KR101364968B1 - Surgical instrument - Google Patents

Abstract

The present invention relates to a surgical instrument, and more particularly, to a surgical instrument that can be manually operated for use in laparoscopic surgery or various other operations.

Description

[0001] SURGICAL INSTRUMENT [0002]

The present invention relates to a surgical instrument, and more particularly, to a surgical instrument that can be manually operated for use in laparoscopic surgery or various other operations.

Medically, surgery refers to the use of medical devices to cut skin, mucous membranes, and other tissues, or to repair the disease by manipulating or manipulating it. In particular, open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars. Therefore, in recent years, surgery using a medical device such as a laparoscope, a surgical instrument, a microsurgical microscope or the like, or a surgery using a robot has been popular as an alternative.

A surgical instrument is a surgical instrument in which an end tool provided at one end of a shaft passing through a perforated hole in the skin is manually operated by a doctor using a predetermined driving unit or manipulated using a robot arm, . An end tool provided in a surgical instrument Performs a rotation operation, a gripping operation, a cutting operation, and the like through a predetermined structure.

However, the conventional surgical instrument has a problem in that the end tool portion is not bent, so that it is not easy to access the surgical site and perform various surgical operations. In order to compensate for this, surgical instruments have been developed which can be used as an end tool part. However, the operation of the operation part for bending the end tool or performing the surgical operation is intuitively consistent with the operation of the actual end tool There is a problem that intuitive operation is not easy from the viewpoint of the operator and it takes a long time to master the method of use.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

SUMMARY OF THE INVENTION An object of the present invention is to provide a surgical instrument for realizing an operation in which an actual end tool is bent or a surgical operation is performed and an operation of a corresponding operating portion is intuitively matched do. More specifically, for this purpose, an end tool having various degrees of freedom, an operating unit having a structure for intuitively operating the end tool, and a driving unit for transmitting the driving force of the operating unit to the end tool, Thereby providing a power transmission portion.

The present invention includes an end tool comprising a first jaw and a second jaw operating independently of each other; An operation unit for controlling the operation of the two jaws of the end tool; A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And an end tool coupled to one end thereof, and an operation portion coupled to the other end thereof, the connecting portion connecting the operation portion to the end tool. It extends toward the end tool (end tool), and the operating direction of the operation portion and the operating direction of the end tool provides a surgical instrument, characterized in that the intuitively coincident.

According to the present invention, since the operating direction of the operating portion by the operator and the operating direction of the end tool are intuitively the same direction, the convenience of the operator can be improved and the accuracy, reliability, and speed of operation can be improved .

1 is a view showing a surgical instrument 100 according to a first embodiment of the present invention.
2 is an internal detail view of the surgical instrument 100 of Fig.
3 is a conceptual diagram of an operating portion of the surgical instrument 100 of Fig.
3A shows various modifications of the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention.
FIG. 4A is a detailed view of the first differential pulley of the surgical instrument 100 of FIG. 2, and FIG. 4B is a detailed view of the second differential pulley of the surgical instrument 100 of FIG.
Fig. 5 is a detailed view of the end tool of the surgical instrument 100 of Fig.
5A shows a variant of the end tool 120 of FIG.
6 is a conceptual diagram showing a pitch operation of the surgical instrument 100 of FIG.
Fig. 7 is a view showing a first modification of the differential pulley of the surgical instrument shown in Fig. 2;
8 and 9 are views showing the operation of the first modification of the differential pulley shown in Fig.
10 is a view showing a second modification of the differential pulley of the surgical instrument shown in Fig.
11 and 12 are views showing the operation of the second modification of the differential pulley shown in Fig.
13A to 13E are views showing another embodiment of the second variation of the differential pulley shown in Fig. 10, respectively.
Figs. 14 and 15 are views showing a third modification of the differential pulley of the surgical instrument shown in Fig. 2;
16 is a view showing a surgical instrument 100g according to a modified example of the power transmitting portion of the surgical instrument shown in Fig.
17 is a view showing the differential gear of FIG. 16 in detail.
FIG. 18 is a view showing a first modification of the differential gear of FIG. 16;
19 is a diagram illustrating a second modification example of the differential gear of FIG. 16.
20 is an exploded perspective view of an end tool applied to the surgical instrument 400 according to the fourth embodiment of the present invention.
21 is a side view on the XZ plane of the end tool.
It is a top view on the XY plane of an end tool.
FIG. 23 is a plan view illustrating a state in which the end tool of FIG. 22 yaws; FIG.
FIG. 24 is a plan view illustrating an actuation movement of the end tool of FIG. 22.
25 is a view showing a surgical instrument 400 according to a fourth embodiment of the present invention.
FIG. 26 is a diagram illustrating a surgical instrument 500 according to a fifth embodiment of the present invention.
27 is a view showing the surgical instrument 600 according to the sixth embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

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

≪ First Embodiment of Surgical Instrument > (E3 + H1 + D3)

FIG. 1 is a view showing a surgical instrument 100 according to a first embodiment of the present invention, and FIG. 2 is an internal detail view of the surgical instrument 100 of FIG.

1 and 2, a surgical instrument 100 according to a first embodiment of the present invention includes an operating unit 110, an end tool 120, a power transmitting unit 130, and a connecting unit 140 ). Here, the connection part 140 is formed in a hollow shaft shape, and one or more wires (described later) can be received therein. The operation part 110 is coupled to one end of the connection part 140, An end tool 120 may be coupled to connect the operation unit 110 and the end tool 120. [

In detail, the operation unit 110 is formed at one end of the connection unit 140 and is provided with an interface that can be directly manipulated by a doctor, for example, a grip, a stick, a lever, An end tool 120 connected to the interface and inserted into the body of a surgical patient performs a predetermined operation to perform the operation. Although the operation unit 110 is shown in the form of a forceps, the idea of the present invention is not limited to this. The end tool 120 may be connected to the end tool 120, Various manipulation portions capable of manipulating the manipulation of the manipulation portion are possible.

An end tool 120 is formed at the other end of the connection portion 140 and inserted into a surgical site to perform an operation necessary for surgery. As an example of such an end tool 120, a pair of jaws 121 and 122 for performing a grip operation as shown in FIG. 1 may be used. However, the spirit of the present invention is not limited thereto, and various devices for surgery may be used as an end tool 120. [ For example, a configuration such as a cantilever can be used as an end tool. The end tool 120 is connected to the operation unit 110 by the power transmission unit 130 so that the driving force of the operation unit 110 is transmitted through the power transmission unit 130, ), Cutting, suturing, and so on. Here, the end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention is formed to be rotatable in at least two directions, for example, an end tool 120 may be configured to perform pitch movement about the Y axis of FIG. 1 and to perform yaw and actuation motions about the Z axis of FIG. This will be described in detail later.

The power transmission unit 130 connects the operating unit 110 and the end tool 120 to transmit the driving force of the operating unit 110 to the end tool 120, Wires and pulleys.

Hereinafter, the operation unit 110, the end tool 120, the power transmission unit 130, and the like of the surgical instrument 100 of FIG. 1 will be described in more detail.

(Operation section)

3 is a conceptual diagram of an operating portion of the surgical instrument 100 of Fig.

1, 2, and 3, the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention controls the pitch movement of the end tool 120 A yaw operator 112 for controlling the yaw motion of the end tool 120 and an end tool 120 for controlling the yaw motion of the end tool 120. [ And an actuation operator 113 for controlling the actuation motion of the actuator.

Here, the pitch, yaw, and actuation operations used in the present invention are defined as follows.

First, the pitch operation means a movement in the vertical direction with respect to the extension direction (the X-axis direction in FIG. 1) of the connection portion 140, that is, the rotation around the Y-axis in FIG. In other words, the end tool 120 extending in the extending direction of the connection part 140 (X-axis direction in FIG. 1) means a motion in which the end tool 120 rotates up and down about the Y-axis. Next, the yaw operation refers to a movement in the left and right direction with respect to the extension direction (X-axis direction in Fig. 1) of the connection portion 140, that is, an operation to rotate around the Z-axis in Fig. In other words, the end tool 120 extending in the direction of extension of the connection part 140 (X-axis direction in FIG. 1) means a movement in which the end tool 120 rotates about the Z-axis. Meanwhile, the actuation operation rotates about the same rotation axis as the yaw operation, and the two jaws 121 and 122 rotate in opposite directions to each other, Operation. That is, the two jaws 121 and 122 formed on the end tool 120 rotate in opposite directions about the Z axis.

Here, the surgical instrument 100 according to the first embodiment of the present invention allows the end tool 120 to be rotated in either direction so that the end tool 120 is intuitive to the operation direction of the operation unit 110 In the same direction. In other words, when the pitch control unit 111 of the operation unit 110 is rotated in one direction, the end tool 120 also rotates in the same direction intuitively as the one direction to perform the pitch movement, and the operation unit 110 The end tool 120 also rotates in the same direction intuitively as the one direction to perform the yaw operation. It should be noted that the intuitively same direction means that the moving direction of the index finger of the user gripping the operating portion 110 and the moving direction of the distal end portion of the end tool 120 are substantially the same direction . For example, if the index finger of the user moves to the left, the distal end of the end tool 120 also moves to the left, and if the index finger of the user moves to the left, If the finger is moved to the right, it can be understood that the end portion of the end tool 120 also moves to the right.

For this purpose, the surgical instrument 100 according to the first embodiment of the present invention is configured such that the operation unit 110 and the end tool 120 are perpendicular to the extension axis (X axis) of the connection unit 140 And is formed in the same direction with respect to the plane. That is, when viewed from the YZ plane of FIG. 1, the operation unit 110 is extended in the + X axis direction, and the end tool 120 is also extended in the + X axis direction. In other words, the direction in which the end tool 120 is formed at one end of the connection portion 140 and the direction in which the operation portion 110 is formed at the other end of the connection portion 140 are the YZ plane It may be said that the same direction as the standard. In other words, it may be said that the operation portion 110 is formed in a direction away from the body of the user gripping it, that is, in a direction in which the end tool 120 is formed.

Specifically, in the case of a conventional surgical instrument, since the direction in which the user operates the operating portion is different from the actual operating direction of the end tool and intuitively does not coincide with each other, intuitive operation from the operator's point of view is not easy, It takes a long time to be skilled to move in a desired direction, and in some cases, there is a problem that a malfunction may occur and cause damage to the patient.

In order to solve such a problem, in the surgical instrument 100 according to the first embodiment of the present invention, the operation direction of the operation unit 110 and the operation direction of the end tool 120 are intuitively the same direction The operation unit 110 and the end tool 120 are formed on the same side when viewed from the YZ plane including the pitch drive shaft 1111. [ This will be described in more detail as follows.

1, 2, and 3, the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention controls the pitch movement of the end tool 120 A yaw operator 112 for controlling the yaw motion of the end tool 120 and an end tool 120 for controlling the yaw motion of the end tool 120. [ And an actuation operator 113 for controlling the actuation motion of the actuator.

The pitch control unit 111 includes a pitch driving axis 1111 and a pitch operating bar 1112. The pitch drive shaft 1111 may be formed in a direction parallel to the Y axis and the pitch drive bar 1112 is connected to the pitch drive shaft 1111 and is formed to rotate together with the pitch drive shaft 1111. For example, when the user rotates the pitch drive bar 1112 while holding the pitch drive bar 1112 by hand, the pitch drive shaft 1111 connected to the pitch drive bar 1112 rotates together, Is transmitted to the end tool 120 via the power transmission unit 130 so that the end tool 120 rotates in the same direction as the rotation direction of the pitch drive shaft 1111. [ That is, when the pitch control unit 111 rotates clockwise around the pitch drive axis 1111, the end tool 120 also rotates clockwise about an axis parallel to the pitch drive axis 1111, The end tool 120 also rotates counterclockwise about an axis parallel to the pitch drive shaft 1111 when the operation unit 111 rotates counterclockwise around the pitch drive shaft 1111. [

The yaw control part 112 and the actuation operation part 113 are formed on one end of the pitch drive bar 1112 of the pitch control part 111. [ Accordingly, when the pitch control unit 111 rotates about the pitch drive shaft 1111, the yaw control unit 112 and the actuation operation unit 113 also rotate together with the pitch drive unit 111. 1 and 3 show a state where the pitch driving bar 1112 of the pitch driving unit 111 is vertically positioned with respect to the connecting unit 140 while the pitch driving bar 111 of the pitch driving unit 111 1112 rotate about the pitch drive shaft 1111 by a certain degree and the pitch drive bar 1112 is inclined relative to the connection portion 140. [

Therefore, the coordinate system of the yaw control part 112 and the actuation operation part 113 is not fixed, but changes relatively continuously as the pitch control part 111 rotates. 1 shows that the yaw drive shaft 1121 of the yaw control part 112 and the actuation drive shaft 1131 of the actuation operation part 113 are parallel to the Z axis and the yaw actuating part 112 and the actuation operation part 113 Are each shown to rotate about an axis parallel to the Z axis. 2, the yaw drive shaft 1121 of the yaw control part 112 and the actuation drive shaft 1131 of the actuation operation part 113 are not parallel to the Z axis. That is, the coordinate system of the yaw operation part 112 and the actuation operation part 113 is changed in accordance with the rotation of the operation part 111. [ The coordinate system of the yaw control part 112 and the actuation operation part 113 is the same as that of the pitch drive bar 1112 shown in FIG. 1 except for the connection part 140 The description will be made based on the state of being vertically positioned.

The yaw control part 112 includes a yaw operating axis 1121 and a yaw operating bar 1122. Here, the yaw drive shaft 1121 may be formed to form a predetermined angle with the XY plane in which the extended portion 140 is formed. For example, the yaw drive shaft 1121 may be formed in a direction parallel to the Z axis as shown in FIG. 1. In this state, when the pitch control portion 111 rotates, the yaw operation portion 112 ) Can be changed relatively. Of course, the spirit of the present invention is not limited thereto, and the yaw drive shaft 1121 may be formed in various directions so as to be suitable for the hand structure of the user gripping the yaw operation part 112 by an ergonomic design. On the other hand, the yaw drive bar 1122 is connected to the yaw drive shaft 1121 and is formed to rotate together with the yaw drive shaft 1121. For example, when the user rotates the yaw drive bar 1122 with the index finger inserted into the yaw drive bar 1122, the yaw drive shaft 1121 connected to the yaw drive bar 1122 rotates together, Is transmitted to the end tool 120 through the power transmission unit 130 so that the two jaws 121 and 122 of the end tool 120 are rotated in the direction of rotation of the yaw drive shaft 1121 It rotates left and right in the same direction.

Meanwhile, the first pulley 1121a and the second pulley 1121b may be respectively formed at both ends of the yaw operating axis 1121. [ A YC1 wire 135YC1 may be connected to the first pulley 1121a and a YC2 wire 135YC2 may be connected to the second pulley 1121b.

The actuation operation unit 113 includes an actuation operating axis 1131 and an actuation operating bar 1132. [ Here, the actuation drive shaft 1131 may be formed at a predetermined angle with the XY plane in which the extension 140 is formed. For example, the actuation drive shaft 1131 may be formed in a direction parallel to the Z axis as shown in FIG. 1. In this state, when the pitch operation unit 111 rotates, as described above, The coordinate system of the robot 113 can be changed relatively. Of course, the spirit of the present invention is not limited to this, and the erection of the actuation drive shaft 1131 may be performed in various directions to suit the hand structure of the user gripping the actuation drive part 113 by an ergonomic design will be. On the other hand, the actuation drive bar 1132 is connected to the actuation drive shaft 1131 and is formed to rotate together with the actuation drive shaft 1131. For example, when the user rotates the actuation drive bar 1132 with the thumb on the actuation drive bar 1132, the actuation drive shaft 1131 connected to the actuation drive bar 1132 rotates together The rotational force is transmitted to the end tool 120 through the power transmitting unit 130 so that the two jaws 121 and 122 of the end tool 120 perform an actuation operation do. Here, the actuation operation means an operation of opening and closing the jaws 121 and 122 with the two jaws 121 and 122 rotating in opposite directions to each other, as described above. That is, when the actuation operation part 113 is rotated in one direction, the first jaw 121 rotates counterclockwise and the second jaw 122 rotates clockwise, When the actuating operation part 113 is rotated in the opposite direction, the first jaw rotating in the clockwise direction and the second jaw rotating in the counterclockwise direction, ) 120 is opened.

Meanwhile, a first pulley 1131a and a second pulley 1131b may be formed at both ends of the actuation operating axis 1131, respectively. An AC1 wire 135AC1 may be connected to the first pulley 1131a and an AC2 wire 135AC2 may be connected to the second pulley 1131b.

3, in the surgical instrument 100 according to the first embodiment of the present invention, the pitch control unit 111 and the end tool 120 are disposed on the same or parallel axis . That is, the pitch driving shaft 1111 of the pitch control part 111 is formed at one end of the connection part 140, and the end tool 120 is formed at the other end of the connection part 140. Although the connecting portion 140 is illustrated as being formed in a straight line in the drawing, the present invention is not limited thereto, and the connecting portion 140 may be curved to have a predetermined curvature or be bent at least once And in such a case, it can be said that the pitch control section 111 and the end tool 120 are formed on substantially the same or parallel axes. 3, the pitch control unit 111 and the end tool 120 are illustrated as being formed on the same axis (X axis). However, the concept of the present invention is not limited to this, and the pitch control unit 111 And an end tool 120 may be formed on different axes from each other. This will be described later.

The operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention further includes an operation unit control member 115 interlocked with the pitch drive shaft 1111 of the pitch operation unit 111. Since the configuration of the operating section control member 115 is substantially the same as the configuration of the end tool 120 to be described later, the operating section control member 115 may include a control pulley 115a, The relationship between the member 115 and the other components of the end tool control member 123 and the operation unit 110 will be described later.

3A shows various modifications of the operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention.

3A, H1 includes: (1) a yaw operation portion 112 and an actuation operation portion 113 of the operation portion 110 are formed independently of each other, and the yaw operation portion 112 and the actuation operation portion 113 are formed independently of each other, (2) the pitch control portion 111 is positioned below the plane defined by the yaw control portion 112 and the actuation operation portion 113, (3) the pitch control portion 111 is located below the plane formed by the yaw control portion 112 and the actuation operation portion 113, The yaw control part 112 and the actuation operation part 113 are formed on the extension line of the end tool 120. [ Such H1 can be seen in the first embodiment, the fourth embodiment, the seventh embodiment, and the like of the present invention.

3A shows a state in which (1) the actuation operation portion 113 of the operation portion 110 is formed on the yaw operation portion 112 and the actuation operation portion 113 is also rotated when the yaw operation portion 112 is rotated (2) the pitch control section 111 is located below the plane defined by the yaw control section 112 and the actuation operation section 113, and (3) the yaw control section 112 and the actuation operation section 113 are located at (120). Such H2 can be seen in the second, fifth and eighth embodiments of the present invention.

