerals, and repetitive description thereof will be omitted.

The embodiments of the present utility model are susceptible to various modifications, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. The effects and features of the embodiments of the present utility model and the implementation method thereof will be clearly understood with reference to the accompanying drawings and the following detailed description. However, the embodiments of the present utility model are not limited to the embodiments disclosed below, and can be realized in various forms.

In the following embodiments, the terms first, second, etc. do not have a limiting meaning, but are used to distinguish one element from another element.

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

In the following embodiments, the inclusion or inclusion of equivalent terms does not imply that there is a feature or element described in the specification and does not previously exclude the possibility of adding more than one other feature or element.

In the following embodiments, when a portion such as a unit, a region, or a member is located above or on another portion, it is intended to include not only a case where the portion is located directly above another portion but also a case where another unit, a region, a member, or the like is provided therebetween.

In the following embodiments, unless the context clearly indicates otherwise, the terms connected or coupled do not mean that the two elements must be directly and/or fixedly connected or coupled, and do not exclude the presence of other elements between the two elements.

Meaning that there are features or elements described in the specification, the possibility of adding more than one other feature or element is not previously excluded.

The drawings may enlarge or reduce the size of the illustrated elements for the purposes of description. For example, the sizes and thicknesses of the respective members shown in the drawings are arbitrarily shown for convenience of description, and thus the following embodiments are not necessarily limited by the drawings.

Hereinafter, "proximal" is defined as: the direction in which the operation part needed when the surgical instrument is placed into the affected part to perform surgery is close to the affected part is defined as the 'distal end': away from the affected part.

Hereinafter, the "tumbling" direction means a rotation direction with the shaft unit extending direction as the shaft.

An embodiment of the present utility model is described in detail below with reference to the accompanying drawings.

Fig. 1 is a conceptual diagram of a surgical system 1 according to an embodiment of the present utility model.

As shown in fig. 1, surgical system 1 includes a surgical instrument 10 and a generator unit 20.

The surgical system 1 may be used in a surgical environment where medical personnel perform surgery. For example, the surgical system 1 is implemented by placing the surgical instrument 10 in the form of a robotic arm of a surgical robot (not shown). The surgical system 1 is realized by a mode in which a medical staff directly holds the surgical instrument 10 by hand or performs an operation by other instrument devices.

Surgical instrument 10 is coupled to generator unit 20. Surgical instrument 10 is coupled to generator unit 20 and receives power transmitted by generator unit 20.

In one embodiment, the generator unit 20 is connected to the surgical instrument 10 by wire or wirelessly to drive the surgical instrument 10. For example, generator unit 20 transmits the driving force of the roll, pitch, yaw motions required to operate surgical instrument 10 to surgical instrument 10. The generator unit 20 transmits an electric current to the end of the surgical instrument 10, thereby realizing the thermal cautery function of the surgical instrument 10.

In one embodiment, generator unit 20 is connected to surgical instrument 10 by wire or wirelessly, and generates signals that control surgical instrument 10. For example, surgical instrument 10 performs a surgical action based on a control signal generated by generator unit 20.

The generator unit 20 is a device that is manually activated by a user or automatically activated by an operation of the user.

In one embodiment, when generator unit 20 is a manually activated device by a user, generator unit 20 drives surgical instrument 10 by power generated by the user.

In one embodiment, when the generator unit 20 is a device that is automatically activated by a user operation, the generator unit 20 includes at least one motor, and the user can input a control signal to the generator unit 20 to activate the at least one motor.

In one embodiment, to improve the operation intuitiveness of the user, the generator unit 20 includes: a control part (not shown) that controls the operation of the motor by the operation of the user. The control part controls the delay of the control signal so that the operation of the motor by the user is consistent with the starting of the corresponding motor.

Fig. 2 shows the surgical instrument 10 and the generator unit 20 of fig. 1.

As shown in fig. 2, surgical instrument 10 is distally connected to a generator unit 20.

The surgical instrument 10 includes an end effector 11, a shaft unit 12, and a driving force transmission device 13.

The end effector 11 is disposed at the proximal end of the surgical instrument 10 to perform surgical actions. The end effector 11 is configured in various ways to perform various operations such as cutting (cutter) and grasping (grip) according to the type of surgery.

In one embodiment, the end effector 11 is provided with a clamp (Jaw) that rotates with a portion of the shaft unit 12. The clamp is driven by the driving of the shaft unit 12, so that the end effector 11 performs a surgical operation.

In another embodiment, the end effector is provided with a pair of jaws (Jaw), each of which is rotatably provided to the shaft unit. The pair of clamps are driven to be interlocked by the driving of the shaft unit, so that the end effector performs the operation.

In yet another embodiment, the end effector is provided with a medical stapler, endoscope, or the like that operates while performing the procedure.

Hereinafter, for convenience of description, an embodiment will be described centering on the embodiment in which the end effector 11 is provided with a clamp (Jaw) rotatably mounted to the shaft unit, and a gripping action is performed by a driving force transmitted from the shaft unit.

The shaft unit 12 extends distally from the proximal end of the surgical instrument 10 and is sleeved with a plurality of components in a radially outward direction.

In one example, the shaft unit 12 includes an anvil (anvils) 12a, a first shaft 12b, and a second shaft 12c.

The anvil 12a extends along the central axis of the shaft unit 12. The proximal end of the anvil 12a is interlocked with a Jaw (Jaw) of the end effector 11 to generate or release a grip.

In one embodiment, the anvil 12a is coupled to the generator unit 20 to receive electrical energy. The generator unit 20 supplies electrical power to the anvil 12a to cause the surgical instrument 10 to perform a hot cauterization function.

The first shaft 12b covers the outside of the anvil 12a, and has an inner space for accommodating the anvil 12 a. The second shaft 12c covers the outside of the first shaft 12b, and has an inner space for accommodating the anvil 12a and the first shaft 12 b.

One of the first shaft 12b and the second shaft 12c is connected to the first coupler unit 14. Any one of the shafts connected to the first coupler unit 14 is linearly moved in the longitudinal direction by driving the first coupler unit 14.

The other of the first shaft 12b and the second shaft 12c is connected to the second coupler unit 15. The other shaft connected to the second coupling unit 15 performs a tumbling motion with the driving of the second coupling unit 15.

Hereinafter, for convenience of description, description will be made centering on an embodiment in which the first shaft 12b is connected to the first coupler unit 14 and the second shaft 12c is connected to the second coupler unit 15. However, the present invention is not limited thereto, and the first shaft 12b may be connected to the second coupler unit 15 to perform the rolling motion, or the second shaft 12c may be connected to the first coupler unit 14 to perform the linear motion.

The driving force transmission device 13 includes a first coupler unit 14 and a second coupler unit 15.

The first coupler unit 14 linearly moves the shaft unit 12. The first coupler unit 14 is connected to the first shaft 12b, and linearly moves the first shaft 12b in the longitudinal direction.

The first coupler unit 14 includes a first driving unit 14a, a first link 14b, and a mover 14c.

The first driving unit 14a transmits a driving force for moving the mover 14c to the first link 14 b.

In one embodiment, the first driving unit 14a is provided as a driving force generation member. For example, the first driving unit 14a is provided as various means for generating a driving force, such as: a motor, an actuator, a pump, etc., and the first driving unit 14a includes a Shape Memory Alloy (SMA) provided as a device that performs a linear reciprocating motion according to a temperature change of the shape memory alloy.

In another embodiment, the first driving unit 14a receives an external driving force and transmits the driving force to the first coupling member 14 b.

The first link 14b is disposed between the first driving unit 14a and the mover 14c, and transmits a driving force from the first driving unit 14a to the mover 14c. For example, the first connector 14b may be provided as a wire, a belt, a chain, a belt, a gear, or the like.

The moving member 14c is connected to the first link 14b, and the first shaft 12b is linearly moved by driving of the first link 14 b.

In one example, the mover 14c is connected to the first shaft 12b, and the first shaft 12b is linearly moved according to the displacement of the mover 14 c. That is, the mover 14c and the first shaft 12b can move together.

In another embodiment, the moving member 14c is connected to the first shaft 12b, and the moving member 14c transmits a driving force to the first shaft 12b, thereby adjusting the position of the first shaft 12 b. That is, in a state where the mover 14c is fixed, the mover 14c transmits a driving force to the first shaft 12b to adjust the position of the first shaft 12 b. For example, the mover 14c and the first shaft 12b may be provided in a rack and pinion structure, and the first shaft 12b may be displaced by driving the mover 14 c.

The second coupler unit 15 imparts a tumbling motion to the shaft unit 12. The second coupler unit 15 is connected to the second shaft 12c, and the second shaft 12c is rotated about the longitudinal direction.

The second coupler unit 15 includes a second driving unit 15a, a second link 15b, and a rotating member 15c.

The second driving unit 15a transmits a driving force for rotating the rotating member 15c to the second connecting member 15b.

In an embodiment, the second driving unit 15a may be provided as various means for generating driving force, such as: a motor, an actuator, a pump, etc. that generates a driving force like the first driving unit 14 a.

In another embodiment, the second driving unit 15a receives an external driving force and transmits the driving force to the second link 15 b.