H3 of FIG. 3A shows a case in which (1) a first operation unit 112 and a second operation unit 113 that are rotated independently of each other are formed on the operation unit 110, (2) (3) the yaw control part 112 and the actuation operation part 113 are formed on the extension line of the end tool 120. The yaw control part 112 and the actuation operation part 113 are located on the lower side of the plane formed by the operation part 112 and the actuation operation part 113, respectively. Such H3 can be seen in the third, sixth and ninth embodiments of the present invention.

H4 of FIG. 3A shows a state in which (1) the yaw operation part 112 and the actuation operation part 113 of the operation part 110 are formed independently of each other and the yaw operation part 112 and the actuation operation part 113 (2) the pitch operating section 111 is located on the same plane as or adjacent to the plane formed by the yaw operating section 112 and the actuation operating section 113, or the like in such a manner that the rotation of the pitch operating section 111 does not affect the rotation of the other The operation section 111 is formed closer to the yaw operation section 112 and the actuation operation section 113 than the H1 etc. and the yaw operation section 112 and the actuation operation section 113 are formed closer to the extension line of the end tool 120 / RTI > Such H4 can be seen in detail in FIG. 9 of the present invention.

H3 of FIG. 3A shows a state in which (1) the actuation operation portion 113 of the operation portion 110 is formed on the yaw operation portion 112 and the actuation operation portion 113 is rotated And (2) the pitch control section 111 is positioned in the same plane as or adjacent to the plane formed by the yaw control section 112 and the actuation operation section 113, 112 and the actuation operation portion 113 and (3) the yaw operation portion 112 and the actuation operation portion 113 are formed on the extension line of the end tool 120. [

H6 of FIG. 3A shows a case in which (1) the first operation unit 112 and the second operation unit 113 which are independently rotated in the operation unit 110 are formed, (2) the pitch operation unit 111 The pitch control portion 111 is formed closer to the yaw control portion 112 and the actuation operation portion 113 than the H3 or the like in such a manner that the pitch control portion 111 is located on the same plane as the plane formed by the operation portion 112 and the actuation operation portion 113, (3) The yaw control part 112 and the actuation operation part 113 are formed on the extension line of the end tool 120. [

H7 of Fig. 3A shows a state in which (1) the yaw operation portion 112 of the operation portion 110 and the actuation operation portion 113 are formed independently of each other, and the yaw operation portion 112 and the actuation operation portion 113 (2) the pitch control portion 111 is positioned below the plane defined by the yaw control portion 112 and the actuation operation portion 113, (3) the yaw control portion 112 And an actuation operation portion 113 are formed on the extension line of the end tool 120. [

3A shows an example in which the actuator operating portion 113 of the operating portion 110 is formed on the yaw operating portion 112 so that the actuator operating portion 113 is also rotated when the yaw operating portion 112 is rotated (2) the pitch control section 111 is located below the plane defined by the yaw control section 112 and the actuation operation section 113, and (3) the yaw control section 112 and the actuation operation section 113 are located at (120).

H9 of FIG. 3A shows a case in which (1) the first operation unit 112 and the second operation unit 113 that are rotated independently of each other are formed on the operation unit 110, (2) (3) a yaw control part 112 and an actuation operation part 113 are formed on an extension line of the end tool 120. The yaw control part 112 and the actuation operation part 113 are located below the plane formed by the operation part 112 and the actuation operation part 113, respectively.

3A, H10 includes: (1) a yaw operation portion 112 and an actuation operation portion 113 of the operation portion 110 are formed independently of each other, and the yaw operation portion 112 and the actuation operation portion 113, (2) the pitch operating section 111 is located on the same plane as or adjacent to the plane formed by the yaw operating section 112 and the actuation operating section 113, or the like in such a manner that the rotation of the pitch operating section 111 does not affect the rotation of the other The operation section 111 is formed closer to the yaw operation section 112 and the actuation operation section 113 than the H7 etc. and (3) the yaw operation section 112 and the actuation operation section 113 are formed on the extension line of the end tool 120 .

H11 of Fig. 3A shows a state in which (1) the actuation operation portion 113 of the operation portion 110 is formed on the yaw operation portion 112 and the actuation operation portion 113 is rotated And (2) the pitch control section 111 is positioned in the same plane as or adjacent to the plane formed by the yaw control section 112 and the actuation operation section 113, 112 and the actuation operation portion 113 and (3) the yaw operation portion 112 and the actuation operation portion 113 are formed on the extension line of the end tool 120. [

H12 of FIG. 3A shows a case in which (1) the first operation unit 112 and the second operation unit 113 are independently formed on the operation unit 110, (2) The pitch control portion 111 is formed closer to the yaw control portion 112 and the actuation operation portion 113 than the H9 or the like in such a manner that the pitch control portion 111 is located on the same plane as the plane formed by the operation portion 112 and the actuation operation portion 113, (3) the yaw control part 112 and the actuation operation part 113 are formed on the extension line of the end tool 120;

In addition, variations of various manipulating portions including the above-described modified examples are applicable to the surgical instrument of the present invention.

(Power transmission part)

FIG. 4A is a detailed view of the first differential pulley of the surgical instrument 100 of FIG. 2, and FIG. 4B is a detailed view of the second differential pulley of the surgical instrument 100 of FIG.

Referring to FIGS. 1, 2, 4A and 4B, the power transmission unit 130 of the surgical instrument 100 according to the first embodiment of the present invention includes differential pulleys 131, 132, Pulleys and a plurality of wires 135YC1, 135YC2, 135J11, 135J12, 135J13, 135J21, 135J22, 135J23.

First, the differential pulley 131 of the power transmitting portion 130 will be described.

The yaw control part 112 and the actuation operation part 113 are formed on one end of the pitch drive bar 1112 of the pitch control part 111. [ Accordingly, when the pitch control unit 111 rotates about the pitch drive shaft 1111, the yaw control unit 112 and the actuation operation unit 113 also rotate together with the pitch drive unit 111. The yaw control part 112 is connected to the first jaw 121 and the second jaw 122 so as to connect the first jaw 121 and the second jaw 122 And the actuation operation unit 113 is also connected to the first jaw 121 and the second jaw 122 to form a first jaw 121 and a second jaw 122 . When the yaw control part 112 is rotated, the first and second jaws 121 and 122 must rotate in the same direction. On the other hand, when the actuation operation part 113 is rotated, The jaws 121 and the jaws 122 must be rotated in opposite directions to each other, and thus a separate structure for realizing such operation is required.

Therefore, it is necessary to make both of the two rotation inputs of the yaw control part 112 and the actuation operation part 113 act on one jaw. To this end, two or more inputs are received and a rotation of one jaw is output A structure is needed to make it possible. At this time, the two input rotations must be able to move one another.

For this purpose, the surgical instrument 100 according to the first embodiment of the present invention includes two or more input units and one output unit, receives a rotational force from two or more input units, and outputs a sum (or difference) And a differential member for extracting a desired one of the rotational forces through the output unit and outputting the extracted rotational force through the output unit. Such a differential member may include a differential pulley using a pulley and a wire, and a differential gear using a gear. In FIGS. 1, 2, 4A and 4B, a differential pulley is shown as an example of a differential member. Meanwhile, various embodiments of such a differential member are shown in Figs. 7 to 19 to be described later.

In detail, the first differential pulley 131 includes a first input portion 1311, a second input portion 1312, and an output portion 1313.

The first input unit 1311 includes a first pulley 1311a and a second pulley 1311b. The first pulley 1311a and the second pulley 1311b rotate together about the same rotational axis. The first pulley 1311a of the first input portion 1311 is connected to the first pulley 1121a of the yaw control portion 112 by the YC1 wire 135YC1 so that rotation of the yaw control portion 112 is transmitted to the first input portion 1311. [ (1311). The second pulley 1311b of the first input section 1311 is connected to the output section 1313 by the differential control wire 135J11 so that the rotation of the first input section 1311 is transmitted to the output section 1313 do.

The second input portion 1312 includes a first pulley 1312a and a second pulley 1312b. The first pulley 1312a and the second pulley 1312b rotate together about the same rotational axis. The first pulley 1312a of the second input portion 1312 is connected to the first pulley 1131a of the actuation operation portion 113 by the AC1 wire 135AC1 so that the rotation of the actuation operation portion 113 2 < / RTI > The second pulley 1312b of the second input section 1312 is connected to the output section 1313 by the differential control wire 135J11 so that the rotation of the second input section 1312 is transmitted to the output section 1313 do.

The output section 1313 includes an output pulley 1313a, an extension section 1313b, a first differential control pulley 1313c and a second differential control pulley 1313d. The output pulley 1313a of the output section 1313 is connected to the operation section control member 115 to be described later by the J12 wire 135J12 so that the rotation of the output section 1313 is transmitted through the operation section control member 115 to the end To be transmitted to the first jaw 121 of the end tool 120. On the other hand, the extension portion 1313b is formed to extend in one direction from the rotation axis of the output pulley 1313a and is rotatable together with the output pulley 1313a. The first differential control pulley 1313c and the second differential control pulley 1313d are opposed to each other at one end of the extension 1313b and are connected to a shaft 1313e formed to have a predetermined angle on the rotation axis of the output pulley 1313a And is rotatable around the ends of the ends thereof.

Here, the first input unit 1311, the second input unit 1312, and the output unit 1313 independently rotate about independent axes.

The differential control wire 135J11 is connected to the second pulley 1311b of the first input section 1311, the first differential control pulley 1313c of the output section 1313, the second input section 1312 of the second pulley 1312b, And is wound around the second differential control pulley 1313d of the output unit 1313 to transmit the rotation of the first input unit 1311 and the second input unit 1312 to the output unit 1313. [

The first differential pulley 131 includes a first input portion 1311, a second input portion 1312 and an output portion 1313 to receive the amount of rotation from the first input portion 1311 and the second input portion 1312 And outputs the sum of these amounts of rotation through the output unit 1313. [ That is, when only the first input unit 1311 rotates, it outputs it through the output unit 1313. When only the second input unit 1312 rotates, it outputs it through the output unit 1313, When the first input unit 1311 and the second input unit 1312 rotate in the same direction, the sum of them is output through the output unit 1313. When the first input unit 1311 and the second input unit 1312 rotate in the opposite direction And outputs these differences through the output unit 1313. [ This can be explained by the following equation.

C = A + B

(Where C is the rotation of the output, A is the rotation of the first input, B is the rotation of the second input)

The operation of the first differential pulley will be described later in detail.

The second differential pulley 132 is formed in the same structure as the first differential pulley 131 and includes a first input unit 1321, a second input unit 1322, and an output unit 1323.

The first pulley 1321a of the first input portion 1321 is connected to the second pulley 1121b of the yaw control portion 112 by the YC2 wire 135YC2 so that rotation of the yaw control portion 112 is transmitted to the first input portion 1321. [ (1321). The second pulley 1321b of the first input section 1321 is connected by the output section 1323 and the differential control wire 135J21 so that the rotation of the first input section 1321 is transmitted to the output section 1323 do.

The first pulley 1322a of the second input section 1322 is connected to the second pulley 1131b of the actuation operation section 113 by the AC2 wire 135AC2 so that the rotation of the actuation operation section 113 2 < / RTI > The second pulley 1322b of the second input portion 1322 is connected by the output portion 1323 and the differential control wire 135J21 so that the rotation of the second input portion 1322 is transmitted to the output portion 1323 do.

The output section 1323 includes an output pulley 1323a, an extension section 1323b, a first differential control pulley 1323c, and a second differential control pulley 1323d. The output pulley 1323a of the output section 1323 is connected to the operation section control member 115 to be described later by the J22 wire 135J22 so that the rotation of the output section 1323 is transmitted through the operation section control member 115 to the end To a second set of jaws 122 of an end tool 120.

The second differential pulley 132 includes a first input unit 1321, a second input unit 1322 and an output unit 1323 and outputs the amount of rotation from the first input unit 1321 and the second input unit 1322 And outputs the sum of these amounts of rotation through the output unit 1323. That is, when only the first input unit 1321 rotates, it outputs it through the output unit 1323. When only the second input unit 1322 rotates, it outputs it through the output unit 1323, When the first input unit 1311 and the second input unit 1312 rotate in the same direction, the sum of them is output through the output unit 1313. When the first input unit 1311 and the second input unit 1312 rotate in the opposite direction And outputs these differences through the output unit 1313. [

The operation of the first differential pulley 131 and the second differential pulley 132 will be described.

First, the case where only the yaw operation part 112 rotates and the actuation operation part 113 does not rotate will be described.

When the yaw control part 112 rotates in the direction of arrow Y in Fig. 2, the first pulley 1121a of the yaw control part 112, the YC1 wire 135YC1 wound on the first pulley 1121a, and the YC1 wire 135YC1 are wound The first pulley 1311a of the first input portion 1311 of the first differential pulley 131 and the second pulley 1311b connected to the first pulley 1311a rotate together. On the other hand, the second input portion 1312 of the first differential pulley 131 connected to the actuation operation portion 113 does not rotate. The first input unit 1311 of the first differential pulley 131 rotates in the direction of the arrow R1 in Fig. 4A. If the second input unit 1312 does not rotate, the differential control wire 135J11, The portion wound on the second input portion 1311 rotates while the portion wound on the second input portion 1312 does not rotate. Accordingly, as the portion wound on the first input portion 1311 of the differential control wire 135J11 is rotated, the wire wound around the second input portion 1312 is released, and the differential control wire 135J11 is moved accordingly. At the same time, The two differential control pulleys 1313d rotate clockwise, and the first differential control pulley 1313c rotates counterclockwise. At the same time, the output section 1313 including the output pulley 1313a, the extension section 1313b, the first differential control pulley 1313c, and the second differential control pulley 1313d is centered on the rotation axis of the output pulley 1313a And is rotated in the direction of arrow R1 in Fig. 4A. The rotation of the output unit 1313 is transmitted to the first jaw 121 of the end tool 120 via the operation unit control member 115 so that the first jaw 121 rotate in the direction of the arrow YJ in Fig.

2, the second pulley 1121b of the yaw control part 112, the YC2 wire 135YC2 wound on the second pulley 1121b, the YC2 wire 135YC2, The first pulley 1321a of the first input portion 1321 and the second pulley 1321b connected to the first pulley 1321a of the second differential pulley 132 are rotated together. On the other hand, the second input portion 1322 of the second differential pulley 132 connected to the actuation operation portion 113 does not rotate. 4B. When the second input section 1322 is not rotated, the differential input signal from the differential control wire 135J21 to the first input section 1321 of the second differential pulley 132 rotates in the direction of the arrow R3 of FIG. The portion wound on the second input portion 1322 rotates while the portion wound on the second input portion 1322 does not rotate. Accordingly, as the portion wound on the first input section 1321 of the differential control wire 135J21 is rotated, the wire wound around the second input section 1322 is released, and the differential control wire 135J21 is moved accordingly. At the same time, The two differential control pulleys 1323d rotate in the clockwise direction and the first differential control pulley 1323c rotates in the counterclockwise direction. At the same time, the output section 1323 including the output pulley 1323a, the extension section 1323b, the first differential control pulley 1323c, and the second differential control pulley 1323d is centered on the rotation axis of the output pulley 1323a And is rotated in the direction of arrow R3 in Fig. The rotation of the output section 1323 is transmitted to the second jaw 122 of the end tool 120 via the operation section control member 115 to be transmitted to the second jaw 122 rotate in the direction of the arrow YJ in Fig.

Next, the case where only the actuation operation portion 113 is rotated and the yaw operation portion 112 does not rotate will be described.

The AC1 wire 135AC1 wound on the first pulley 1131a and the AC1 wire 135AC1 wound on the first pulley 1131a and the AC1 wire 135AC1 of the actuation operation part 113 are rotated in the direction of arrow A in Fig. The first pulley 1312a and the second pulley 1312b connected to the first pulley 1312a of the second input portion 1312 of the first differential pulley 131 wound together are rotated together. Here, since the AC1 wire 135AC1 is twisted once in the middle, the direction of the rotational force of the actuation operation portion 113 is reversed and transmitted to the first differential pulley 131. [ On the other hand, the first input unit 1311 of the first differential pulley 131 connected to the yaw control unit 112 does not rotate. 4A. If the first input section 1311 does not rotate, the differential input signal from the differential control wire 135J11 is input to the second input section 1312 of the first differential pulley 131. In this way, the second input section 1312 of the first differential pulley 131 rotates in the direction opposite to the arrow R2 in Fig. The portion wound on the second input portion 1312 rotates while the portion wound on the first input portion 1311 does not rotate. Accordingly, as the portion wound on the second input section 1312 of the differential control wire 135J11 is rotated, the wire wound around the first input section 1311 is released, and the differential control wire 135J11 is moved accordingly. At the same time, The two differential control pulleys 1313d rotate in the counterclockwise direction and the first differential control pulley 1313c rotates in the clockwise direction. At the same time, the output section 1313 including the output pulley 1313a, the extension section 1313b, the first differential control pulley 1313c, and the second differential control pulley 1313d is centered on the rotation axis of the output pulley 1313a And is rotated in the direction opposite to the arrow R2 in Fig. The rotation of the output unit 1313 is transmitted to the first jaw 121 of the end tool 120 via the operation unit control member 115 so that the first jaw 121 rotate in the direction of the arrow YJ in Fig.

2, the AC2 wire 135AC2 wound on the second pulley 1131b, the AC2 wire (not shown) wound on the second pulley 1131b of the actuation operation part 113, The first pulley 1322a of the second input portion 1322 of the second differential pulley 132 and the second pulley 1322b connected to the first pulley 1322a rotate together. On the other hand, the first input unit 1321 of the second differential pulley 132 connected to the yaw control unit 112 does not rotate. The second input section 1322 of the second differential pulley 132 rotates in the direction of arrow R4 in Fig. 4B. If the first input section 1321 does not rotate, the second input section 1322 of the second differential pulley 132 is rotated from the differential control wire 135J21 to the second input section 1322. [ The portion wound on the first input portion 1321 rotates while the portion wound on the first input portion 1321 does not rotate. Accordingly, as the portion wound on the second input section 1322 of the differential control wire 135J21 is rotated, the wire wound around the first input section 1321 is released, and the differential control wire 135J21 is moved accordingly. At the same time, The two differential control pulleys 1323d rotate in the clockwise direction and the first differential control pulley 1323c rotates in the counterclockwise direction. At the same time, the output section 1323 including the output pulley 1323a, the extension section 1323b, the first differential control pulley 1323c, and the second differential control pulley 1323d is centered on the rotation axis of the output pulley 1323a And is rotated in the direction of arrow R4 in Fig. 4B. The rotation of the output section 1323 is transmitted to the second jaw 122 of the end tool 120 via the operation section control member 115 to be transmitted to the second jaw 122 are rotated in the direction opposite to the arrow YJ in Fig.

That is, while the first jaw 121 rotates in the direction of the arrow YJ in Fig. 2 and the second jaw 122 rotates in the opposite direction of the arrow YJ in Fig. 2, ) Actuator 120 is performed.

On the other hand, in the differential pulley constituted by two input units and one output unit, in order to prevent the rotation of one input unit from generating rotation of the other input unit without causing rotation of the output unit, in the present invention, In the situation where the two operating portions are connected to each other, one of the operating portions is connected to one of the two input portions of each of the two differential pulleys so that one of the wires connecting the operating portion and the input portion is twisted, It is possible to avoid a situation in which another operating portion rotates.