The second link 15b is disposed between the second driving unit 15a and the rotating member 15c, and transmits the driving force generated by the second driving unit 15a to the rotating member 15c. For example, the second connecting member 15b may be provided as a wire, a belt, a chain, a belt, a gear, or the like.

The rotation member 15c is connected to the second link 15b, and the second shaft 12c is rotated by driving of the second link 15 b.

In one embodiment, the rotating member 15c is mounted on the outer periphery of the second shaft 12c, and rotates together with the second shaft 12c as the second driving unit 15a is driven.

In another embodiment, the rotary member 15c is fixed to the outside of the second shaft 12c, and the second shaft 12c transmits only the driving force as the second driving unit 15a is driven.

The surgical instrument 10 drives the end effector 11 by linearly moving the first shaft 12b when the first coupler unit 14 is driven.

When the first shaft 12b reciprocates in the longitudinal direction, the Jaw (Jaw) of the end effector 11 rotates about the rotation shaft, and the Jaw and the anvil 12a can form a grip.

The surgical instrument 10 rotates the second shaft 12c when the second coupler unit 15 is driven, and the shaft unit 12 performs a tumbling motion.

The second shaft 12c performs a rolling motion together with the anvil 12a and the first shaft 12b, and therefore, when the second coupler unit 15 rotates, the end effector 11 also performs a rolling motion together by the rotation of the second shaft 12 c.

The surgical system 1 and the surgical instrument 10 according to an embodiment of the present utility model drive the end effector 11 by simple driving of the driving force transmission device 13. The moving member 14c of the first coupler unit 14 linearly moves the first shaft 12b, thereby performing the gripping operation of the end effector 11.

Fig. 3 illustrates a surgical instrument 100 according to an embodiment of the present utility model, fig. 4 is a plan view of a proximal portion of the surgical instrument 100 illustrated in fig. 3, and fig. 5 is a cross-sectional view taken along line A-A' in fig. 4.

As shown in fig. 3 to 5, a surgical instrument 100 according to an embodiment of the present utility model includes: a clamp (jaw) 110 mounted to the shaft unit 130 and a proximal end of the shaft unit 130; and a driving force transmission device 150 connected to the distal end of the shaft unit 130.

In performing the operation, the proximal ends of the clamp 110 and the shaft unit 130 are placed into the affected part, and the required actions for the operation are performed.

The clamp 110 is fitted to the proximal end of the shaft unit 130. The distal end of the clamp 110 is coupled to the proximal end of the shaft unit 130 such that the clamp 110 performs a surgical action in response to the action of the shaft unit 130.

The clamp 110 has one side provided on the first shaft 1303 and the other side provided on the second shaft 1305.

One side of the clamp 110 is rotatably provided to the first shaft 1303 by a first locking portion 110 a. The other side of the clamp 110 is rotatably provided to the second shaft 1305 by a second locking portion 110 b.

The first shaft 1303 linearly moves by the driving of the first coupler unit 153, but the second shaft 1305 does not receive the driving force from the first coupler unit 153. As the first shaft 1303 moves, the first locking portion 110a also moves linearly along with one side of the clamp 110. At this time, the other side of the clamp 110 rotates about the second locking portion 110 b. By the above-described action of the clamp 110, a change in grip force occurs between the anvil 1301 and the clamp 110.

The shaft unit 130 has an elongated shape extending from a proximal end to a distal end. Also, the shaft unit 130 has a circular cross section so as not to damage peripheral cells when it is placed in the affected part.

For example, in the outer face of the shaft unit 130, the surface that contacts the surgical site may form a curvature. Also, the cross section of the shaft unit 130 may be circular.

The shaft unit 130 includes an anvil (anvil) member 1301, a first shaft 1303, and a second shaft 1305.

In one embodiment, the shaft unit 130 is disposed with the anvil 1301 as a center, and is directed to a first shaft 1303 and a second shaft 1305 in this order.

The anvil 1301 extends along the length direction of the shaft unit 130. The anvil 1301 is defined as a central axis of the shaft unit 130, and a first shaft 1303 and a second shaft 1305 are provided at the outside of the anvil 1301.

The proximal end of anvil 1301 is coupled to clamp 110. The proximal end may grasp or release the lesion as the clamp 110 is rotated.

In one embodiment, the proximal end of the anvil 1301 is more protruding than at least one of the first shaft 1303 and the second shaft 1305. For example, the proximal end of the anvil 1301 protrudes beyond the first shaft 1303 and the second shaft 1305, and thus may overlap the clamp 110, and as the clamp 110 is driven, cutting, grasping, and the like may be performed.

In one embodiment, the anvil 1301 is round and long rod-shaped in cross-section. The anvil 1301 may have a cylindrical shaft shape so as to extend through the first shaft 1303 and the second shaft 1305.

The anvil 1301 is subjected to a tumbling motion as the second coupling unit 155 is driven. The anvil 1301 rolls around the longitudinal direction together with the first shaft 1303 and the second shaft 1305 when driven by the second coupler unit 155.

The first shaft 1303 covers the anvil 1301 from the outside of the anvil 1301. The first shaft 1303 has a long tubular shape having a diameter larger than that of the anvil 1301 so as to have a space inside which the anvil 1301 can be accommodated.

The second shaft 1305 covers the first shaft 1303 from the outside of the first shaft 1303. The second shaft 1305 has an elongated tubular shape having a diameter larger than that of the first shaft 1303 so as to have a space therein in which the first shaft 1303 can be accommodated.

The shaft unit 130 performs a rolling motion of the anvil 1301, the first shaft 1303, and the second shaft 1305 together.

In the shaft unit 130, the first shaft 1303 moves in the longitudinal direction opposite to the anvil 1301 and the second shaft 1305. The movement of the shaft unit 130 and the clamp 110 is described in further detail below.

Fig. 6 is an oblique view showing the driving force transmission device 150 in fig. 3 from one direction, and fig. 7 is an oblique view showing the driving force transmission device in fig. 6 from another direction.

As shown in fig. 6 and 7, the driving force transmission device 150 is provided at the distal end of the shaft unit 130.

In one embodiment, the driving force transmission device 150 includes a base 151, a first coupler unit 153, and a second coupler unit 155.

The base 151 provides a space for disposing the distal end of the shaft unit 130, the first coupler unit 153, and the second coupler unit 155.

The base 151 is formed of a strong material so as to protect the disposed members from external impact. The base 151 may be formed of one member, or may be formed of a plurality of members provided at upper and lower portions for convenience of assembly.

In order to receive the driving force, the lower portion of the base 151 is provided with a plurality of knobs. The knob is connected to an external driving device (not shown) from which driving force is received. For example, the protruding knob is fitted in a groove of the driving means, and the knob can be rotated by driving of the driving means.

The first knob 151a is connected to the driving unit 1533 of the first coupler unit 153. When the first knob 151a is rotated, a driving force is transmitted to the driving unit 1533, and the first coupler unit 153 is driven.

In one embodiment, the first knobs 151a are a pair, and are connected to the respective first coupler units 153. The pair of first knobs 151a revolve in opposite directions, and the pair of first knobs 151a drive the first coupler unit 153.

In another embodiment, although not shown in the drawings, the first knob may be provided with one. The first coupler unit 153 is connected to an external driving device, and is driven by driving of the driving device.

The second knob 151b is connected with the second connection pulley 1553 of the second coupler unit 155. When the second knob 151b is rotated, a driving force is transmitted to the second connection pulley 1553, thereby driving the second coupler unit 155.

The first coupler unit 153 includes a moving member 1531 and a driving unit 1533 so as to transmit a driving force to the clamp 110.

The moving member 1531 is connected to the shaft unit 130, and moves a part of the shaft unit 130.

Specifically, the moving member 1531 is combined with the shaft unit 130 so as to move together with the shaft unit 130. May be disposed along the extending direction of the shaft unit 130.

The mover 1531 is connected with the distal end portion 1303D of the first shaft 1303. The distal end portion 1303D of the first shaft 1303 is provided with a slot 1303G, and the mover 1531 is fitted in the slot 1303G. The inner circumference of the moving member 1531 is fitted in the insertion groove 1303G, and the moving member 1531 and the first shaft 1303 can move integrally. Accordingly, the distal end portion 1303D of the first shaft 1303 can also move together with the movement of the mover 1531.

The mover 1531 is coupled with the first shaft 1303 in the shaft unit 130, but may not be coupled with the anvil 1301 and the second shaft 1305. With the linear movement of the mover 1531, the first shaft 1303 moves together with the mover 1531, but the anvil 1301 and the second shaft 1305 do not move linearly.

The driving unit 1533 is connected to the moving member 1531 to move the moving member 1531. Preferably, the driving unit 1533 transmits a driving force to the moving member 1531 so as to move along the extending direction of the shaft unit 130.

In one embodiment, the driving units 1533 are disposed on two sides of the moving member 1531. The pair of driving units 1533 receives driving forces from external driving devices (positions), respectively. At this time, the pair of driving units 1533 rotates in different directions so that the moving member 1531 transmits force in the same direction.

In another embodiment, the driving unit is disposed at one side of the moving member. Although not shown in the drawings, the driving unit receives driving force from an external driving device to linearly move the moving member. Preferably, the driving unit 1533 is disposed at the center of the moving member 1531.