To describe this in more detail, the rotation input of the yaw control part 112 connected to the first input part 1311 of the first differential pulley 131 and the first input part 1321 of the second differential pulley 132, It is assumed that the second input portion 1312 of the first differential pulley 131 and the second input portion 1322 of the second differential pulley 132 are also about to rotate in the same direction as the rotation input of the yaw control portion 112 do. The AC1 wire 135AC1 is twisted and connected to the second input portion 1312 of the first differential pulley 131 and the actuation operation portion 113 so that the second input portion 1322 of the second differential pulley 132 And the actuation operation unit 113 are directly connected to the AC2 wire 135AC2. The rotation of the second input portions 1312 and 1322 of the first differential pulley 131 and the second differential pulley 132 is transmitted to the actuating manipulation portion (not shown) by the AC1 wire 135AC1 and the AC2 wire 135AC2 The actuating operation portion 113 is not rotated so that the output portions 1313 and 1323 are rotated in the direction of rotating the output portions 1313 and 1323. Accordingly, ) ≪ / RTI >

The rotation input of the actuation operation unit 113 is also applied to the rotation input of the actuation operation unit 113 so that the rotation input does not rotate the yaw operation unit 112 and rotates the output units 1313 and 1323 in the direction And is transmitted to each output unit 1313 (1323).

In summary, this configuration can be explained as particularly that the rotation input of one operating portion is transmitted only by the rotation of each output portion, without causing rotation of the other operating portion.

Even if the yaw control part 112 and the actuation operation part 113 rotate at the same time, the first and second differential pulleys 131 and 132 can move the yaw control part 112 and the actuation part 112, The sum of the rotational inputs of the operating portion 113 is transmitted to the rotation of the output portions 1313 and 1323 of the respective differential pulleys and the rotation of the output portions 1313 and 1323 is transmitted to the operating portion control member 115 121 and 122 of the end tool 120 via the jaws 121 and 122 so that the two jaws 121 and 122 are operated by the operation of the yaw actuating part 112 and the actuation operation part 113 .

(End tool)

5 is a conceptual diagram of an end tool of the surgical instrument 100 of Fig.

1, 2 and 5, an end tool 120 of a surgical instrument 100 according to a first embodiment of the present invention includes an end tool control member 123, The tool control member 123 includes a J11 pulley 123J11, a J12 pulley 123J12, a J13 pulley 123J13, a J14 pulley 123J14, and a J15 pulley 123J15 associated with the rotational movement of the first jaw 121, A J22 pulley 123J22, a J23 pulley 123J23, a J24 pulley 123J24, and a J25 pulley 123J25, which are related to the rotational motion of the second jaw 122. Here, the J12 pulley 123J12, the J14 pulley 123J14, the J22 pulley 123J22, and the J24 pulley 123J24 may all be formed to rotate around the end tool pitch drive shaft 1231. [ Although the facing pulleys are illustrated as being parallel to each other and are all formed to have the same size, the spirit of the present invention is not limited thereto, and each of the pulleys may have a position and size suitable for the configuration of the end tool It can be variously formed.

The end tool 120 of the surgical instrument 100 according to the first embodiment of the present invention includes an end tool control member 123 and an end tool control member 123 on the end tool 120 side, the pitch operation of the end tool 120 and the yaw operation of the end tool 120 can be easily performed by providing only only two wires of the jaw driving wire 135J13 and the second jaw driving wire 135J23. Operation, and an actuation operation according to an embodiment of the present invention. Hereinafter, this will be described in more detail.

The J11 pulley 123J11 and the J21 pulley 123J21 are formed to face each other and are rotatable about the Z axis direction independently of each other. Although not shown in FIG. 5, a first jaw 121 is coupled to the J11 pulley 123J11 to rotate together with the J11 pulley 123J11, and a second jaw is coupled to the J21 pulley 123J21. (122) may be engaged and rotated together with the J21 pulley (123J21). The yaw operation and the actuation operation of the end tool 120 are performed in accordance with the rotation of the J11 pulley 123J11 and the J21 pulley 123J21. That is, when the J11 pulley 123J11 and the J21 pulley 123J21 rotate in the same direction, the yaw operation is performed. When the J11 pulley 123J11 and the J21 pulley 123J21 rotate in opposite directions, the actuation operation is performed will be.

Hereinafter, the components related to the rotation of the J11 pulley 123J11 will be described.

A J12 pulley 123J12 and a J14 pulley 123J14 are disposed on one side of the J11 pulley 123J11 so as to face each other with a predetermined gap therebetween. Here, the J12 pulley 123J12 and the J14 pulley 123J14 are formed so as to be independently rotatable about the Y axis direction. A J13 pulley 123J13 and a J15 pulley 123J15 are disposed on one side of each of the J12 pulley 123J12 and the J14 pulley 123J14 so as to face each other with a predetermined gap therebetween. Here, the J13 pulley 123J13 and the J15 pulley 123J15 are formed so as to be independently rotatable about the Y axis direction. In the figure, the J12 pulley 123J12, the J13 pulley 123J13, the J14 pulley 123J14, and the J15 pulley 123J15 are all shown to be rotatable about the Y axis direction, But the present invention is not limited thereto, and the rotational axes of the respective pulleys may be formed in various directions so as to be suitable for the construction thereof.

The first jaw drive wire 135J13 is formed to at least partially contact the J13 pulley 123J13, the J12 pulley 123J12, the J11 pulley 123J11, the J14 pulley 123J14, and the J15 pulley 123J15, A first jaw drive wire 135J13 is formed to be able to move along the pulleys while rotating the pulleys.

Therefore, when the first jaw driving wire 135J13 is pulled toward the arrow J1R in Fig. 5, the first jaw driving wire 135J13 is connected to the J15 pulley 123J15, the J14 pulley 123J14, the J11 pulley The J11 pulley 123J11 rotates in the direction of arrow R in FIG. 5 and rotates the first jaw 121 together.

On the contrary, when the first jaw driving wire 135J13 is pulled toward the arrow J1L in Fig. 5, the first jaw driving wire 135J13 is connected to the J13 pulley 123J13, the J12 pulley 123J12, the J11 pulley The J11 pulley 123J11 rotates in the direction of the arrow L in FIG. 5 and rotates the first jaw 121 together.

Hereinafter, the components related to the rotation of the J21 pulley 123J21 will be described.

On one side of the J21 pulley 123J21, a J22 pulley 123J22 and a J24 pulley 123J24 are disposed so as to face each other with a predetermined gap therebetween. Here, the J22 pulley 123J22 and the J24 pulley 123J24 are formed so as to be independently rotatable about the Y axis direction. A J23 pulley 123J23 and a J25 pulley 123J25 are arranged on one side of each of the J22 pulley 123J22 and the J24 pulley 123J24 so as to face each other with a predetermined gap therebetween. Here, the J23 pulley 123J23 and the J15 pulley 123J25 are formed so as to be independently rotatable about the Y axis direction. In the figure, the J22 pulley 123J22, the J23 pulley 123J23, the J24 pulley 123J24, and the J25 pulley 123J25 are all shown to be rotatable around the Y-axis direction, But the present invention is not limited thereto, and the rotational axes of the respective pulleys may be formed in various directions so as to be suitable for the construction thereof.

The second jaw drive wire 135J23 is formed to at least partially contact the J23 pulley 123J23, the J22 pulley 123J22, the J21 pulley 123J21, the J24 pulley 123J24, and the J25 pulley 123J25, A second jaw drive wire 135J23 is formed to be able to move along the pulleys while rotating the pulleys.

Therefore, when the second jaw driving wire 135J23 is pulled toward the arrow J2R in Fig. 5, the second jaw driving wire 135J23 is connected to the J25 pulley 123J25, the J24 pulley 123J24, the J21 pulley 123 J21, J22 pulley 123 J22 and J23 pulley 123 J23 in this order. At this time, the J21 pulley 123 J21 rotates together with the second jaw 122 while rotating in the direction of arrow R in FIG.

On the contrary, when the second jaw driving wire 135J23 is pulled toward the arrow J2L in Fig. 5, the second jaw driving wire 135J23 is connected to the J23 pulley 123J23, the J22 pulley 123J22, the J21 pulley The J21 pulley 123J21 rotates in the direction of the arrow L in FIG. 5 and rotates the second jaw 122 together.

On the other hand, one end of the first jaw driving wire 135J13 is pulled toward the arrow J1R in Fig. 5, and the other end of the first jaw driving wire 135J13 is pulled toward the arrow J1L in Fig. 5 , The end tool control member 123 rotates counterclockwise about the end tool pitch drive shaft 1231 as a whole and as a result the end tool 120 rotates downward to perform the pitch movement .

Conversely, one end of the second jaw driving wire 135J23 is pulled toward the arrow J2R in Fig. 5, and at the same time, the other end of the second jaw driving wire 135J23 is pulled toward the arrow J2L in Fig. 5 The end tool control member 123 rotates clockwise about the end tool pitch drive shaft 1231 as a whole and as a result the end tool 120 rotates upward to perform the pitch movement.

That is, only two wires of the end tool control member 123, the first jaw driving wire 135J13, and the second jaw driving wire 135J23 are provided on the end tool 120 side A pitch operation, a yaw operation, and an actuation operation of the end tool 120 can be performed easily. A detailed description thereof will be given later.

Here, the end tool control member 123 of the end tool 120 according to an embodiment of the present invention is configured such that the pitch drive shaft 1231 is disposed on the side closer to the jaws 121 and 122 (That is, the pitch drive shaft 1231 is disposed on the side of the J12 pulley 123J12 and the J14 pulley 123J14 rather than the side of the J13 pulley 123J13 and the J15 pulley 123J15) It is possible to obtain an effect of reducing the pitch radius of rotation. Therefore, the space required for driving the pitches of the jaws 121 and 122 can be reduced.

On the other hand, FIG. 5A shows a modification of the end tool 120 of FIG.

5A, an end tool 120 'includes an end tool control member 123', and an end tool control member 123 'includes J11 (see FIG. 5A) associated with the rotational movement of the first jaw The J21 pulley 123J11 and the J2 pulley 123J14 and the J21 pulley 123J21, the J22 pulley 123J22 and the J24 pulley 123J24 relating to the rotational motion of the second jaw. Here, the J12 pulley 123J12, the J14 pulley 123J14, the J22 pulley 123J22, and the J24 pulley 123J24 may all be formed to rotate around the end tool pitch drive shaft 1231. [ Although the facing pulleys are illustrated as being parallel to each other and are all formed to have the same size, the spirit of the present invention is not limited thereto, and each of the pulleys may have a position and size suitable for the configuration of the end tool It can be variously formed.

In this modification, two pairs of pulleys facing each other are not disposed on one side of the J11 pulley 123J11 coupled with the first jaw, but a pair of pulleys opposed to each other (i.e., a J12 pulley 123J12 and J14 pulleys 123J14 are arranged such that the first jaw drive wire 135J13 does not merely contact the pair of pulleys but only one of the pair of pulleys .

In detail, the J11 pulley 123J11 and the J21 pulley 123J21 are formed so as to face each other and are rotatable about the Z axis direction independently of each other.

A J12 pulley 123J12 and a J14 pulley 123J14 are disposed on one side of the J11 pulley 123J11 so as to face each other at a predetermined interval. Here, the J12 pulley 123J12 and the J14 pulley 123J14 are formed so as to be independently rotatable about the Y axis direction. The first jaw driving wire 135J13 is formed so as to at least partially contact the J12 pulley 123J12, the J11 pulley 123J11 and the J14 pulley 123J14 so that the first jaw driving wire 135J13 Are formed to be able to move along the pulleys while rotating the pulleys. Here, the first jaw driving wire 135J13 may be wound on the J12 pulley 123J12 more than once and then wound on the J14 pulley 123J14 through the J11 pulley 123J11 at least once.

Similarly, on one side of the J21 pulley 123J21, a J22 pulley 123J22 and a J24 pulley 123J24 are disposed so as to face each other with a predetermined gap therebetween. Here, the J22 pulley 123J22 and the J24 pulley 123J24 are formed so as to be independently rotatable about the Y axis direction. The second jaw driving wire 135J23 is formed so as to at least partially contact the J22 pulley 123J22, the J21 pulley 123J21 and the J24 pulley 123J24 so that the second jaw driving wire 135J23 Are formed to be able to move along the pulleys while rotating the pulleys. Here, the second jaw driving wire 135J23 may be wound on the J22 pulley 123J22 one or more times, then the J21 pulley 123J21, and then on the J24 pulley 123J24 one or more times.

With this configuration, since the number of pulleys is reduced, the surgical instrument can be further downsized.

(Pitch motion control and wire mirroring)

6 is a conceptual diagram showing a pitch operation of the surgical instrument 100 of FIG.

The operation unit 110 of the surgical instrument 100 according to the first embodiment of the present invention further includes an operation unit control member 115 interlocked with the pitch drive shaft 1111 of the pitch operation unit 111 . The control unit control member 115 is substantially the same as that of the end tool control member 123 described above and the end tool control member 123 and the operation unit control member 115 are disposed on the YZ plane of FIG. Symmetrically arranged. In other words, the end tool control member 123 and the operation portion control member 115 may be expressed as being mirrored about the YZ plane of FIG.

In detail, the operating member control member 115 includes a J11 pulley 115J11, a J12 pulley 115J12, a J13 pulley 115J13, a J14 pulley 115J14, and a J15 pulley 115J14 associated with the rotational movement of the first jaw 121 J22 pulley 115J22, J23 pulley 115J23, J24 pulley 115J24 and J25 pulley 115J25 associated with the rotational motion of the second jaw 122 .

The first jaw drive wire 135J13 is formed at least in part in contact with the J13 pulley 115J13, the J12 pulley 115J12, the J11 pulley 115J11, the J14 pulley 115J14, and the J15 pulley 115J15, A first jaw drive wire 135J13 is formed to be able to move along the pulleys while rotating the pulleys.

The second jaw drive wire 135J23 is formed at least in part in contact with the J23 pulley 115J23, the J22 pulley 115J22, the J21 pulley 115J21, the J24 pulley 115J24, and the J25 pulley 115J25, A second jaw drive wire 135J23 is formed to be able to move along the pulleys while rotating the pulleys.

The rotation axes of the J12 pulley 115J12, the J14 pulley 115J14, the J22 pulley 115J22 and the J24 pulley 115J24 constitute the pitch operating axis 1111 of the pitch control unit 111. A bar extending from the rotation axis of the J11 pulley 115J11 and the J21 pulley 115J21 is a pitch operating bar 1112 of the pitch control portion 111. [

In the first embodiment of the present invention, the pitch operation is performed as follows.

When the user grasps the pitch drive bar 1112 of the pitch control section 111 of the operating section 110 with the hand, the pitch drive bar 1112 is rotated around the pitch drive axis 1111 by the arrow pitch OP ), The first jaw driving wire 135J13 is pulled toward the operating portion 110 as a whole, and moves in the direction of arrow PJ1 in Fig. At the same time, the second jaw driving wire 135J23 is totally released from the operating portion 110 and moved toward the end tool 120, and moves in the direction of the arrow PJ2 in Fig. Then, the J12 pulley 123J12 and the J14 pulley 123J14 rotate counterclockwise around the rotation axis (see 1231 in FIG. 5) as much as the first jaw driving wire 135J13 is pulled toward the operation unit 110 And at the same time the J22 pulley 123J22 and the J24 pulley 123J24 are rotated by the rotation axis (see 1231 in FIG. 5) as long as the second jaw driving wire 135J23 is pulled toward the end tool 120 So that the end tool 120 rotates downward to perform the pitch movement.

As described above, the end tool control member 123 and the operation unit control member 115 are mirror-symmetrically disposed about the YZ plane of FIG. 1, so that the effect of easily achieving the pitch movement can be obtained have. That is, it is possible to obtain an effect that the pitch operation can be performed regardless of the yaw operation and the actuation operation. Here, the yaw operation is performed by rotating the J11 pulley 123J11 and the J21 pulley 123J21 of the end tool control member 123 and the J11 pulley 115J11 and the J21 pulley 115J21 of the operating member control member 115 to rotate the two sets jaw) 121 and 122 are rotated.

(Overall operation of the first embodiment)

Hereinafter, the overall structure of the pitch operation, the yaw operation, and the actuation operation of the surgical instrument 100 according to the first embodiment of the present invention will be described with reference to the above description.

In order to perform the pitch, yaw and actuation operations of the end tool 120, the operation input in the operation section 110 can be divided into pitch, yaw, and actuation operations in accordance with the configuration of the end tool 120 of the present embodiment The power transmission portion 130 is required. The rotational operation of the pitch control section 111 is controlled by the control of the yaw control section 112 and the actuation operation section 113 via the structure in which the end tool control member 123 and the operation section control member 115 are disposed symmetrically with respect to each other, Thereby enabling the pitch operation of the end tool 120 regardless of the operation. However, in order for the operation of the yaw operation portion 112 and the actuation operation portion 113 to be connected to the yaw operation and the actuation operation of the end tool 120, Must be converted to the operation of two jaws of the tool 120. [ The rotation of the yaw control part 112 causes the two jaws to rotate in the same direction and the rotation of the actuation control part 113 causes the two jaws to rotate in different directions. That is, the first set of jaws is rotated by the sum of the manipulation inputs of the yaw manipulation unit 112 and the actuation manipulation unit 113, the second set of jaws is rotated by the sum of the manipulation inputs of the yaw manipulation unit 112 and the actuation manipulation unit 113, As shown in Fig. This can be expressed by the following equation.

J1 = Y + A (the first set rotates in the same direction for both the yaw action and the actuation action)

J2 = Y - A (the second is rotated in the same direction as the yaw motion, but opposite to the actuation motion input)

(Where Y is the rotation of the yaw drive pulley and A is the rotation of the actuation drive pulley)

To this end, a differential pulley receiving Y and A and outputting only the J1 component of the sum, and a differential pulley receiving only Y and A and outputting only the J2 component are required for the power transmission portion. The rotation of the output portion of each differential pulley Must be delivered to each set of end tools.

This will be described in more detail as follows.

First, the pitch operation is as follows.

As described above, when the user grasps the pitch drive bar 1112 of the pitch control unit 111 of the operation unit 110, the pitch drive bar 1112 is rotated around the pitch drive shaft 1111, When the control member 115 is rotated in the direction of the arrow OP (operator pitch), the control member 115 also rotates about the pitch drive shaft 1111 as a whole. Then, the first jaw driving wire 135J13 wound on the operating section control member 115 is pulled toward the operating section 110 as a whole, and moves in the direction of arrow PJ1 in Fig. At the same time, the second jaw driving wire 135J23 wound on the operating section control member 115 is released from the operating section control member 115 as a whole, and moves in the direction of arrow PJ2 in Fig. Then, the end tool control member 123 connected to the first (jaw) driving wire 135J13 and the second (jaw) driving wire 135J23 rotates about the end tool pitch driving shaft 1231, The pitch movement is performed while rotating in the EP direction.

Next, the yaw operation will be described.

When the yaw control part 112 rotates in the direction of arrow Y in Fig. 2, the first pulley 1121a of the yaw control part 112, the YC1 wire 135YC1 wound on the first pulley 1121a, and the YC1 wire 135YC1 are wound The first input portion 1311 of the first differential pulley 131 rotates together. When the first input section 1311 of the first differential pulley 131 rotates, the rotational force of the differential control wire 135J11 connecting the first input section 1311 and the output section 1313 is transmitted to the output section 1313, In the direction of the arrow R1 in Fig. 4A. The rotation of the output unit 1313 is transmitted to the control unit control member 115 through the J12 wire 135J12 wound on the output unit 1313, and the J11 pulley (115J11 in FIG. 6) of the control unit control member 115 is transmitted. Rotate). When the J11 pulley 115J11 of the operating section control member 115 rotates, the first jaw driving wire 135J13 connected thereto is moved, and thus the end connected to the first jaw driving wire 135J13 The first jaw 121 of the end tool 120 is rotated in the direction of the arrow YJ in Fig.

2, the second pulley 1121b of the yaw control part 112, the YC2 wire 135YC2 wound on the second pulley 1121b, and the YC2 wire 135YC2 are wound around the second pulley 1121b, The first input portion 1321 of the second differential pulley 132 is rotated together. When the first input section 1321 of the second differential pulley 132 rotates, the rotational force of the differential control wire 135J21 connecting the first input section 1321 and the output section 1323 is transmitted to the output section 1323, In the direction of the arrow R3 in Fig. 4B. The rotation of the output section 1323 is transmitted to the operation section control member 115 through the J22 wire 135J22 wound around the output section 1323 and the J21 pulley of the operation section control member 115 ). When the J21 pulley 115J21 of the operating section control member 115 rotates, the second jaw driving wire 135J23 connected thereto is moved, and thus the end connected to the second jaw driving wire 135J23 The second jaw 122 of the end tool 120 is rotated in the direction of the arrow YJ in Fig.

When the yaw control part 112 is rotated in one direction in this way, the two jaws 121 and 122 rotate in the same direction, and a yaw operation is performed. Here, the surgical instrument 100 according to an embodiment of the present invention includes one or more differential pulleys, so that the operation of the yaw control part 112 does not involve the operation of the actuation operation part 113.

Next, the actuation operation will be described.

The AC1 wire 135AC1 wound on the first pulley 1131a and the AC1 wire 135AC1 wound on the actuation operation part 113 are moved in the direction of arrow A in Fig. The second input portion 1312 of the first differential pulley 131 is rotated together. Here, since the AC1 wire 135AC1 is twisted once in the middle, the direction of the rotational force of the actuation operation portion 113 is reversed and transmitted to the first differential pulley 131. [ When the second input section 1312 of the first differential pulley 131 rotates, the rotational force of the differential control wire 135J11 connecting the second input section 1312 and the output section 1313 is transmitted to the output section 1313, In the direction opposite to the arrow R2 in Fig. 4A. The rotation of the output section 1313 is transmitted to the operation section control member 115 through the J12 wire 135J12 wound on the output section 1313 and the J11 pulley of the operation section control member 115 ). When the J11 pulley 115J11 of the operating section control member 115 rotates, the first jaw driving wire 135J13 connected thereto is rotated and thus the end connected to the first jaw driving wire 135J13 The first jaw 121 of the end tool 120 is rotated in the direction of the arrow YJ in Fig.

2, the second pulley 1131b of the actuation operating portion 113, the AC2 wire 135AC2 wound on the second pulley 1131b, and the AC2 wire (not shown) are wound on the second pulley 1131b. On the other hand, when the actuation operating portion 113 rotates in the direction of arrow A in Fig. The second input portion 1322 of the second differential pulley 132 wound with the first and second differential pulleys 135AC1 and 135AC2 rotates together. When the second input section 1322 of the second differential pulley 132 rotates, the rotational force of the differential control wire 135J21 connecting the second input section 1322 and the output section 1323 is transmitted to the output section 1323, In the direction of arrow R4 in Fig. 4B. The rotation of the output section 1323 is transmitted to the operation section control member 115 through the J22 wire 135J22 wound around the output section 1323 and the J21 pulley of the operation section control member 115 ). When the J21 pulley 115J21 of the operation section control member 115 rotates, the second jaw driving wire 135J23 connected thereto is rotated, and thus the end connected to the second jaw driving wire 135J23 The second jaw 122 of the end tool 120 is rotated in the direction opposite to the arrow YJ in Fig.

As described above, when the actuation operation unit 113 is rotated in one direction, an actuation operation is performed while the two jaws 121 and 122 are rotated in opposite directions to each other. Here, the surgical instrument 100 according to an embodiment of the present invention includes one or more differential pulleys, so that the operation of the actuation operation unit 113 does not involve the operation of the yaw control unit 112.

According to the present invention as described above, the surgical instrument for performing the outputting operation of the end tool by independent inputs of the pitch drive unit, the yaw drive unit, and the actuation drive unit can be realized as a pure mechanical structure without using a motor, electronic control, It is possible to obtain an effect of realizing it. That is, the pitch operation, the yaw operation, and the actuation operation affecting each other are mutually separated by a simple mechanical device, whereby the configuration of the surgical instrument can be remarkably simplified.

In addition, it is possible to obtain the effect of transmitting the rotational force of the operating portion 110 to the end tool 120 with only a minimum wire and pulley structure. Particularly, in the present invention, since the operation direction of the operation unit 110 and the operation direction of the end tool 120 are intuitively the same direction, the convenience of the operator is improved and the accuracy of operation is improved . Further, by providing only two wires of the first jaw driving wire 135J13 and the second jaw driving wire 135J23 on the end tool 120 side, the end tool 120 pitch operation, yaw operation, and actuation operation of the tool 120 may be performed. In addition, the end tool control member 123 and the operation unit control member 115 have a mirroring structure in which they are symmetrically disposed about the YZ plane of FIG. 1, thereby achieving an effect that the pitch motion is easily realized . That is, it is possible to obtain an effect that the pitch operation can be performed regardless of the yaw operation and the actuation operation.

First Modification of Differential Pulley (D1)

FIG. 7 is a view showing a first modified example of the differential pulley of the surgical instrument shown in FIG. 2, and FIGS. 8 and 9 are views showing the operation of the first modified example of the differential pulley shown in FIG.

As described above, in the present invention, the differential pulley includes two or more input units and one output unit, receives a rotational force from two or more input units, and extracts a desired rotational force through the sum (or difference) And outputs it through an output unit.

7, a first modification of the differential pulley of a surgical instrument includes a first input 1361, a second input 1362, an output 1363, and a differential control member 1364.

The first input portion 1361 includes a first pulley 1361P1, a second pulley 1361P2, and a first input wire 1361W. The first pulley 1361P1 and the second pulley 1361P2 are connected by the first input wire 1361W and are formed to rotate together.

The second input portion 1362 includes a first pulley 1362P1, a second pulley 1362P2, and a second input wire 1362W. The first pulley 1362P1 and the second pulley 1362P2 are connected by the second input wire 1362W and are formed to rotate together.

Output section 1363 includes output pulley 1363P and output section wire 1363W. The output pulley 1363P and the differential control member 1364 are connected to each other via the output section wire 1363W so that the output pulley 1363P connected to the output control section 1363W through the output section wire 1363W when the differential control member 1364 performs translational motion, .

The differential control member 1364 includes a first pulley 1364P1, a second pulley 1364P2, and a differential control wire 1364W. In addition, the differential control member 1364 includes a first differential joint 1364J1 and a second differential joint 1364J2. The first pulley 1364P1 and the second pulley 1364P2 are connected by a differential control wire 1364W and are formed to rotate together. On the other hand, the differential control member 1364 can be translated as a whole in the direction of arrow T in Fig. For example, the differential control member 1364 is provided on a guide rail (not shown) so that the differential control member 1364 can translate along the guide rail (not shown) in the direction of arrow T in Fig.

The first differential joint 1364J1 is coupled to the first input wire 1361W and the differential control wire 1364W to transmit the rotation of the first input wire 1361W to the differential control wire 1364W Can be performed. The second differential joint 1364J2 is coupled to the second input wire 1362W and the differential control wire 1364W to transmit the rotation of the second input wire 1362W to the differential control wire 1364W Can be performed.

Hereinafter, the operation of the first modified example of the differential pulley will be described.

First, a case where the first input unit rotates will be described.

7 and 8, when the first pulley 1361P1 of the first input portion 1361 is rotated in the direction of arrow A1 in FIG. 8, the first input wire 1361W connected to the first pulley 1361W is rotated And moves along the first pulley 1361P1 in the direction of the arrow A2 of FIG. As described above, since the first input wire 1361W and the differential control wire 1364W are coupled to the first differential joint 1364J1, the first input wire 1361W is moved in the direction of arrow A2 in Fig. 8 And the first differential joint 1364J1 connected thereto also moves in the direction of the arrow A2. If the second input unit 1362 is fixed without the rotational input, the position of the second differential joint 1364J2 is also fixed. Accordingly, as the first differential joint 1364J1 moves, the differential control member 1364 is moved The first pulley 1364P1, the second pulley 1364P2, and the differential control wire 1364W are moved together with the first pulley 1364P1 and the second pulley 1364W simultaneously moving in the direction of the arrow A3. 1364P2 rotate counterclockwise. When the differential control member 1364 is moved in the direction of arrow A3, the output wire 1363W connected to the differential control member 1364 moves in the direction of the arrow A4, and therefore the output pulley 1363P connected to the output wire 1363W It rotates in the direction of the arrow C.

The rotation of the first input unit 1361 can be transmitted only to the output unit 1363 without affecting the second input unit 1362 so that the output pulley 1363P can be rotated.

Next, a case where the second input section rotates will be described.

7 and 9, when the first pulley 1362P1 of the second input unit 1362 rotates in the direction of arrow B1 in FIG. 9, the second input wire 1362W connected to the first pulley 1362P1 is rotated And moves along the first pulley 1362P1 in the direction of the arrow B2 in Fig. As described above, since the second input wire 1362W and the differential control wire 1364W are coupled to the second differential joint 1364J2, the second input wire 1362W moves in the direction of arrow B2 in Fig. 9 And the second differential joint 1364J2 connected thereto also moves in the direction of the arrow B2. If the first input unit 1361 is fixed without the rotational input, the position of the first differential joint 1364J1 is also fixed. Accordingly, as the second differential joint 1364J2 moves, the differential control member 1364 is moved The first pulley 1364P1, the second pulley 1364P2 and the differential control wire 1364W are moved together with the first pulley 1364P1 and the second pulley 1364W 1364P2 rotate in the clockwise direction. When the differential control member 1364 is moved in the direction of arrow B3 as described above, the output portion wire 1363W connected thereto is moved in the direction of the arrow B4, so that the output pulley 1363P connected to the output portion wire 1363W It rotates in the direction of the arrow C.

The rotation of the second input unit 1362 can be transmitted only to the output unit 1363 without affecting the first input unit 1361 to rotate the output pulley 1363P.

Next, a case where the first input unit and the second input unit rotate at the same time will be described.

When the first pulley 1361P1 of the first input portion 1361 rotates clockwise, the output pulley 1363P of the output portion 1363 rotates counterclockwise and the first pulley 1361 of the second input portion 1362 rotates counterclockwise, 1362P1 rotates counterclockwise, the output pulley 1363P of the output section 1363 rotates counterclockwise. When the first pulley 1361P1 of the first input portion 1361 and the second pulley 1362P1 of the second input portion 1362 are rotated in opposite directions to each other, (1363P) is rotated. Conversely, when the first pulley 1361P1 of the first input portion 1361 and the second pulley 1362P1 of the second input portion 1362 rotate in the same direction as each other, (1363P) rotates.

According to the present invention, when only one of the two or more input units is rotated, only the output unit can be rotated without rotating the other input units. In addition, when two or more input units rotate at the same time, a single rotational force equivalent to the sum (or difference) of the rotational forces of the two input units can be output through the output unit.

This explains one modification of the differential pulley that can be applied in place of the differential pulley shown in Figs. 4A and 4B. Specifically, an example in which a modification of the differential pulley is applied to the surgical instrument is omitted.

≪ Second Modification of Differential Pulley > (D2)

Fig. 10 is a view showing a second modified example of the differential pulley of the surgical instrument shown in Fig. 2, and Figs. 11 and 12 are views showing the operation of the second modified example of the differential pulley shown in Fig.

As described above, in the present invention, the differential pulley includes two or more input units and one output unit, and each of the two or more input units does not affect the rotation of the other input units, and a rotational force inputted from two or more input units Means a device for outputting with a desired rotational force.

10, a second modification example of the differential pulley of the surgical instrument includes a first input section 1371, a second input section 1372, an output section 1373, a first differential control member 1374, A control member 1375 and a differential control wire 1376.

The first input unit 1371 includes a first input pulley 1371P and a first input wire 1371W. The first input pulley 1371P is connected to the first input wire 1371W and is formed to rotate together with the first input wire 1371W.

The second input portion 1372 includes a second input pulley 1372P and a second input wire 1372W. The second input pulley 1372P is connected to the second input wire 1372W and is configured to rotate with the second input wire 1372W.

Output section 1373 includes an output pulley 1373P. An output pulley 1373P is connected to the differential control wire 1376 and is formed to rotate with the differential control wire 1376.

The first differential control member 1374 includes a first pulley 1374P1, a second pulley 1374P2, and a first differential control bar 1374a. A first pulley 1374P1 and a second pulley 1374P2 are formed at both ends of the first differential control bar 1374a, respectively, which are rotatable. Both ends of the first input wire 1371W are coupled to both ends of the first differential control member 1374, respectively. On the other hand, the first differential control member 1374 can be translated as a whole in the direction of arrow T1 in Fig. For example, the first differential control member 1374 is provided on a guide rail (not shown) so that the first differential control member 1374 can be translated along the guide rail (not shown) It is. Accordingly, when the first input pulley 1371P rotates, the first input wire 1371W connected thereto rotates, and when the first input wire 1371W rotates, a first differential control member 1374 coupled to both ends of the first input wire 1371W rotates And translationally moves in the direction of arrow T1 in Fig.

The second differential control member 1375 includes a first pulley 1375P1, a second pulley 1375P2, and a second differential control bar 1375a. A first pulley 1375P1 and a second pulley 1375P2 are formed at both ends of the second differential control bar 1375a, respectively, and they are rotatable. Both ends of the second input wire 1372W are coupled to both ends of the second differential control member 1375, respectively. On the other hand, the second differential control member 1375 can be translated as a whole in the direction of arrow T2 in Fig. For example, the second differential control member 1375 is provided on a guide rail (not shown) so that the second differential control member 1375 can translate along the guide rail (not shown) It is. Therefore, when the second input pulley 1372P rotates, the second input wire 1372W connected thereto rotates, and when the second input wire 1372W rotates, a second differential control member 1375 coupled to both ends of the second input wire 1372W rotates And translationally moves in the direction of arrow T2 in Fig.

On the other hand, the first pulley 1374P1 of the first differential control member 1374, the first pulley 1375P1 of the second differential control member 1375, the second pulley 1374P2 of the first differential control member 1374, A differential control wire 1376 is connected along the second pulley 1375P2 of the second differential control member 1375. [ A differential control wire 1376 is wound around the four pulleys and is formed to be movable in accordance with the translational motion of the first differential control member 1374 and the second differential control member 1375. [ Here, the differential control wire 1376 is formed with a fixed point F1, which can be a reference point for the movement of the differential control wire.

Hereinafter, the operation of the second variation of the differential pulley will be described.

First, a case where the first input unit rotates will be described.

10 and 11, when the first input pulley 1371P of the first input unit 1371 is rotated in the direction of arrow A1 in FIG. 11, the first input wire 1371W connected to the first input unit 1371 is rotated 11 along the first input pulley 1371P in the direction of the arrow A2. As described above, since the first input wire 1371W is connected to the first differential control member 1374, when the first input wire 1371W moves in the direction of arrow A2 in Fig. 11, So that the arm 1374 performs translational motion as a whole in the direction of the arrow A3. When the first differential control member 1374 performs the translational motion in the direction of the arrow A3, for example, the P1 point of the differential control wire 1376 of Fig. 10 is connected to the P1 of the differential control wire 1376 of Fig. 11 Quot ;, so that the differential control wire 1376 moves overall in the direction of arrow A4 in Fig. Thus, the output pulley 1373P connected to the differential control wire 1376 is rotated in the direction of the arrow C. At this time, the first pulley 1374P1, the second pulley 1374P2, and the second pulley 1375P2 of the second differential control member 1375 of the first differential control member 1374 rotate in the clockwise direction.

The rotation of the first input unit 1371 can be transmitted only to the output unit 1373 without affecting the second input unit 1372 and the output pulley 1373P can be rotated.

Next, a case where the second input section rotates will be described.

10 and 12, when the second input pulley 1372P of the second input portion 1372 rotates in the direction of arrow B1 in FIG. 12, the second input wire 1372W connected to the second input portion 1372 is also rotated 12 along the second input pulley 1372P in the direction of the arrow B2. Since the second input wire 1372W is connected to the second differential control member 1375 as described above, when the second input wire 1372W moves in the direction of arrow B2 in Fig. 12, So that the arm 1375 is translated in the direction of the arrow B3 as a whole. When the second differential control member 1375 performs the translational motion in the direction of the arrow B3 as described above, for example, the P2 point of the differential control wire 1376 of Fig. 10 is connected to the P2 of the differential control wire 1376 of Fig. 12 Quot ;, so that the differential control wire 1376 moves overall in the direction of arrow B4 in Fig. Thus, the output pulley 1373P connected to the differential control wire 1376 is rotated in the direction of the arrow C. At this time, the first pulley 1375P1, the second pulley 1375P2, and the first pulley 1374P1 of the first differential control member 1374 of the second differential control member 1375 rotate in the clockwise direction.

The rotation of the second input unit 1372 can be transmitted only to the output unit 1373 without affecting the first input unit 1371 and the output pulley 1373P can be rotated.

Next, a case where the first input unit and the second input unit rotate at the same time will be described.

When the first input pulley 1371P of the first input section 1371 rotates counterclockwise, the output pulley 1373P of the output section 1373 rotates in the counterclockwise direction and the second pulley 1373B of the second input section 1372 rotates counterclockwise, When the input pulley 1372P rotates clockwise, the output pulley 1373P of the output portion 1373 rotates counterclockwise. When the first input pulley 1371P of the first input portion 1371 and the second input pulley 1372P of the second input portion 1372 rotate in opposite directions to each other, The output pulley 1373P is rotated. Conversely, when the first input pulley 1371P of the first input portion 1371 and the second input pulley 1372P of the second input portion 1372 rotate in the same direction as each other, The output pulley 1373P is rotated.

According to the present invention, when only one of the two or more input units is rotated, only the output unit can be rotated without rotating the other input units. In addition, when two or more input units rotate at the same time, a single rotational force equivalent to the sum (or difference) of the rotational forces of the two input units can be output through the output unit.