In still another embodiment, a pair of driving units is disposed on both sides of the mover, and driving force is transmitted to either one of the pair of driving units. The driving force may be transmitted to the pair of driving units through a connection member (not shown). When transmitting driving force to either one of the pair of driving units, driving force may also be transmitted to the other through a connecting member (not shown).

The driving unit 1533 includes: a first shaft 1533a receiving the driving force, and a link 1533b for connecting between the first shaft 1533a and the moving part 1531.

The first shaft 1533a is connected to the first knob 151a, and receives driving force through the first knob 151 a.

In the link 1533b, one end is connected to the first rotation shaft 1533a, and the other end is connected to the moving member 1531. The link 1533b is rotatably provided to the first shaft 1533a and the moving member 1531, and thus the moving member 1531 can be linearly moved by rotation of the first shaft 1533 a.

When a driving force is transmitted from an external driving device (not shown) to the first shaft 1533a, the first shaft 1533a rotates while the link 1533b moves. When the link 1533b moves, the moving element 1531 connected to the link 1533b moves along the extending direction of the shaft unit 130, and the first shaft 1303 connected to the moving element 1531 also moves along the extending direction together with the moving element 1531.

The second coupling unit 155 is disposed at a distal end side of the shaft unit 130 penetrating the driving force transmission device 150, thereby adjusting the rolling of the driving shaft unit 130. The second coupler unit 155 includes a first connection pulley 1551, a second connection pulley 1553, and a connection member 1555.

The first connection pulley 1551 is provided at one side of the shaft unit 130, or may be provided at the shaft unit 130. The first coupling pulley 1551 is assembled to the shaft unit 130 and performs a rolling motion together with the shaft unit 130.

Specifically, the first connecting pulley 1551 wraps around the outer circumference from the outside of the second shaft 1305 at the distal end of the shaft unit 130. The first connecting pulley 1551 is integrally connected to the second shaft 1305, and performs a rolling motion together with the second shaft 1305.

The first connecting pulley 1551 is disposed in a section between the distal end portion 1305D of the first shaft 1303 to the second shaft 1305 and the torque-suppressing portion 157. The first coupling pulley 1551 is disposed in the first shaft 1303 in a section between the mover 1531 and the torque suppressing part 157. So configured, the first coupling pulley 1551 and the moving member 1531 are spatially separated, and the first coupling pulley 1551 and the moving member 1531 are independently driven without interference.

The first coupling pulley 1551 includes a groove having a coupling member 1555 on the outer circumferential surface thereof. The coupling 1555 is fitted in the groove of the first coupling 1555 to smoothly transmit the driving force without loss.

In one embodiment, the first coupling pulley 1551 is divided into a distal end 1551D and a proximal end 1551P. Distal end 1551D and proximal end 1551P are each provided with a slot provided with a connector 1555.

The second connection pulley 1553 is rotatably provided to the base 151. The second connection pulley 1553 is connected to the first connection pulley 1551 to which the shaft unit 130 is coupled, and transmits a driving force to the first connection pulley 1551 to rotate the first connection pulley 1551. The first coupling pulley 1551 and the second coupling pulley 1553 are coupled by a coupling member 1555.

The second connection pulley 1553 is connected to the second knob 151b and rotated by a driving force transmitted through the second knob 151 b.

In one embodiment, the second connection pulley 1553 is divided into a first portion 1553a and a second portion 1553b in the height direction. The first and

second portions

1553a, 1553b are provided with connectors 1555, respectively, each connector 1555 fitting over the distal end 1551D and the proximal end 1551P of the first connection pulley 1551.

The first portion 1553a and the proximal end 1551P are connected by either connector and the second portion 1553b and the distal end 1551D are connected by another connector. The first and

second portions

1553a and 1553b transmit power to the proximal and

distal ends

1551P and 1551D, respectively, and thus, can transmit driving force without twisting and smoothly.

Specifically, the first coupling pulley 1551 transmits driving force to both the proximal end 1551P and the distal end 1551D, and thus, forces can be distributed relatively uniformly along the length. Therefore, the twisting of the first coupling pulley 1551 can be suppressed, and the durability can be maintained.

The second coupling pulley 1553 transmits a driving force to both the first part 1553a and the second part 1553b, distributing the force more uniformly in the height direction. Therefore, the twisting of the first coupling pulley 1551 can be suppressed, and the durability can be maintained.

The connection member is used to connect the first connection pulley 1551 and the second connection pulley 1553. The connection member may be a wire that is disposed between the first connection pulley 1551 and the second connection pulley 1553 to connect them, etc.

When a driving force is transmitted from an external driving device (not shown) to the second connection pulley 1553, the second connection pulley 1553 is rotated. Further, the driving shaft unit 130 rolls while driving the first coupling pulley 1551 coupled to the second coupling pulley 1553 to roll through the coupling member 1555.