Next, another embodiment of the second modification of the differential pulley of the surgical instrument will be described. 13A to 13E are diagrams showing another embodiment of the second variation of the differential pulley, respectively. 13A to 13E, the first input section and the second input section are omitted, and the first differential control members 1374a to 1374e, the second differential control members 1375a to 1375e, the output sections 1373a to 1373e, Differential control wires 1376a-1376e are shown. However, when the first input unit (not shown) rotates, the first differential control members 1374a to 1374e rotate the differential control wires 1376a to 1376e while translating upward and downward, respectively, The second differential control members 1375a to 1375e rotate the differential control wires 1376a to 1376e while translating the output units 1373a to 1373e upward and downward when the second input unit (not shown) rotates, 10 to 12 in that the output portions 1373a to 1373e are rotated by rotating the output portions 1373a to 1373e.

This explains one modification of the differential pulley that can be applied in place of the differential pulley shown in Figs. 4A and 4B. Specifically, an example in which a modification of the differential pulley is applied to the surgical instrument is omitted.

≪ Third Modification of Differential Pulley > (D4)

Figs. 14 and 15 are views showing a third modification of the differential pulley of the surgical instrument shown in Fig. 2;

As described above, in the present invention, the differential pulley includes two or more input units and one output unit, and each of the two or more input units does not affect the rotation of the other input units, and a rotational force inputted from two or more input units Means a device for outputting with a desired rotational force.

14 and 15, a third modification of the differential pulley of the surgical instrument includes a first input section 1381, a second input section 1382, an output section 1383, and a connection section 1384.

The first input unit 1381 includes a first rotary shaft 1381a and a first input pulley 1381b. The first input pulley 1381b is coupled to the first rotary shaft 1381a to rotate the first rotary shaft 1381a As shown in Fig.

The second input unit 1382 includes a second rotary shaft 1382a and two second input pulleys 1382b formed to face each other and two second input pulleys 1382b are coupled to a second rotary shaft 1382a And is rotatable around the second rotation shaft 1382a. At this time, the first input unit 1381 extends from the second input pulley 1382b. That is, the first input pulley 1381b is connected to the second input pulley 1382b by a connecting member (not shown) so that when the second input pulley 1382b rotates, the first input pulley 1381b connected thereto The first input unit 1381 including the first input unit 1381 is rotated.

The output unit 1383 includes a third rotary shaft 1383a and an output pulley 1383b and the output pulley 1383b is coupled to the third rotary shaft 1383a to be rotatable about the third rotary shaft 1383a do.

The connection portion 1384 includes a fourth rotation shaft 1384a and two connection pulleys 1384b formed to face each other and two connection pulleys 1384b are provided not to be engaged with the fourth rotation shaft 1384a, And is rotatable around the rotation shaft 1384a.

On the other hand, the differential control wire 1385 includes an output 1383, one of two connection pulleys 1384b, one of the two input pulleys 1382b, a first input pulley 1381b, 1382b and the other of the two connection pulleys 1384b and the output unit to form an output 1383, a connection 1384, a second input 1382 and a first input 1381).

Although not shown in the drawing, a coupling member (not shown) for connecting the first input unit 1381 and the second input unit 1382 may be further provided. At this time, the coupling member (not shown) may be formed to fit into the first rotation shaft 1381a of the first input unit 1381 and the second rotation shaft 1382a of the second input unit 1382, respectively. Here, when the coupling member (not shown) and the second rotation shaft 1382a are fixedly coupled and rotated with the second rotation shaft 1382a, the coupling member (not shown) and the first input unit 1381 connected thereto also rotate together, (Not shown) and the first rotation shaft 1381a are not fixedly coupled to each other, and the coupling member (not shown) may be stopped even when the first rotation shaft 1381a rotates.

Hereinafter, the operation of the third modified example of the differential pulley will be described.

First, a case where the first input unit 1381 rotates will be described. When the first input pulley 1381b of the first input section 1381 rotates around the first rotation shaft 1381a and the differential control wire 1385 is connected to the first input pulley 1381b So that the differential control wire 1385 wound on two of the second input pulleys 1382b and two connection pulleys 1384b is also moved so that the output connected to the opposite side of the differential control wire 1385 And the output pulley 1383b of the part 1383 also rotates about the third rotation shaft 1383a. At this time, the two second input pulleys 1382a and the two connection pulleys 1384a wound with the moving differential control wire 1385 rotate together.

Similarly, a case where the second input unit 1382 rotates will be described. 14, when the second input pulley 1382b of the second input unit 1382 rotates counterclockwise about the second rotation shaft 1382a, the second rotation shaft 1382b rotates about the second rotation shaft 1382b as shown in FIG. The first input unit 1381 rotates counterclockwise as a whole. At this time, if there is no rotational input to the first input unit 1381 and the rotation of the differential control wire 1385 wound around the first input pulley 1381a is relatively to the first rotation axis 1381a, the first rotation shaft 1381a does not have a rotational input. A portion of the wound differential control wire 1385 also rotates about the second axis of rotation 1138a as a whole. This causes the differential control wire 1385, which is wound on two of the second input pulleys 1382b, to be pulled and stretched, which results in rotation of two corresponding second input pulleys 1382b. The movement of the differential control wire 1385 in the two second input pulleys 1382b results in rotation of the output pulley 1383b through two connection pulleys 1384b.

According to the present invention, rotation of any one of the two or more input units can independently cause rotation of the output unit without causing rotation of the other input unit. Further, when two or more input sections are rotated at the same time, a single rotational force equivalent to the sum (or difference) of the rotation amounts of the two input sections can be outputted through the output section.

The third modification of the present differential pulley is different from the differential pulley described above and the first and second modified examples in that one input part is provided on the rotation axis of the other input part, The position of one input section rotates. That is, in the differential pulleys and the first and second modified examples, the respective input portions are positioned independently of each other, but in the third modification of the present differential pulley, there is a difference that one input portion is located on the coordinate system of the other input portion . This is because, when one operation input section is provided on another operation input section such as the second embodiment (see Fig. 28 to be described later, etc.) and the other operation input section rotates or moves, one operation input section also rotates or moves It can be used for structures that need to be.

Although the output unit 1383, the connection unit 1384, the second input unit 1382, and the first input unit 1381 are illustrated as being arranged in this order, the concept of the present invention is not limited thereto, And the position of the second input unit may be exchanged with each other. In this case, the first input pulley is connected to the second input pulley by a connecting member (not shown) so that when the second input pulley rotates, the connecting pulley of the connecting portion connected thereto and the first input pulley of the first input portion rotate together .

This explains one modification of the differential pulley that can be applied in place of the differential pulley shown in Figs. 4A and 4B. Specifically, an example in which a modification of the differential pulley is applied to the surgical instrument is omitted.

<Differential gear>

FIG. 16 is a view showing a surgical instrument 100g according to a modified example of the power transmitting portion of the surgical instrument shown in FIG. 2, and FIG. 17 is a view showing the differential gear of FIG. 16 in detail. Here, the surgical instrument 100g according to the first embodiment of the power transmitting portion of the first embodiment of the present invention is substantially similar to the surgical instrument 100 according to the first embodiment of the present invention described above, The configuration of the power transmitting portion is different from that of the power transmitting portion, and the configuration of the power transmitting portion will be mainly described below.

In this modified example, a differential gear is applied instead of the differential pulleys shown in Figs. 2 and 4A. That is, the differential gear of the surgical instrument shown in FIGS. 16 and 17 may be viewed as a structure in which the pulleys and the wires are replaced with gears in the differential pulley of the surgical instrument shown in FIG. 4A.

16 and 17, a surgical instrument 100g according to a modification of the first embodiment of the power transmission unit of the present invention includes an operation unit 110, an end tool 120, a power transmission unit 130 and a connecting portion (not shown). In addition, the power transmission unit 130 includes a first differential gear 151 and a second differential gear 152.

Specifically, the first differential gear 151 includes a first input portion 1511, a second input portion 1512, and an output portion 1513.

The first input unit 1511 includes a first pulley 1511a and a first gear 1511b. The first pulley 1511a and the first gear 1511b rotate together about the same rotational axis. The first pulley 1511a of the first input portion 1511 is connected to the first pulley 1121a of the yaw control portion 112 by the YC1 wire 135YC1 so that rotation of the yaw control portion 112 is transmitted to the first input portion 1511a, (1511). The first gear 1511b of the first input unit 1511 is connected to the output unit 1513 so that the rotation of the first input unit 1511 is transmitted to the output unit 1513.

The second input portion 1512 includes a second pulley 1512a and a second gear 1512b. The second pulley 1512a and the second gear 1512b rotate together about the same rotational axis. The second pulley 1512a of the second input portion 1512 is connected to the first pulley 1131a of the actuation operation portion 113 by the AC1 wire 135AC1 so that the rotation of the actuation operation portion 113 2 &lt; / RTI &gt; The second gear 1512b of the second input unit 1512 is connected to the output unit 1513 so that the rotation of the second input unit 1512 is transmitted to the output unit 1513.

The output section 1513 includes an output pulley 1513a, an extension section 1513b, and a differential control gear 1513c. The output pulley 1513a of the output section 1513 is connected to the operation section control member 115 by the J12 wire 135J12 so that the rotation of the output section 1513 is transmitted to the end tool (121) of the end tool (120). On the other hand, the extension 1513b is formed to extend in one direction from the rotation axis of the output pulley 1513a and is rotatable together with the output pulley 1513a around the rotation axis of the output pulley 1513a. The differential control gear 1513c is inserted through the extension 1513b and is rotatable around the extension 1513b.

Here, the first input unit 1511, the second input unit 1512, and the output unit 1513 independently rotate about independent axes.

The first differential gear 151 includes a first input portion 1511, a second input portion 1512 and an output portion 1513 to receive a rotational force from the first input portion 1511 and the second input portion 1512 And extracts a single rotational force through the sum (or difference) between them to output through the output unit 1513. That is, when only the first input unit 1511 rotates, it outputs it through the output unit 1513. When only the second input unit 1512 rotates, it outputs it through the output unit 1513, When the first input unit 1511 and the second input unit 1512 rotate in the same direction, the sum of the first input unit 1511 and the second input unit 1512 is output through the output unit 1513, And outputs these differences through the output unit 1513. This can be explained by the following equation.

C = A + B, where C is the rotation of the output, A is the rotation of the first input, B is the rotation of the second input,

Even if the yaw control portion 112 and the actuation operation portion 113 are freely rotated by the first differential gear 151 and the second differential gear 152 as described above, And the output of each differential gear is moved by the sum (or difference) of the rotation of the yaw actuating part 112 and the actuation operation part 113, respectively, The desired one of the rotational forces is extracted.

<First Modification of Differential Gear>

FIG. 18 is a view showing a first modification of the differential gear of FIG. 16;

As described above, in the present invention, the differential gear is provided with two or more inputs and one output, and receives a rotational force from two or more inputs, and extracts a desired rotational force through a sum (or difference) of the two. Means the device to output through the output.

Referring to FIG. 18, a first modification of the differential gear of the surgical instrument includes a first input portion 1561, a second input portion 1562, an output portion 1563, and a differential control member 1564. The first modified example of the differential gear of the surgical instrument shown in FIG. 18 may be viewed as a structure in which the pulleys and the wires are replaced with gears in the first modified example of the differential pulley of the surgical instrument shown in FIG. 7 .

The first input portion 1561 includes a first pulley 1561P, a first gear 1561G, and a first input wire 1561W. The first pulley 1561P and the first gear 1561G are connected by the first input wire 1561W so that the first gear 1561G is formed to move up and down when the first pulley 1561P rotates.

The second input portion 1562 includes a second pulley 1562P, a second gear 1562G, and a second input wire 1562W. The second pulley 1562P and the second gear 1562G are connected by the second input wire 1562W and the second gear 1562G is formed to move up and down when the second pulley 1562P rotates.

Output section 1563 includes output pulley 1563P and output section wire 1563W. The output pulley 1563P and the differential control member 1564 are connected through the output section wire 1563W so that the differential control member 1564 and the output section wire 1563W The output pulley 1563P connected thereto is rotated.

The differential control member 1564 includes a differential control gear 1564G and a differential control base 1564B. The differential control gear 1564G is configured to be engaged with the first gear 1561G and the second gear 1562G so that when the first gear 1561G and the second gear 1562G move up and down, (1564G) is rotated so as to move up and down. That is, the first gear 1561G and the second gear 1562G serve as a rack, and the differential control gear 1564G serves as a kind of pinion. Therefore, here, the differential control member 1564 can be translated as a whole in the direction of the arrow T in Fig. For example, the differential control base 1564B of the differential control member 1564 is provided on a guide rail (not shown), and the differential control member 1564 is translated along the guide rail (not shown) You can exercise.

According to the present invention, when only one of the two or more input units is rotated, only the output unit can be rotated without rotating the other input units. In addition, when two or more input units rotate at the same time, a single rotational force equivalent to the sum (or difference) of the rotational forces of the two input units can be output through the output unit.

<Second Modification of Differential Gear>

Fig. 19 is a view showing a second modification of the differential gear of Fig. 16;

As described above, in the present invention, the differential gear is provided with two or more inputs and one output, and receives a rotational force from two or more inputs, and extracts a desired rotational force through a sum (or difference) of the two. Means the device to output through the output.

19, a second modification of the differential gear of the surgical instrument includes a first input portion 1571, a second input portion 1572, an output portion 1574, and a differential control member 1573.

In detail, the first input unit 1571 and the second input unit 1572 are provided in the form of gears formed so as to be rotatable about the central rotation axis 1575, and in particular, the second input unit 1572 is provided with teeth And the differential control member 1573 meshes with the gears of the first input portion 1571 and the second input portion 1572 and is provided at the center position. The differential control member 1573 is rotatable about the differential control member gear shaft 1573a and the differential control member gear shaft 1573a is connected to the output portion 1574. [ The output portion 1574 is rotatable about the central rotational axis 1575. [

First, when only the first input unit 1571 rotates, the differential control member 1573 engaged by the gear teeth rotates about the differential control member gear shaft 1573a, and at the same time, the differential control member gear shaft 1573a is connected Causing rotation of the output portion 1574 about the central rotational axis 1575. [ Conversely, even when only the second input section 1572 rotates, the differential control member 1573 engaged by the gear teeth rotates about the differential control member gear shaft 1573a, and at the same time, the differential control member gear shaft 1573a Causing rotation of the connected output portion 1574 about the central axis of rotation 1575. Meanwhile, when the first input unit 1571 and the second input unit 1572 rotate in the same direction, the differential control member 1573 and the output unit 1574 rotate in the same direction about the central rotation axis 1575, At this time, the differential control member 1573 may not rotate around the differential control member gear shaft 1573a.

On the contrary, when the first input unit 1571 and the second input unit 1572 rotate in opposite directions, the differential control member 1573 and the output unit 1574 may not rotate about the center rotational axis 1575. [ At this time, the differential control member 1573 can rotate around the differential control member gear shaft 1573a.

Therefore, according to the present invention, a single rotational force equivalent to the sum (or difference) of the rotational inputs of two or more input units can be output through the output unit.

<End tool of the fourth to sixth embodiments of the surgical instrument> (E1)

Hereinafter, the surgical instruments 400, 500, and 600 according to the fourth, fifth and sixth embodiments of the present invention will be described. Here, the surgical instruments 400, 500, 600 according to the fourth, fifth and sixth embodiments of the present invention are the first, second and third embodiments of the present invention described above. The surgical instrument (100, 200, 300) and the other parts according to the embodiment is almost similar, the configuration of the end tool is characteristically different, firstly common to the fourth embodiment, fifth embodiment and sixth embodiment The configuration of the applied end tool will be described.

20 to 24 are conceptual views schematically showing an end tool applied to the surgical instrument 400 according to the fourth embodiment of the present invention. FIG. 20 is an exploded perspective view of the end tool, and FIG. 21 is an XZ of the end tool. Fig. 22 is a plan view on the XY plane of the end tool, Fig. 23 is a plan view showing the yaw motion of the end tool of Fig. 22, and Fig. 24 is an actuation of the end tool of Fig. 22. It is a top view which shows an actuation exercise.

20 to 24, the end tool 420 applied to the surgical instrument 400 according to the fourth embodiment of the present invention includes the first jaws 421 and the second jaws ( 422, one or more pitch pulleys 423, and one or more yaw pulleys 424. On the other hand, the power transmission unit 430 applied to the surgical instrument 400 according to the fourth embodiment of the present invention is one or more pitch wire (435P), one or more yaw wire (435aw) (435Y) And an actuation wire 435A.

In the present embodiments the pitch operation is performed through the rotation of the pitch wire wound around the pitch pulley, the yaw wire is provided extending to the end tool across the middle of the pitch pulley, the yaw wire is provided to the yaw pulley to perform the yaw motion. Cold. The yaw motion is performed through the rotation of the yaw wire. In this case, since the yaw wire is provided across the middle of the pitch pulley, the yaw wire is minimally affected even if the pitch pulley is rotated by the pitch motion. The actuation wire is likewise extended toward the end tool across the pitch pulley and the yaw pulley and connected to the grooves formed in the two sets respectively. And the actuating action is performed by closing and opening the two jaws by the pulling and mating of the actuation wires. At this time, since the actuation wire is provided across the pitch pulley and the yaw pulley, the actuation wire is minimally affected even if the pitch pulley and the yaw pulley rotate by the pitch operation and the yaw operation.

In detail, a pitch pulley coupling part 440a is formed at one end of the connection part 440, and the pitch pulley 423 is pitch pulley rotatable about the pitch pulley coupling part 440a about the pitch rotation axis 420PX. Coupling with the coupling portion (440a). In addition, the pitch pulley 423 is integrally formed with the pitch pulley base 423a, and a yaw pulley coupling part 423b is formed at one side of the pitch pulley base 423a. Accordingly, the pitch pulley 423 is rotatable about the pitch rotation axis 420PX, and the pitch pulley base 423a and the yaw pulley coupler 423b coupled thereto rotate together with the pitch pulley 423. Here, a pitch wire through hole 440HP is formed at one end of the connection part 440, and a pitch wire 435P is formed toward the end tool 420 through the pitch wire through hole 440HP.

On the other hand, the yaw pulley 424 is coupled to the yaw pulley engaging portion 423b to be rotatable about the yaw pulley engaging portion 423b about the yaw rotation axis 420YX. In addition, the yaw pulley 424 is formed integrally with the yaw pulley base 424a. Here, the guide hole 424b is formed in the yaw pulley base 424a. Accordingly, the yaw pulley 424 is rotatable about the yaw axis of rotation 420YX, and the yaw pulley base 424a coupled thereto also rotates with the yaw pulley 424. Here, a yaw wire through hole 440HY is formed at one end of the connection portion 440, and the yaw wire 435P is formed toward the end tool 420 by passing through the yaw wire through hole 440HY.