In the second coupler unit of the embodiment, the connection member connecting the second connection pulley and the first connection pulley is provided as a wire wound in opposite directions so that the rolling rotation direction of the shaft unit may be either forward or reverse.

In a preferred embodiment, the driving force transmission device 150 further includes a torque suppressing portion 157. In the torque suppressing portion 157, one side is connected to the driving force transmission device 150, and the other side is connected to the shaft unit 130.

When the operation is performed, in a state that the proximal end of the shaft unit 130 is placed in the affected part, the affected part is damaged when the shaft unit 130 is excessively rotated. The torque suppressing portion 157 can suppress overdrive of the rolling of the shaft unit 130.

The driving force transmission device 150 further includes an elastic member 159 arranged along the extending direction of the shaft unit 130. The elastic member 159 is disposed at the distal end of the shaft unit 130 adjacent to the moving member 1531.

The elastic member 159 is a member that generates an elastic force and a restoring force, and is not limited to a specific member. However, for convenience of description, the following description will be focused on an example in which the elastic member 159 is a spring.

One end of the elastic member 159 is in contact with the moving member 1531. Also, the resilient member 159 may be in contact with the distal end of the second shaft 1305. When the mover 1531 or the first shaft 1303 linearly moves, the elastic member 159 generates a damping force, and thus, can perform a damping function. Also, the elastic member 159 adds elastic force to the grip 110 to enhance the grip.

As shown in fig. 9, in one embodiment, the elastic member 159 is in contact with the proximal end portion of the mover 1531. When the moving member 153 moves linearly, the elastic member 159 compresses or expands and generates a restoring force, so that the gripping force of the clamp 110 is softened.

In another embodiment, although not shown in the drawings, the elastic member 159 is in contact with the distal end portion of the mover 1531. In yet another embodiment, the resilient member 159 is in contact with the distal end portion 1303D of the first shaft 1303.

Fig. 8 is a plan view of the driving clamp in the surgical instrument shown in fig. 3, fig. 9 and 10 show the driving of the region a in fig. 8, and fig. 11 and 12 show the driving of the region B in fig. 8.

As shown in fig. 8 to 12, the surgical instrument 100 according to an embodiment of the present utility model adjusts the position of the clamp 110 by the first coupler unit 153.

The first coupler unit 153 is driven by a driving force transmitted from the outside of the driving force transmission device 150.

When the driving force is transmitted to the first shaft 1533a, the link 1533b moves as the first shaft 1533a rotates, and the moving member 1531 moves to the proximal end or the distal end along the extending direction of the shaft unit 130.

The moving member 1531 of the first coupler unit 153 is connected to the shaft unit 130 to linearly move the shaft unit 130. The moving member 1531 is connected to the distal end portion 1303D of the first shaft 1303, and thus, linear movement of the moving member 1531 can linearly move the first shaft 1303.

As shown in fig. 9, the moving member 1531 is adjacent to the first connection pulley 1551.

Then, when the driving of the first coupler unit 153 is achieved by the driving of an external driving device (not shown), as shown in fig. 10, the first rotation shaft 1533a rotates. The first shaft 1533a and the link 1533b move the moving member 1531 to the home position.

The pair of first shafts 1533a rotates in opposite directions to move the moving member 1531 to the home position. At this time, the elastic member 159 contacts with either the mover 1531 or the distal end portion 1305D of the second shaft 1305, and the elastic member 159 compresses or expands to play a role of buffering, thereby smoothing the movement of the first shaft 1303.

When the first shaft 1303 is linearly reciprocated by the mover 1531, the grippers 110 are rotated at the shaft unit 130 to form or release the grip.

One side of the clamp 110 is rotatably connected to the first shaft 1303 by a first locking portion 110a, and the other side of the clamp 110 is rotatably connected to the second shaft 1305 by a second locking portion 110 b. When the first shaft 1303 is moved to the proximal end, the first locking portion 110a is also moved to the proximal end, and the clamp 110 rotates about the second locking portion 110 b.

The clamp 110 generates a grip on the end effector by rotating. The proximal ends of the jaws 110 and anvil 1301 can be changed to a gripping state and a spaced state whereby the proximal ends of the jaws 110 and anvil 1301 can create or release a gripping force.

The surgical instrument 100 according to an embodiment of the present utility model drives the anvil 1301, the first shaft 1303 and the second shaft 1305 provided to the shaft unit 130 to roll together. However, surgical instrument 100 separately drivably couples first shaft 1303 to anvil 1301 and second shaft 1305.

The shaft unit 130 includes an anvil 1301, a first shaft 1303 provided outside the anvil 1301, and a second shaft 1305 provided outside the first shaft 1303.

The anvil 1301 is provided with a first locking hole 1301a for penetrating the anvil 1301. The first shaft 1303 is provided with a second locking hole 1303a for penetrating the first shaft 1303. The second shaft 1305 is provided with a third locking hole 1305a penetrating the second shaft 1305.

The first locking hole 1301a, the second locking hole 1303a, and the third locking hole 1305a are arranged to overlap each other and assembled by the joint member 131 penetrating therethrough.

The anvil 1301, the first shaft 1303 and the second shaft 1305 are assembled by the joint 13, and thus, when the second shaft 1305 is tumble rotated by the driving of the second coupling unit 155, the anvil 1301 and the first shaft 1303 also tumble together.

The mover 1531 is disposed at the distal end 1303D of the first shaft 1303. The mover 1531 is connected to the first shaft 1303, but not to the anvil 1301 and the second shaft 1305.

The second locking hole 1303a is provided as a long hole that is elongated in the length direction and has a length larger than the first locking hole 1301a and the third locking hole 1305a. The open area of the second locking hole 1303a may be larger than the open area of the first locking hole 1301a or the open area of the third locking hole 1305a.

The second locking hole 1303a allows linear movement of the first shaft 1303. The joint member 131 performs a relative movement with the second locking hole 1303a elongated in the length direction.

When the moving member 1531 moves along the length direction of the shaft unit 130, the first shaft 1303 coupled to the moving member 1531 may move to a length (d) corresponding to the second locking hole 1303a of the first shaft 1303. At this time, the anvil 1301 and the second shaft 1305 are fixed to the joint member 131, and thus, the movement of the first shaft 1303 is not affected.

Fig. 13 is a plan view of the surgical instrument 1000 of fig. 3 with the drive shaft unit 130 rolled over.

As shown in fig. 9 and 13, the second coupling unit 155 receives a driving force from an external driving device (not shown), and the driving shaft unit 130 rolls. The first connecting pulley 1551 and the second connecting pulley 1553 are driven by the driving force transmitted from the outside of the driving force transmission device 150, and the second shaft 1305 is driven to roll.

When the driving force is transmitted to the second coupling pulley 1553, the second coupling pulley 1553 rotates and simultaneously transmits the driving force to the first coupling pulley 1551 through the coupling member 1555. And, the first coupling pulley 1551 is driven to tumble by the driving force transmitted through the coupling 1555.

The anvil 1301, the first shaft 1303, and the second shaft 1305 of the shaft unit 130 are connected by the joint member 131. The first coupling pulley 1551 is fixed to the outer side of the second shaft 1305, and thus, when the first coupling pulley 1551 is rotated, the entire shaft unit 130 is rotated by the joint member 131.

The drive shaft unit 130 may be adjusted for the position of the clamp 110 that is used as an end effector as it rolls over.

In addition, fig. 14 is an oblique view of another embodiment of the second coupler unit 155, and fig. 15 is a plan view of another embodiment of the second coupler unit 155.

As shown in fig. 14 and 15, the second coupling unit 155 includes a ring gear 1557 and a pinion gear 1559.

A ring gear 1557 is rotatably provided to the base 151, and gear teeth are tapered in a circumferential direction to mesh with a pinion gear 1559 described below.

The ring gear 1557 is rotatably coupled to the base 151 and rotates about an axis intersecting the axis unit 130 at right angles, and is coupled to the second knob 151b provided to the base 151, thereby being rotated by a driving force transmitted through the second knob 151 b.

The pinion gear 1559 is provided at one side of the shaft unit 130, meshes with the ring gear 1557, rotates together with the shaft unit 130 when the ring gear 1557 rotates, and simultaneously causes the shaft unit 130 to perform a rolling motion.

Specifically, the pinion 1559 may be wound around the outer circumference from the outside of the second shaft 1305 at the distal end portion of the shaft unit 130, and may have conical gear teeth along the circumferential direction.

Such pinion gear 1559 is engaged with the ring gear 1557, so that the rolling motion is performed while rotating together with the shaft unit 130 by the rotation of the ring gear 1557.

That is, the second coupling unit 155 may be composed of a bevel gear, which is one of gear devices for connecting two shafts crossing in a right angle direction. Also, as the power of the second knob 151b is transmitted to the shaft unit 130, the tumbling of the driving shaft unit 130 may be adjusted.

The pinion gear 1559 is rotatably coupled to a support block 1515, and the support block 1515 is disposed on the base 151 in a state of being provided to the shaft unit 130.

A support block 1515 is vertically provided above the base 151 to rotatably support the pinion 1559. Thus, pinion gear 1559 may more firmly mesh with ring gear 1557. Of course, the support block 1515 may be omitted, but in this case, the pinion gear 1559 may be engaged with the ring gear 1557 without the support block 1515.