Meanwhile, an actuation wire through hole 440HA is formed at one end of the connection part 440, and an actuation wire 435A is formed toward the end tool 420 by passing through the actuation wire through hole 440HA. The actuation wire 435A penetrating the actuation wire through hole 440HA is connected along the actuation wire guide part 423G formed in the yaw pulley coupling part 423b to be connected to the actuation axis 420AX.

Meanwhile, guide holes 421a and 422a are formed in the first jaw 421 and the second jaw 422, respectively, and the first jaw 421 and the second jaw are formed. The actuation axis 420AX is inserted through the guide holes 421a and 422a of the 422 and the guide holes 424b of the yaw pulley base 424a. An actuation wire 435A is coupled to the actuation axis 420AX, and when the actuation wire 435A translates, the actuation axis 420AX is connected to the guide hole. Actuation operations of jaws 421 and jaws 422 are performed while translating along 424b.

Here, the end tool 420 of the surgical instrument 400 according to the fourth embodiment of the present invention is a pulley / wire for the pitch operation, the pulley / wire for the yaw operation, and the actuation operation Pulleys / wires for each is formed separately, characterized in that any one operation is formed so as not to affect other operations. Hereinafter, this will be described in more detail.

First, the pitch operation of the present embodiment will be described.

The pitch wire 435P of the power transmission unit 430 for the pitch operation of the end tool 420 is formed of the pitch manipulation unit (not shown) of the operation unit (not shown) and the end tool 420. The pitch pulley 423 is connected. Therefore, when the pitch operation unit (not shown) rotates counterclockwise in FIG. 21 about the pitch drive shaft (not shown), the pitch wire 435P connected thereto moves in the direction of arrow P2 in FIG. The pitch pulley 423 connected to the 435P and the yaw pulley 424 connected thereto, the first jaw 421 and the second jaw 422 are connected to the axis of rotation 420PX of FIG. 21. The pitch operation is performed by rotating in the direction of arrow P. FIG. On the contrary, when the pitch manipulation unit (not shown) rotates clockwise in FIG. 21 about the pitch drive shaft (not shown), the pitch wire 435P connected thereto moves in the direction of arrow P1 in FIG. 21, and thus the pitch wire 435P. 21 is connected to the pitch pulley 423 and the connected yaw pulley 424, the first jaw (421) and the second jaw (422) of the axis of the rotation axis 420PX of FIG. The pitch motion is performed by rotating in the opposite direction of P.

Next, the required operation of the present embodiment will be described.

The yaw wire 435Y of the power transmission unit 430 for yaw motion of the end tool 420 is formed of the yaw manipulator (not shown) and the end tool 420 of the manipulator (not shown). The yoke pulley 424 is connected. Therefore, when the yaw control unit (not shown) rotates clockwise around the yaw drive shaft (not shown), the yaw wire 435Y connected thereto moves in the direction of arrow Y1 of FIG. 23 in the state shown in FIG. The yaw pulley 424 connected to the wire 435Y, and the first jaw 421 and the second jaw 422 connected thereto are in the direction of arrow Y of FIG. 23 about the yaw axis of rotation 420YX. By rotating, yaw motion is performed.

Next, the actuation operation of the present embodiment will be described.

An actuation wire 435Y of the power transmission unit 430 for the actuation operation of the end tool 420 may include an actuation operation unit (not shown) and an end tool (not shown) of an operation unit (not shown). The actuation shaft 420AX of the 420 is connected. Therefore, when the actuation operating part (not shown) rotates around the actuation drive shaft (not shown), the actuation wire 435A connected thereto makes a linear motion in the direction of arrow A of FIG. Accordingly, the actuation operation of the jaws 421 and the jaws 422 is performed while the actuation shaft 420AX connected to the actuation wire 435A performs the translational movement along the guide hole 424b. This is to be done.

Fourth Example of Surgical Instrument (E1 + H1 + D)

Hereinafter, a surgical instrument 400 according to a fourth embodiment of the present invention will be described. Here, the surgical instrument 400 according to the fourth embodiment of the present invention has an end tool (end tool) has the configuration of FIGS. 20 to 24 described above, the operation unit 410 of the present invention shown in FIG. Like the surgical instrument 100 according to the first embodiment, the yaw operating part and the actuation operating part are formed independently of each other, so that the rotation of the yaw drive shaft and the rotation of the actuation drive shaft are independently performed.

25 is a view showing a surgical instrument 400 according to a fourth embodiment of the present invention. Referring to FIG. 25, the surgical instrument 400 according to the fourth embodiment of the present invention includes an operation unit 410, an end tool 420, a power transmission unit 430, and a connection unit (not shown). Include.

The end tool 420 may include a first jaw 421, a second jaw 422, one or more pitch pulleys 423, one or more yaw pulleys 424. The power transmission unit 430 further includes one or more pitch wires 435P, one or more yaw wires 435Y, and an actuation wire 435A. The end tool 420 has a pulley / wire for a pitch operation, a pulley / wire for a yaw operation, and a pulley / wire for an actuation operation, respectively, so that one operation is different from another. It is characterized in that it is formed so as not to affect them. Here, since the end tool 420 is the same as the end tool described with reference to FIGS. 20 to 24, a detailed description thereof will be omitted.

Meanwhile, the power transmission unit 430 includes a first differential member 431 and a second differential member 432. Here, the first differential member 431 and the second differential member 432 are provided with two or more inputs and one output, and receives a rotational force from the two or more inputs, so that their sum (or difference) It extracts a desired rotational force through the output unit. Such a differential member may include a differential pulley of the surgical instrument 100 according to the first embodiment of the present invention shown in FIGS. 4 (a) and 4 (b) and a first pulley of the differential pulley shown in FIG. 7 or less. Various types of differential pulleys and differential gears can be used, including a variant, a second variant of the differential pulley shown in FIG. 10 and below, and a third variant of the differential pulley shown in FIG. 14 and below. That is, although FIG. 25 illustrates the differential pulley of FIG. 13E as the differential members 431 and 432 of the surgical instrument 400 according to the fourth embodiment of the present invention, the spirit of the present invention is not limited thereto. Various types of differential pulleys and differential gears will be applicable to this embodiment as well.

Hereinafter, the operation unit 410 of the surgical instrument 400 according to the fourth embodiment of the present invention will be described in more detail.

Referring to FIG. 25, the operation unit 410 of the surgical instrument 400 according to the fourth embodiment of the present invention may control a pitch operator for controlling a pitch movement of an end tool 420. 411, a yaw operator 412 for controlling yaw motion of the end tool 420, and an actuation manipulator for controlling an actuation motion of the end tool 420. actuation operator) 413.

The pitch operation unit 411 includes a pitch operating axis 4111, a pitch operating bar 4112, and a pitch operating pulley 4113. Here, the pitch drive shaft 4111 may be formed in a direction parallel to the Y axis, and the pitch drive bar 4112 is connected to the pitch drive shaft 4111 and is formed to rotate together with the pitch drive shaft 4111. For example, when the user rotates the pitch drive bar 4112 while holding the pitch drive bar 4112 by hand, the pitch drive shaft 4111 connected to the pitch drive bar 4112 and the pitch drive pulley 4113 connected to the pitch drive bar 4112 are rotated. ) Rotate together, and this rotational force is transmitted to the end tool 420 through the power transmission unit 430, so that the end tool 420 rotates in the same direction as the rotation direction of the pitch drive shaft 4111 It is. That is, when the pitch control unit 411 rotates clockwise around the pitch drive shaft 4111, the end tool 430 also rotates clockwise around the pitch pulley drive shaft (not shown), and conversely, the pitch control unit When the 411 rotates counterclockwise around the pitch drive shaft 4111, the end tool 430 also rotates counterclockwise around the pitch pulley drive shaft (not shown). On the other hand, the pitch drive pulley 4113 is integrally formed with the pitch drive shaft 4111 and rotates together with the pitch drive shaft 4111.

The yaw operating portion 412 includes a yaw operating axis 4121, a yaw operating bar 4122, and a yaw operating pulley 4123. The yaw drive wire 435Y2 may be connected to the yaw drive pulley 4123. Here, although the pitch drive bar 4112 is shown in the drawing to form a yaw drive shaft 4121, the spirit of the present invention is not limited thereto, the pitch drive bar 4112 and the yaw drive shaft 4121 is separate It will also be possible to form a member of and to be disposed on different axes. In this case, the yaw drive shaft 4121 may be formed in various directions to be suitable for the structure of the user's hand holding the manipulation unit 410 by an ergonomic design.

On the other hand, when the pitch operation unit rotates as described above, the coordinate system of the yaw operation unit may be relatively changed. The yaw drive bar 4122 and the yaw drive pulley 4123 are formed to be rotatable about the yaw drive shaft 4121. For example, when the user rotates the yaw drive bar 4122 while the index finger is inserted into the yaw drive bar 4122, the yaw drive pulley 4123 connected to the yaw drive bar 4122 may move the yaw drive shaft 4121. The rotational force is rotated about the center, and the rotational force is transmitted to the end tool 420 through the power transmission unit 430, so that two jaws 421 and 422 of the end tool 420 are required. It rotates left and right in the same direction as the rotation direction of the drive pulley 4123.

The actuation operating unit 413 includes an actuation operating axis 4131, an actuation operating bar 4132, and an actuation operating pulley 4133. In addition, an actuation driving wire 435A2 may be connected to the actuation driving pulley 4133. In this case, the actuation drive shaft 4131 extends from the pitch drive bar 4112, and is formed in various directions to be suitable for the structure of the user's hand holding the operation unit 410 by a direction parallel to the Z axis or by an ergonomic design. (When the pitch operation unit rotates as described above, the coordinate system of the actuation operation unit may be relatively changed.), The actuation drive bar 4132 and the actuation drive pulley 4133 is an actuation drive shaft It is formed to be rotatable about the 4131. For example, when the user rotates the actuation drive bar 4132 while the thumb is inserted into the actuation drive bar 4132, the actuation drive pulley 4133 connected to the actuation drive bar 4132 is actuated. It rotates about the drive shaft 4131, and this rotational force is transmitted to the end tool 420 through the power transmission unit 430, so that two jaws 421 of the end tool 420 422 performs an actuation operation.

On the other hand, a first YP pulley 414a and a first AP pulley 415a are fitted in the pitch operating axis 4111 to form a first YP pulley (Yaw). A pitch pulley 414a and a first AP-pull pulley 415b are formed to be rotatable about the pitch drive shaft 4111.

Here, when the yaw drive bar 4122 rotates, the first YP pulley 414a and the second YP pulley 414b rotate together with the yaw drive pulley 4123, and at the same time, the pitch drive bar 4112 and the second YP pulley 414b are connected thereto. When the yaw control unit 412 and the actuation operation unit 413 rotate together around the pitch drive shaft 4111 as a whole, they rotate together with the pitch drive pulley 4113. That is, the first YP pulley 414a and the second YP pulley 414b may be regarded as pulleys that reflect the rotation of the yaw drive bar 4122 and the rotation of the pitch drive bar 4112.

In detail, when the yaw drive bar 4122 rotates, the yaw drive pulley 4123 connected to the yaw drive bar 4122 rotates together, and thus the yaw drive wire 435Y2 connected to the first drive YP pulley 414a moves. And rotate the second YP pulley 414b connected thereto. On the other hand, when the pitch drive shaft 4111 and the pitch drive bar 4112 rotate in the direction of the arrow P of FIG. 25, the yaw drive shaft 4121 and the yaw drive pulley 4123 also rotate around the pitch drive shaft 4111 as a whole. . Then, the yaw drive wire 435Y2 rotates about the pitch drive shaft 4111 in the direction of arrow P of FIG. 25 according to the overall rotation of the manipulation unit 410, and thus the first YP pulley 414a connected thereto also rotates. do. As a result, the first YP pulley 414a and the second YP pulley 414b rotate when the yaw drive pulley 4123 rotates, and also when the pitch drive pulley 4113 rotates. This means that the yaw manipulation input and the pitch manipulation input are output from the first YP pulley 414a and the second YP pulley 414b of the manipulation unit 410 in a combined state.

Meanwhile, the first AP pulley 415a and the second AP pulley 415b connected thereto rotate together with the actuation drive pulley 4133 when the actuation drive bar 4132 rotates, and at the same time, the pitch drive bar 4112 and When the yaw control unit 412 and the actuation operation unit 413 connected to the whole rotate about the pitch drive shaft 4111 together, the yaw control unit 412 and the actuation operation unit 413 rotate together with the pitch drive pulley 4113. That is, the first AP pulley 415a and the second AP pulley 415b may be regarded as pulleys that reflect the rotation of the actuation driving bar 4132 and the rotation of the pitch driving bar 4112.

In detail, when the actuation drive bar 4132 is rotated, the actuation drive pulley 4133 connected with the actuation drive bar 4132 rotates together, and thus the actuation drive wire 435A2 connected thereto moves and thus the first AP. The pulley 415a and the second AP pulley 415b connected thereto are rotated. On the other hand, when the pitch drive shaft 4111 and the pitch drive bar 4112 rotate in the direction of the arrow P in FIG. 25, the actuation drive shaft 4131 and the actuation drive pulley 4133 also rotate about the pitch drive shaft 4111 as a whole. Done. Then, the actuation drive wire 435A2 rotates around the pitch drive shaft 4111 in the direction of arrow P of FIG. 25 according to the overall rotation of the manipulation unit 410, and thus the first AP pulley 415a connected thereto also rotates. Done. As a result, the first AP pulley 415a and the second AP pulley 415b rotate when the actuation drive pulley 4133 rotates, and also when the pitch drive pulley 4113 rotates. This means that the actuation manipulation input and the pitch manipulation input are output from the first AP pulley 415a and the second AP pulley 415b of the manipulation unit 410 in a combined state.

However, the drawing shows that the first YP pulley 414a and the second YP pulley 414b are connected, and the second YP pulley 414b and the first input part 4311 of the first differential pulley 431 are connected. However, this is for convenience of description and a configuration in which the first YP pulley 414a and the first input part 4311 of the first differential pulley 431 are directly connected in a state where the second YP pulley 414b is omitted. Would also be possible.

Similarly, in the drawing, the first AP pulley 415a and the second AP pulley 415b are connected, and the second AP pulley 415b and the first input portion 4321 of the second differential pulley 432 are shown as being connected. However, this is for convenience of description, and the first AP 4321 of the first AP pulley 415a and the second differential pulley 432 are directly connected in a state where the second AP pulley 415b is omitted. Would also be possible.

Similarly, in the drawing, the pitch drive pulley 4113 and the second pitch drive pulley 4113b are connected, and the second input part 4312 and the second differential of the second pitch drive pulley 4113b and the first differential pulley 431 are connected. Although shown as being connected to the second input portion 4322 of the pulley 432, this is for convenience of description, the pitch drive pulley 4113 and the first differential with the second pitch drive pulley 4113b is omitted. The second input part 4312 of the pulley 431 and the second input part 4322 of the second differential pulley 432 may be directly connected.

(Overall operation of the fourth embodiment)

Hereinafter, with reference to the above description, the overall configuration of the pitch operation, yaw operation and actuation operation of the surgical instrument 400 according to the fourth embodiment of the present invention.

First, the first differential pulley 431 of the surgical instrument 400 according to the fourth embodiment of the present invention includes a first input part 4311, a second input part 4312, an output part 4313, and a first differential control. A member 4314, a second differential control member 4315, and a differential control wire 4316, wherein the second differential pulley 432 includes a first input portion 4321, a second input portion 4322, and an output portion 4323. ), A first differential control member 4324, a second differential control member 4325, and a differential control wire 4326.

In detail, in order to perform the pitch, yaw and actuation operation of the end tool in the configuration of the end tool 420 of the present embodiment, the power input capable of separating the operation input from the operation unit 410 into the pitch, yaw and actuation operation. A delivery unit is needed. In the case of pitch, the rotation operation of the pitch drive bar can be directly connected to the pitch operation of the end tool. However, since the yaw operating portion and the actuation operating portion are located on the pitch operating portion, as described above, the operation inputs of the yaw operating portion and the actuation operating portion are transmitted to the power transmission unit in a state combined with the pitch operating input. This can be expressed by the following equation.

Y _P = Y + P

A _P = A + P

(Where Y _P is rotation of Y _P pulley, A _P is rotation of Y _P pulley, Y is rotation of Yaw driven pulley, P is rotation of Pitch driven pulley)

Therefore, in order to transfer the output of the operation unit 410 to the end tool 420 only with the components of Y and A, the following components extraction is required in the power transmission unit 430.

Y = Y _P -P

A = A _P -P

To this end, the power transmission unit 430 needs a differential pulley that receives Y _P and P and outputs only the difference Y component, and a differential pulley that receives A _P and P and outputs only the difference A component.

Here, the first input portion 4311 of the first differential pulley 431 is connected to the first YP pulley 414a (or the second YP pulley 414b connected thereto) so that the yaw driving pulley 4123 rotates. It rotates and also rotates when the pitch drive pulley 4113 rotates. The second input portion 4312 of the first differential pulley 431 is connected to the pitch driving pulley 4113 to rotate when the pitch driving pulley 4113 rotates. The output part 4313 of the first differential pulley 431 is connected to a yaw wire 435Y to control yaw operation of the end tool 420.

Meanwhile, the first input portion 4321 of the second differential pulley 432 is connected to the first AP pulley 415a (or the second AP pulley 415b connected thereto) so that the actuation driving pulley 4133 may rotate. It also rotates when the pitch drive pulley 4113 rotates. The second input portion 4322 of the second differential pulley 432 is connected to the pitch driving pulley 4113 to rotate when the pitch driving pulley 4113 rotates. The output portion 4323 of the second differential pulley 432 is connected to an actuation wire 435A to control the actuation operation of the end tool 420.

On the other hand, the pitch drive pulley 4113 is connected to the pitch wire (435P), to control the pitch operation of the end tool 420.

First, the pitch operation is as follows.

As described above, while the user holds the pitch drive bar 4112 of the pitch control unit 411 of the operation unit 410 by hand, the pitch drive bar 4112 is moved around the pitch drive shaft 4111 of FIG. 25. Rotation in the direction of arrow P (pitch) causes the pitch drive pulley 4113 to rotate with the pitch drive shaft 4111. Then, the pitch pulley 423 connected to the pitch driving pulley 4113 and the pitch wire 435P and the yaw pulley 424 connected thereto, the jaw 421 and the second jaw ( jaw) 422 is rotated about the pitch axis of rotation (see 420PX of FIG. 20) to perform the pitch operation.

At this time, the pitch manipulation does not affect the outputs of the two differential pulleys 431 and 432 of the power transmission unit 430 which determine the yaw and actuation operation of the end tool 420. In more detail, when the first YP pulley 414a and the first AP pulley 415a rotate about the pitch drive shaft 4111 by the pitch operation, respectively, a first differential connected to the second YP pulley 414b is used. The second input portion 4312 of the first differential pulley 431 connected to the first input portion 4311 and the pitch drive pulley 4113 of the pulley 431 rotates, respectively, within the first differential pulley 431. Since the rotations cancel each other, the output portion 4313 of the first differential pulley 431 does not rotate. Similarly, the first input portion 4321 of the second differential pulley 432 connected to the second AP pulley 415b and the second input portion 4322 of the second differential pulley 432 connected to the pitch driving pulley 4113 are respectively. While rotating, the rotations in the second differential pulley 432 cancel each other, so that the output portion 4323 of the second differential pulley 432 does not rotate. Thus, the pitch operation can be performed independently of the yaw operation and the actuation operation.

Next, the required operation of the present embodiment will be described.

When the user rotates the yaw drive bar 4122 in the direction of arrow Y in FIG. 25 while the index finger is inserted into the yaw drive bar 4122, the yaw drive pulley 4123 connected to the yaw drive bar 4122 is connected to the yaw drive shaft ( 4121, and this rotational force is transmitted to the first YP pulley 414a and the second YP pulley 414b connected thereto through the yaw drive wire 435Y2. Delivered, and a second YP pulley 414b rotates. When the second YP pulley 414b rotates, the first input part 4311 of the first differential pulley 431 connected thereto and the output part 4313 of the first differential pulley 431 connected thereto Will rotate. As a result, when the output portion 4313 of the first differential pulley 431 rotates, the yaw wire 435Y connected to the output portion 4313, the yaw pulley 424 connected to the yaw wire 435Y, and the yaw pulley 424. ), The jaws 421 and 422 connected to each other rotate about the yaw axis of rotation (see 420YX in FIG. 20), thereby performing yaw motion.

Next, the actuation operation of the present embodiment will be described.

When the user rotates the actuation drive bar 4132 in the direction of arrow A of FIG. 25 while the user inserts the thumb in the actuation drive bar 4132, the actuation drive pulley 4133 connected to the actuation drive bar 4132. Is rotated about the actuation drive shaft 4131, and the rotational force is driven by the actuation drive wire 435A2 to the first AP-pull pulley 415a and the second AP pulley connected thereto. pulley 415b, the second AP-Pull pulley 415b rotates. When the second AP pulley 415b rotates, the first input portion 4321 of the second differential pulley 432 connected thereto and the output portion 4323 of the second differential pulley 432 connected thereto rotate. As a result, when the output part 4323 of the second differential pulley 432 rotates, the actuation wire 435A connected to the output part 4323 makes a linear motion in the direction of arrow A of FIG. 25. Accordingly, the actuation operation of the jaws 421 and the jaws 422 is performed while the actuation axis (see 420AX in FIG. 20) connected to the actuation wire 435A is translated. will be.

Next, the case where the yaw drive pulley 4123 and the pitch drive pulley 4113 rotate together is demonstrated.

As described above, when the yaw drive pulley 4123 rotates, the first YP pulley 414a and the second YP pulley 414b rotate together with the yaw drive pulley 4123, and the pitch drive shaft 4111 rotates. The lower surface rotates together with the pitch drive pulley 4113. On the other hand, the yaw wire 435Y for performing the yaw operation of the end tool 420 is not affected by the operation of the pitch driver 411 and only affects the operation of the yaw driver 412. Should receive Accordingly, the first input portion 4311 of the first differential pulley 431 is connected to the second YP pulley 414b, and the second input portion 4312 of the first differential pulley 431 is connected to the pitch driving pulley 4113. In connection, as described above, only pure yaw motion control components are extracted from the rotation of the pitch drive pulley 4113 and the rotation of the yaw drive pulley 4123.

According to the present invention, even if the yaw driver 412 rotates together with the pitch drive shaft 4111, the yaw motion of the end tool is not influenced by the pitch drive shaft 4111 and is purely dependent on the operation of the yaw driver 412. It is possible to make it possible.

Next, the case where the actuation drive pulley 4133 and the pitch drive pulley 4113 rotate together is demonstrated.

As described above, when the actuation drive pulley 4133 rotates, the first AP pulley 415a and the second AP pulley 415b rotate together with the actuation drive pulley 4133 and the pitch drive shaft 4111. This rotation rotates together with the pitch drive pulley 4113. On the other hand, the actuation wire (435A) for performing the actuation (actuation) operation of the end tool 420 is not affected by the operation of the pitch drive unit 411 but only the operation of the actuation drive unit 413 do. Accordingly, the first input portion 4321 of the second differential pulley 432 is connected to the second AP pulley 415b, and the second input portion 4322 of the second differential pulley 432 is connected to the pitch driving pulley 4113. In connection, the pure actuation motion control component is extracted only from the rotation of the pitch drive pulley 4113 and the rotation of the actuation drive pulley 4133 as described above.

According to the present invention, even if the actuation drive unit 413 rotates together with the pitch drive pulley 4113, the actuation operation of the end tool is not influenced by the pitch drive pulley 4113, and the actuation drive unit 412 is pure. It is possible to depend only on the operation of

Thus, as described above, the pitch, yaw and actuation operation of the control part are independently separated into respective operating components of the pitch, yaw and actuation of the end tool, which means that the pitch, yaw and actuation operation of the control part occurs simultaneously or If not, they can be separated independently into each moving component of the pitch, yaw and actuation of the end tool.

Surgical instrument 400 according to the fourth embodiment of the present invention described above, the configuration of the various operation unit described in Figure 3a, etc., the configuration of the various power transmission unit described in Figures 4a and 7 to 19 and Figures 7 to 14 Various modifications described in the above will be applicable in various combinations.

<Fifth Embodiment of Surgical Instrument> (E1 + H2 + D)

Hereinafter, a surgical instrument 500 according to a fifth embodiment of the present invention will be described. Here, the surgical instrument 500 according to the fifth embodiment of the present invention has an end tool (end tool) has the configuration of Figures 20 to 24 described above, the operation unit 510 of the present invention shown in Figure 28 Like the surgical instrument 200 according to the second embodiment, the actuation operation unit is formed on the yaw control unit, and when the yaw control unit rotates, the actuation operation unit is also formed to rotate together.

FIG. 26 is a diagram illustrating a surgical instrument 500 according to a fifth embodiment of the present invention. Referring to FIG. 26, a surgical instrument 500 according to a fifth embodiment of the present invention includes an operation unit 510, an end tool 520, a power transmission unit 530, and a connection unit (not shown). Include.

End tool 520 may include a first jaw 521, a second jaw 522, one or more pitch pulleys 523, and one or more yaw pulleys 524. The power transmission unit 530 further includes one or more pitch wires 535P, one or more yaw wires 535Y, and an actuation wire 535A. The end tool 520 has a pulley / wire for a pitch operation, a pulley / wire for a yaw operation, and a pulley / wire for an actuation operation, respectively. It is characterized in that it is formed so as not to affect them. Here, since the end tool 520 is the same as the end tool described with reference to FIGS. 20 to 24, a detailed description thereof will be omitted.

The power transmission unit 530 includes a first differential member 531 and a second differential member 532. Here, the first differential member 531 and the second differential member 532 are provided with two or more inputs and one output, and receives the rotational force from the two or more inputs, and thus sums (or differences) their values. It extracts a desired rotational force through the output unit. Such a differential member may include a differential pulley of the surgical instrument 100 according to the first embodiment of the present invention shown in FIGS. 4A and 4B, and a first pulley of the differential pulley shown in FIG. Various types of differential pulleys and differential gears can be used, including a variant, a second variant of the differential pulley shown in FIG. 10 and below, and a third variant of the differential pulley shown in FIG. 14 and below. That is, although FIG. 26 illustrates the differential pulley of FIG. 13E as the differential members 531 and 532 of the surgical instrument 500 according to the fifth embodiment of the present invention, the spirit of the present invention is not limited thereto. Various types of differential pulleys and differential gears will be applicable to this embodiment as well.

Hereinafter, the operation unit 510 of the surgical instrument 500 according to the fifth embodiment of the present invention will be described in more detail.

Referring to FIG. 26, the operation unit 510 of the surgical instrument 500 according to the fifth embodiment of the present invention may control a pitch operator for controlling a pitch movement of an end tool 520. 511, a yaw operator 512 for controlling the yaw motion of the end tool 520, and an actuation operating part for controlling the actuation motion of the end tool 520. actuation operator) 513.

The pitch operation unit 511 includes a pitch operating axis 5111, a pitch operating bar 5112, and a pitch operating pulley 5113. Here, the pitch drive shaft 5111 may be formed in a direction parallel to the Y axis, and the pitch drive bar 5112 is connected to the pitch drive shaft 5111 and is formed to rotate together with the pitch drive shaft 5111. For example, when the user rotates the pitch drive bar 5112 while holding the pitch drive bar 5112 by hand, the pitch drive shaft 5111 connected to the pitch drive bar 5112 and the pitch drive pulley coupled thereto ( 5113 rotate together, and this rotational force is transmitted to the end tool 520 through the power transmission unit 530 so that the end tool 520 is in the same direction as the rotational direction of the pitch drive shaft 5111. To rotate. That is, when the pitch control unit 511 rotates clockwise about the pitch drive shaft 5111, the end tool 530 also rotates clockwise around the pitch pulley drive shaft (not shown), and conversely, the pitch control unit When 511 rotates counterclockwise around the pitch drive shaft 5111, the end tool 530 also rotates counterclockwise around the pitch pulley drive shaft (not shown). On the other hand, the pitch drive pulley 5113 is formed integrally with the pitch drive shaft 5111 and rotates together with the pitch drive shaft 5111.

The yaw operating section 512 includes a yaw operating axis 5121, a yaw operating bar 5122, and a yaw operating pulley 5123. Here, although the pitch drive bar 5112 is illustrated in the drawing to form a yaw drive shaft 5121, the spirit of the present invention is not limited thereto, and the pitch drive bar 5112 and the yaw drive shaft 5121 are separately provided. It will also be possible to form a member of and to be disposed on different axes. In this case, the yaw drive shaft 5121 may be formed in various directions to be suitable for the structure of the user's hand holding the manipulation unit 510 by an ergonomic design. In addition, the yaw driving wire 535Y2 may be connected to the yaw driving pulley 5123.

Here, when the pitch manipulation unit 511 rotates as described above, the coordinate system of the yaw manipulation unit 512 may be relatively changed. The yaw drive bar 5122 and the yaw drive pulley 5123 are formed to be rotatable about the yaw drive shaft 5121. For example, when the user rotates the yaw drive bar 5122 while the index finger is inserted into the yaw drive bar 5122, the yaw drive pulley 5123 connected to the yaw drive bar 5122 may move the yaw drive shaft 5121. Rotational center, and this rotational force is transmitted to the end tool 520 through the yaw drive wire 535Y2, so that the two jaws 521 and 522 of the end tool 520 It rotates left and right in the same direction as the rotation direction of the drive pulley 5123.

The actuation operating unit 513 includes an actuation operating axis 5131, an actuation operating bar 5152, and an actuation operating pulley 5133. In this case, the actuation drive bar 5152 and the actuation drive pulley 5133 are formed to be rotatable about the actuation drive shaft 5131. For example, when the user rotates the actuation drive bar 5152 with the thumb inserted into the actuation drive bar 5152, the actuation drive pulley 5133 connected to the actuation drive bar 5152 is actuated. Rotation about the drive shaft (5131), the rotational force is transmitted to the end tool (520) through the power transmission unit 530, the two jaws (521) of the end tool (520) 522 performs an actuation operation. In this case, the actuation manipulation unit 513 may be formed in various directions to be suitable for the structure of a user's hand holding the manipulation unit 510 by an ergonomic design.

On the other hand, the actuation operating portion 513 is formed on the yaw actuation connecting portion 5124 extending from the yaw operating portion 512. Therefore, when the yaw drive bar 5122 of the yaw control part 512 rotates, the actuation operation part 513 also rotates together with respect to the yaw drive shaft 5121 together with the yaw drive bar 5122 and the yaw drive pulley 5123. Done. Meanwhile, the yaw actuation drive pulley 514P may be formed to be rotatable about the yaw drive shaft 5121. The actuation drive pulley 5133 and the yaw actuation drive pulley 514P are connected by the yaw actuation connecting wire 514W. The yaw actuation drive pulley 514P is further connected with a yaw actuation drive wire 535AY.

Therefore, when the yaw drive bar 5122 rotates, the yaw actuation connecting part 5124 and the actuation operating part 513 extending therefrom rotate about the yaw drive shaft 5121, and the actuation drive pulley 5133 is rotated. The yaw-actuating wire connecting wire 514W also rotates about the yaw drive shaft 5121, and consequently the yaw actuation drive pulley 514P rotates about the yaw drive shaft 5121.

As a result, the yaw actuation drive pulley 514P is formed to rotate even when the yaw drive pulley 5123 rotates and to rotate even when the actuation drive pulley 5133 rotates.

On the other hand, a first YP pulley (514a) and a first AYP pulley (Actuation-Yaw-Pitch pulley) 515a are fitted in the pitch operating axis 5111, so that the first YP pulley is fitted. (Yaw-Pitch pulley) 514a and a first AYP-Paw pulley 515b are formed to be rotatable about the pitch drive shaft 5111.

Here, when the yaw drive bar 5122 rotates, the first YP pulley 514a and the second YP pulley 514b rotate together with the yaw drive pulley 5123 and at the same time the pitch drive bar 5112 and When the connected yaw control unit 512 and the actuation operation unit 513 rotate together about the pitch drive shaft 5111 as a whole, they rotate together with the pitch drive pulley 5113. That is, the first YP pulley 514a and the second YP pulley 514b may be regarded as pulleys that reflect the rotation of the yaw drive bar 5122 and the rotation of the pitch drive bar 5112.

In detail, when the yaw drive bar 5122 rotates, the yaw drive pulley 5123 connected to the yaw drive bar 5122 rotates together, and thus the first YP pulley 514a moves while the yaw drive wire 535Y2 connected thereto moves. And rotate the second YP pulley 514b connected thereto. On the other hand, when the pitch drive shaft 5111 and the pitch drive bar 5112 rotate in the direction of the arrow P of FIG. 26, the yaw drive shaft 5121 and the yaw drive pulley 5123 also rotate around the pitch drive shaft 5111 as a whole. . Then, the yaw drive wire 535Y2 is rotated about the pitch drive shaft 5111 in the direction of arrow P of FIG. 26 according to the overall rotation of the operation unit 510, so that the first YP pulley 514a connected thereto is also rotated. do. As a result, the first YP pulley 514a and the second YP pulley 514b also rotate when the yaw drive pulley 5123 rotates and also rotate when the pitch drive pulley 5113 rotates. This means that the yaw manipulation input and the pitch manipulation input are output from the first YP pulley 514a and the second YP pulley 514b of the manipulation unit 510.

Meanwhile, when the actuation drive bar 5152 rotates, the first AYP pulley 515a and the second AYP pulley 515b rotate together with the actuation drive pulley 5133 and the yaw drive bar 5122 rotates. The lower surface rotates together with the yaw drive pulley 5123, and when the pitch drive bar 5112 rotates, it rotates together with the pitch drive pulley 5113. That is, the first AYP pulley 515a and the second AYP pulley 515b are pulleys that reflect the rotation of the actuation drive bar 5152, the rotation of the yaw drive bar 5122, and the rotation of the pitch drive bar 5112. You can see.

In detail, when the actuation drive bar 5152 rotates, the actuation drive pulley 5133 connected with the actuation drive bar 5152 rotates together, and thus the yaw-actuation connecting wire 514W connected thereto moves and yaw. -Rotate the actuation drive pulley 514P. Then, when the yaw actuation drive pulley 514P rotates, the yaw actuation drive wire 535AY connected thereto rotates to rotate the first AYP pulley 515a and the second AYP pulley 515b connected thereto. On the other hand, when the yaw drive bar 5122 rotates, the actuation drive unit 513 connected to the yaw drive bar 5122 rotates together as a whole, and thus the yaw drive bar 5132 is connected to the actuation drive pulley 5133 of the actuation drive unit 513. The actuation connecting wire 514W rotates about the yaw drive shaft 5121 and rotates the yaw actuation drive pulley 514P. Then, when the yaw actuation drive pulley 514P rotates, the yaw actuation drive wire 535AY connected thereto rotates to rotate the first AYP pulley 515a and the second AYP pulley 515b connected thereto. On the other hand, when the pitch drive shaft 5111 and the pitch drive bar 5112 rotate in the direction of the arrow P in FIG. 26, the actuation drive shaft 5131 and the actuation drive pulley 5133 also rotate about the pitch drive shaft 5111 as a whole. Done. Then, the yaw actuation drive wire 535AY rotates about the pitch drive shaft 5111 in the direction of arrow P of FIG. 26 according to the overall rotation of the manipulation unit 510, and thus the first AYP pulley 515a connected thereto. Will also rotate. As a result, the first AYP pulley 515a and the second AYP pulley 515b also rotate when the actuation drive bar 5152 rotates, rotates when the yaw drive bar 5152 rotates, and the pitch drive bar 5112 Rotates when) rotates. This means that the actuation manipulation input, the yaw manipulation input, and the pitch manipulation input are output from the first AYP pulley 515a and the second AYP pulley 515b of the manipulation unit 510.

However, the drawing shows that the first YP pulley 514a and the second YP pulley 514b are connected, and the second YP pulley 514b and the first input part 5311 of the first differential pulley 531 are connected. However, this is for convenience of description and a configuration in which the first YP pulley 514a and the first input part 5311 of the first differential pulley 531 are directly connected in a state where the second YP pulley 514b is omitted. Would also be possible.

Similarly, in the drawing, the first AYP pulley 515a and the second AYP pulley 515b are connected, and the second AYP pulley 515b and the first input part 5321 of the second differential pulley 532 are connected. However, this is for convenience of description, and a configuration in which the first AYP pulley 515a and the first input part 5321 of the second differential pulley 532 are directly connected while the second AYP pulley 515b is omitted. Would also be possible.

Similarly, in the drawing, the pitch driving pulley 5113 and the second pitch driving pulley 5113b are connected, and the second pitch driving pulley 5113b and the second input part 5312 of the first differential pulley 531 are connected. Although illustrated for convenience of description, the pitch driving pulley 5113 and the second input part 5312 of the first differential pulley 531 are directly connected in a state where the second pitch driving pulley 5113b is omitted. It is also possible to configure.

(Overall operation of the fifth embodiment)

Hereinafter, with reference to the above description, the overall configuration of the pitch operation, yaw operation and actuation operation of the surgical instrument 500 according to the fifth embodiment of the present invention.

First, the first differential pulley 531 of the surgical instrument 500 according to the fifth embodiment of the present invention includes a first input part 5311, a second input part 5312, an output part 5313, and a first differential control. A member 5314, a second differential control member 5315, and a differential control wire 5316, and the second differential pulley 532 includes a first input part 5321, a second input part 5322, and an output part 5323. ), A first differential control member 5324, a second differential control member 5325, and a differential control wire 5326.

Due to the configuration of the end tool 520 of the present embodiment, in order to perform the pitch, yaw and actuation operation of the end tool 520, the operation input of the operation unit 510 may be separated into a pitch, yaw and actuation action. Power transmission is needed. In the case of pitch, the rotation operation of the pitch drive bar can be directly connected to the pitch operation of the end tool. However, since the yaw control part and the actuation control part are located on the pitch control part, and the actuation control part is located on the yaw control part, as described above, the operation input of the yaw control part is transmitted to the power transmission part in a state combined with the pitch operation input, and the actuation is performed. The operation input is transmitted to the power transmission unit in combination with the yaw operation input and the pitch operation input. This can be expressed by the following equation.

Y _P = Y + P

A _YP = A + Y + P (A _Y = A + Y)

(Where Y _P is rotation of Y _P pulley, A _YP is rotation of A _YP pulley, A is rotation of Actuation drive pulley, Y is rotation of Yaw drive pulley, P is rotation of Pitch drive pulley)

Therefore, in order to transmit the output of the operation unit 510 to the end tool 520 only with the components of Y and A, the following components extraction is necessary in the power transmission unit 530.

Y = Y _P -P

A = A _YP -Y _P

To this end, the power transmission unit 530 needs a differential pulley that receives Y _P and P and outputs only the difference Y component, and a differential pulley that receives A _YP and Y _P and outputs only the difference A component.

Here, the first input portion 5311 of the first differential pulley 531 is connected to the first YP pulley 514a (or the second YP pulley 514b connected thereto) so that the yaw driving pulley 5123 rotates. It rotates and also rotates when the pitch drive pulley 5113 rotates. The second input portion 5312 of the first differential pulley 531 is connected to the pitch driving pulley 5113 to rotate when the pitch driving pulley 5113 rotates. The output part 5313 of the first differential pulley 531 is connected to a yaw wire 535Y to control yaw operation of the end tool 520.

On the other hand, the first input part 5321 of the second differential pulley 532 is connected to the first AYP pulley 515a (or the second AYP pulley 515b connected thereto), and the actuation driving pulley 5133 may rotate. Also rotates when the yaw drive pulley 5123 rotates, and rotates when the pitch drive pulley 5113 rotates. The second input portion 5322 of the second differential pulley 532 is connected to the second YP pulley 514b to rotate when the second YP pulley 514b rotates. The output unit 5323 of the second differential pulley 532 is connected to an actuation wire 535A to control the actuation operation of the end tool 520.

On the other hand, the pitch drive pulley 5113 is connected to a pitch wire (535P), to control the pitch operation of the end tool (520).

First, the pitch operation is as follows.

As described above, in a state where the user holds the pitch drive bar 5112 of the pitch control unit 511 of the operation unit 510 by hand, the pitch drive bar 5112 is moved around the pitch drive shaft 5111 of FIG. Rotation in the direction of arrow P (pitch) causes the pitch drive pulley 5113 to rotate with the pitch drive shaft 5111. Then, the pitch pulley 523 connected to the pitch driving pulley 5113 and the pitch wire 535P, the yaw pulley 524, the jaw 521 and the second jaw connected thereto jaw) 522 is rotated about a pitch axis of rotation (see 420PX in FIG. 20) to perform a pitch operation.

At this time, the pitch manipulation does not affect the two differential pulleys 531 532 of the power transmission unit 530 that determine the yaw and actuation operation of the end tool 520. In more detail, when the first YP pulley 514a and the first AYP pulley 515a rotate about the pitch drive shaft 5111 by the pitch operation, respectively, a first differential connected to the second YP pulley 514b is used. The first input part 5311 of the pulley 531 and the second input part 5312 of the first differential pulley 531 connected to the pitch driving pulley 5113 rotate, respectively, but the first input part 5311 of the pulley 531 Since the rotations cancel each other, the output portion 5313 of the first differential pulley 531 does not rotate. Similarly, the first input portion 5321 of the second differential pulley 532 connected to the second AYP pulley 515b and the second input portion 5322 of the second differential pulley 532 connected to the second YP pulley 514b Each of them rotates, but since their rotations cancel each other in the second differential pulley 532, the output portion 5323 of the second differential pulley 532 does not rotate. Thus, the pitch operation can be performed independently of the yaw operation and the actuation operation.

Next, the required operation of the present embodiment will be described.

When the user rotates the yaw drive bar 5122 in the direction of arrow Y in FIG. 26 while the user inserts the index finger into the yaw drive bar 5122, the yaw drive pulley 5123 connected to the yaw drive bar 5122 is connected to the yaw drive shaft ( 5121, and this rotational force is transmitted to the first YP pulley 514a and the second YP pulley 514b connected thereto through the yaw drive wire 535Y2. Delivered, the second YP pull ey (514b) rotates. When the second YP pulley 514b rotates, the first input part 5311 of the first differential pulley 531 connected thereto and the output part 5313 of the first differential pulley 531 connected thereto. Will rotate. As a result, when the output part 5313 of the first differential pulley 531 rotates, the yaw wire 535Y connected to the output part 5313, the yaw pulley 524 and the yaw pulley 524 connected to the yaw wire 535Y are connected. ), The jaws 521 and 522 connected to each other rotate about the yaw axis of rotation (see 420YX in FIG. 20), so that yaw motion is performed.

Next, the actuation operation of the present embodiment will be described.

When the user rotates the actuation drive bar 5152 in the direction of arrow A of FIG. 26 while the user inserts a thumb in the actuation drive bar 5152, an actuation drive pulley 5133 connected to the actuation drive bar 5152 is provided. Rotates about the actuation drive shaft 5131, and this rotational force is transmitted to the yaw-actuating drive pulley 514P via the yaw-actuating connecting wire 514W. When the yaw-actuating drive pulley 514P rotates, the rotation force is transmitted to the first AYP pulley 515a and the second AYP pulley connected thereto through the yaw-actuating drive wire 535AY connected thereto. It is delivered to the Actuation-Pitch pulley 515b, and the second AYP Pull-ey pulley 515b rotates. When the second AYP pulley 515b rotates, the first input part 5321 of the second differential pulley 532 connected thereto and the output part 5323 of the second differential pulley 532 connected thereto rotate. As a result, when the output part 5323 of the second differential pulley 532 rotates, the actuation wire 535A connected to the output part 5323 performs linear motion in the direction of arrow A of FIG. 26. Accordingly, the actuation operation of the jaws 521 and jaws 522 is performed while the actuation axis (see 420AX in FIG. 20) connected to the actuation wire 535A is translated. will be.

Next, the case where the yaw drive pulley 5123 and the pitch drive pulley 5113 rotate together is demonstrated.

As described above, when the yaw drive pulley 5123 rotates, the first YP pulley 514a and the second YP pulley 514b rotate together with the yaw drive pulley 5123, and the pitch drive shaft 5111 is rotated. When it rotates, it rotates with the pitch drive pulley 5113. Meanwhile, the yaw wire 535Y for performing the yaw operation of the end tool 520 is not affected by the operation of the pitch driver 511 and only affects the operation of the yaw driver 512. Should receive Accordingly, the first input portion 5311 of the first differential pulley 531 is connected to the second YP pulley 514b, and the second input portion 5312 of the first differential pulley 531 is connected to the pitch driving pulley 5113. In connection with this, only the pure yaw motion control component is extracted from the rotation of the pitch drive pulley 5113 and the rotation of the yaw drive pulley 5123 as described above.

According to the present invention as described above, even if the yaw driver 512 rotates together with the pitch drive shaft 5111, the yaw motion of the end tool is not influenced by the pitch drive shaft 5111 and is purely dependent on the operation of the yaw driver 512. It is possible to make it possible.

Next, the case where the actuation drive pulley 5133, the yaw drive pulley 5123, and the pitch drive pulley 5113 rotate together will be described.

As described above, the first AYP pulley 515a and the second AYP pulley 515b rotate together with the actuation drive pulley 5133 when the actuation drive pulley 5133 rotates, and the yaw drive pulley 5123. Rotates together with the yaw drive pulley 5123, and rotates together with the pitch drive pulley 5113 when the pitch drive shaft 5111 rotates. On the other hand, the actuation wire 535A for performing the actuation operation of the end tool 520 is not affected by the operation of the pitch driver 511 and the operation of the yaw driver 512. Only the operation of 513 should be affected. Accordingly, the first input portion 5321 of the second differential pulley 532 is connected to the second AYP pulley 515b, and the second input portion 5322 of the second differential pulley 532 is connected to the second YP pulley 514b. As described above, only the pure actuation motion control component is extracted from the rotation of the pitch drive pulley 5113 and the rotation of the yaw drive pulley 5123 and the rotation of the actuation drive pulley 5133.

According to the present invention, even if the actuation drive unit 513 rotates together with the yaw drive pulley 5123 or the pitch drive pulley 5113, the actuation operation of the end tool is performed by the yaw drive pulley 5123 or the pitch drive pulley ( It is possible to be dependent only on the operation of the actuation driver 512 without being influenced by 5113.

Thus, as described above, the pitch, yaw and actuation operation of the control part are independently separated into respective operating components of the pitch, yaw and actuation of the end tool, which means that the pitch, yaw and actuation operation of the control part occurs simultaneously or If not, they can be separated independently into each moving component of the pitch, yaw and actuation of the end tool.

Surgical instrument 500 according to the fifth embodiment of the present invention described above in the configuration of the various operation unit described in Figure 3a, etc., the configuration of the various power transmission unit described in Figures 4a and 7 to 19 and Figures 7 to 14 Various modifications described in the above will be applicable in various combinations.

<Sixth Example of Surgical Instrument> (E1 + H3 + D)

Hereinafter, a surgical instrument 600 according to a sixth embodiment of the present invention will be described. Here, the surgical instrument 600 according to the sixth embodiment of the present invention, the end tool (end tool) has the configuration of FIGS. 20 to 24 described above, the operation unit 510 is the present invention shown in FIG. Like the surgical instrument 300 according to the third embodiment of the present invention is characterized in that it is formed to include a first jaw operation unit and a second jaw operation unit for driving each jaw independently of the yaw control unit and the actuation operation unit.

27 is a view showing the surgical instrument 600 according to the sixth embodiment of the present invention. Referring to FIG. 27, the surgical instrument 600 according to the sixth embodiment of the present invention includes an operation unit 610, an end tool 620, a power transmission unit 630, and a connection unit (not shown). Include.

End tool 620 may include a first jaw 621, a second jaw 622, one or more pitch pulleys 623, one or more yaw pulleys 624. The power transmission unit 630 further includes one or more pitch wires 635P, one or more yaw wires 635Y, and an actuation wire 635A. The end tool 620 includes a pulley / wire for a pitch operation, a pulley / wire for a yaw operation, and a pulley / wire for an actuation operation, respectively. It is characterized in that it is formed so as not to affect them. Here, since the end tool 620 is the same as the end tool described with reference to FIGS. 20 to 24, the detailed description thereof will be omitted.

The power transmission unit 630 includes a first differential member 631 and a second differential member 632. Here, the first differential member 631 and the second differential member 632 includes two or more inputs and one output, and receives a rotational force from the two or more inputs to obtain a sum (or difference) thereof. It extracts a desired rotational force through the output unit. Such a differential member may include a differential pulley of the surgical instrument 100 according to the first embodiment of the present invention shown in FIGS. 4A and 4B, and a first pulley of the differential pulley shown in FIG. Various types of differential pulleys and differential gears can be used, including a variant, a second variant of the differential pulley shown in FIG. 10 and below, and a third variant of the differential pulley shown in FIG. 14 and below. That is, although FIG. 27 illustrates the differential pulley of FIG. 13E as the differential pulleys 631 and 632 of the surgical instrument 600 according to the sixth embodiment of the present invention, the spirit of the present invention is not limited thereto. Various types of differential pulleys and differential gears will be applicable to this embodiment as well.

Hereinafter, the operation unit 610 of the surgical instrument 600 according to the sixth embodiment of the present invention will be described in more detail.

Referring to FIG. 27, the operation unit 610 of the surgical instrument 600 according to the sixth embodiment of the present invention is a pitch operator controlling a pitch movement of an end tool 620. 611, the first jaw operator 612 for controlling the movement of the first jaw of the end tool 620, and the second jaw of the end tool 620 A second jaw operator 613 for controlling movement.

The pitch operation unit 611 includes a pitch operating axis 6111, a pitch operating bar 6112, and a pitch operating pulley 6131. Here, the pitch drive shaft 6111 may be formed in a direction parallel to the Y axis, and the pitch drive bar 6112 is connected to the pitch drive shaft 6111 and is formed to rotate together with the pitch drive shaft 6111. For example, when the user rotates the pitch drive bar 6112 while holding the pitch drive bar 6112 by hand, the pitch drive shaft 6111 connected to the pitch drive bar 6112 and the pitch drive pulley 6131 connected thereto are provided. ) Rotate together, and this rotational force is transmitted to the end tool 620 through the power transmission unit 630, so that the end tool 620 rotates in the same direction as the rotation direction of the pitch drive shaft 6111 It is. That is, when the pitch control unit 611 rotates clockwise about the pitch drive shaft 6111, the end tool 630 also rotates clockwise around the pitch pulley drive shaft (not shown), and conversely, the pitch control unit When the 611 rotates counterclockwise about the pitch drive shaft 6111, the end tool 630 also rotates counterclockwise around the pitch pulley drive shaft (not shown). On the other hand, the pitch drive pulley 6113 is formed integrally with the pitch drive shaft 6111 and rotates together with the pitch drive shaft 6111.

The first jaw operating unit 612 includes a jaw operating axis, a jaw operating bar 6222, and a jaw operating pulley 6223. Here, although the pitch drive bar 6112 extends to form a first jaw driving axis, a jaw drive pulley 6223 is fitted to the pitch drive bar 6112, The spirit of the present invention is not limited thereto, and the pitch driving bar 6112 and the first jaw driving shaft may be formed as separate members and disposed on different shafts. In this case, the first driving shaft may be formed in various directions to be suitable for the structure of the user's hand holding the operation unit 610 by an ergonomic design.

In addition, the first set driving pulley 6223 may be connected to the first set driving wire 635J1 and the first set auxiliary driving wire 635J1 '. At this time, any one of the Article 1 drive wire 635J1 and Article 1 Auxiliary drive wire 635J1 'is formed so as to be twisted once in the middle, so that the Article 1 drive wire 635J1 and Article 1 Auxiliary drive wire 635J1. ') May be formed such that the rotational force transmission directions are opposite to each other. Meanwhile, the first jaw driving bar 6122 and the first jaw driving pulley 6223 are formed to be rotatable about the first jaw driving shaft. For example, when the user rotates the first jaw drive bar 6222 in a state where the user's thumb is inserted into the first jaw drive bar 6222, the first jaw drive pulley 6223 connected to the first jaw drive bar 6222. ) Rotates about the first set drive shaft, and this rotational force is transmitted to the end tool 620 through the power transmission unit 630, the first jaw ( 621 is rotated to the left and right in the same direction as the rotation direction of the first set drive pulley (6123).

The Article 2 operation unit 613 includes a Article 2 jaw operating axis (jaw operating axis), Article 2 Jaw operating bar (jaw operating bar) 6132 and Article 2 Jaw operating pulley (jaw operating pulley) (6133). Here, although the pitch drive bar 6112 extends to form a second jaw driving axis, and the jaw drive pulley 6133 is fitted to the pitch drive bar 6112, the present invention is illustrated. The inventive concept is not limited thereto, and the pitch driving bar 6112 and the second jaw driving shaft may be formed as separate members and disposed on different shafts. In this case, the second drive shaft may be formed in various directions to be suitable for the structure of the user's hand holding the operation unit 610 by an ergonomic design.

In addition, the second set driving pulley 6133 may be connected to the second set driving wire 635J2. Meanwhile, the second jaw drive bar 6132 and the second jaw drive pulley 6133 are formed to be rotatable about the second jaw drive shaft. For example, when the user rotates the second jaw driving bar 6132 while the index finger is inserted into the second jaw driving bar 6132, the second jaw driving pulley 6133 connected to the second jaw driving bar 6132 ) Rotates about the second jaw drive shaft, and this rotational force is transmitted to the end tool (620) through the power transmission unit 630, the second jaw ( 622 is to rotate left and right in the same direction as the rotation direction of the second set driving pulley (6133).

On the other hand, a pitch jaw-pitch pulley 614a, a first jaw-pitch pulley 615a, and a first J1P auxiliary pulley (first) are arranged on a pitch operating axis 6111. jaw-pitch additional pulley (616a) is fitted so that the first J2P pulley (614a), the first J1P pulley (615a) and the first J1P auxiliary pulley (616a) are rotatable about the pitch drive shaft (6111). do.

Here, the first J2P pulley 614a and the second J2P pulley 614b connected thereto rotate together with the second driving pulley 6133 when the second driving pulley 6133 rotates, and at the same time, the pitch driving bar 6112. ) And the first manipulator 612 and the second manipulator 613 connected thereto rotate together with the pitch drive pulley 6113 when the whole of the first manipulator 612 and the second manipulator 613 rotate together. That is, the first J2P pulley 614a and the second J2P pulley 614b may be regarded as pulleys that reflect the rotation of the second jaw driving bar 6132 and the rotation of the pitch driving bar 6112 together.

In detail, when the second jaw drive bar 6132 rotates, the second jaw drive pulley 6133 connected with the second jaw drive bar 6132 rotates together, and thus, the second jaw drive wire 635J2 connected thereto moves. While rotating the first J2P pulley 614a and the second J2P pulley 614b connected thereto. On the other hand, when the pitch drive shaft 6111 and the pitch drive bar 6112 rotate in the direction of the arrow P in FIG. 27, the second jaw drive shaft and the second jaw drive pulley 6133 also rotate about the pitch drive shaft 6111 as a whole. do. Then, in accordance with the overall rotation of the operation unit 610, the second set driving wire 635J2 is rotated about the pitch drive shaft 6111 in the direction of the arrow P of FIG. 27, and thus also the first J2P pulley 614a connected thereto. Will rotate. As a result, the first J2P pulley 614a and the second J2P pulley 614b rotate when the second jaw drive bar 6132 rotates, and also when the pitch drive bar 6112 rotates. This means that the second manipulation input and the pitch manipulation input are output in a state in which the first J2P pulley 614a and the second J2P pulley 614b of the manipulation unit 610 are combined.

On the other hand, the first J1P pulley 615a and the second J1P pulley 615b connected thereto rotate together with the first driving pulley 6123 when the first driving bar 6222 rotates, and at the same time, the pitch driving bar 6112. ) And the first manipulator 612 and the second manipulator 613 connected thereto rotate together with the pitch drive pulley 6113 when the whole of the first manipulator 612 and the second manipulator 613 rotate together. That is, the first J1P pulley 615a and the second J1P pulley 615b may be regarded as pulleys that reflect the rotation of the first jaw driving bar 6222 and the rotation of the pitch driving bar 6112 together.

Similarly, the first J1P auxiliary pulley 616a and the second J1P auxiliary pulley 616b connected thereto also rotate together with the first jaw driving pulley 6223 when the first jaw driving bar 6222 rotates, and at the same time, the pitch driving bar. 6112 and the first operation unit 612 and the second operation unit 613 connected thereto rotate together with the pitch drive bar 6112 when the entire rotation around the pitch drive shaft 6111 is performed. That is, the first J1P auxiliary pulley 616a and the second J1P auxiliary pulley 616b may also be regarded as pulleys that reflect the rotation of the first jaw driving bar 6222 and the rotation of the pitch driving bar 6112 