The second coupling unit 155 according to the other embodiment may receive a driving force from an external driving device (not shown) and adjust the position of the clamp 110 while the driving shaft unit 130 rolls over.

Specifically, the pinion gear 1559 is rotated while the ring gear 1557 is rotated by the second knob 151b, and the second knob 151b is rotated by the driving force of an external driving device (not shown).

The pinion gear 1559 rotates through the ring gear 1557 while the second shaft 1305 of the drive shaft unit 130 rolls over.

The shaft unit 130 is coupled to the anvil 1301, the first shaft 1303, and the second shaft 1305 through the joint 131, so that the rolling motion is performed while the second shaft 1305 is rotated as a whole by the pinion 1559.

In this manner, the drive shaft unit 130 may be adjusted with respect to the position of the clamp 110 that is used as an end effector as it rolls over.

As described above, the present utility model has been described with reference to an embodiment shown in the drawings, but these are merely examples, and it should be understood by those skilled in the art that various modifications, changes, and the like can be made thereto. Therefore, the actual technical scope of the present utility model should be defined according to the technical ideas of the following claims.

Claims

1. A driving force transmission device of a surgical instrument is characterized in that,

in a driving force transmission device of a surgical instrument equipped with a shaft unit having a clamp at a proximal end thereof,

comprising the following steps:

a base provided with a distal end of the shaft unit; and

a first coupler unit connected to a distal end of the shaft unit to transmit a driving force to the clamp,

the first coupler unit includes:

a moving member that moves together with the shaft unit and adjusts the drive of the clamp; and

and a driving unit connected to the moving member and transmitting a driving force to the moving member to move the moving member in an extending direction of the shaft unit.

2. A driving force transmission device for surgical instrument according to claim 1, wherein,

the moving member is connected to a part of the shaft unit and is disposed along an extending direction of the shaft unit.

3. A driving force transmission device for surgical instrument according to claim 1, wherein,

the drive unit is provided with:

the first rotating shaft is rotatably arranged on the base; and

and the link piece is used for connecting the first rotating shaft and the moving piece.

4. The driving force transmission device of a surgical instrument according to claim 1, further comprising:

and a second coupler unit disposed on one side of the shaft unit and configured to adjust for driving the shaft unit to roll (roll).

5. A surgical instrument drive force transmitting apparatus according to claim 4,

the second coupler unit includes:

a first connecting pulley provided to the shaft unit;

the second connecting pulley is rotatably arranged on the base; and

and the connecting piece is connected with the first connecting pulley and the second connecting pulley, and transmits driving force from the second connecting pulley so as to drive the first connecting pulley to roll.

6. A surgical instrument drive force transmitting apparatus according to claim 4,

the second coupler unit includes:

a ring gear rotatably provided to the base and rotated by a driving force; and

and a pinion gear which is engaged with the ring gear in a state of being provided to the shaft unit, and rotates together with the shaft unit by rotation of the ring gear, and which causes the shaft unit to perform a rolling motion.

7. The driving force transmission device of a surgical instrument according to claim 1, further comprising:

and an elastic member disposed along an extending direction of the shaft unit to provide an elastic force to the moving member.

8. A surgical instrument, comprising:

the driving force transmission device is provided with:

a shaft unit; a clamp fitted to a proximal end of the shaft unit; and

a first coupler unit provided with a distal end of the shaft unit at the base for transmitting a driving force to the clamp,

the first coupler unit includes:

and a driving unit connected to the moving member, and transmitting a driving force to the moving member to move the moving member in the extending direction of the shaft unit.

9. A surgical instrument as recited in claim 8, wherein the shaft unit includes:

an anvil;

a first shaft disposed outside the anvil, the distal end of the first shaft being provided with the mover; and

and a second shaft disposed outside the first shaft and configured to perform rolling motion together with the anvil and the first shaft.

10. A surgical instrument as recited in claim 9, wherein,

the shaft unit further includes:

the anvil;

the first shaft; and

a joint member for passing through the second shaft,

the first shaft is provided with a long hole for penetrating the joint.

11. A surgical instrument as recited in claim 9, wherein,

in the clamp, one side is rotatably arranged on the first shaft, the other side is rotatably arranged on the second shaft, and when the first shaft moves, the anvil piece and the clamp generate holding force.

12. A surgical instrument according to claim 9, wherein the driving force transmission device further includes:

and a second coupler unit provided at one side of the shaft unit and adapted to drive the second shaft roll (roll).

13. A surgical instrument as recited in claim 8, wherein the drive unit includes:

the first rotating shaft is rotatably arranged on the base; and

14. A surgical instrument as recited in claim 8, further comprising: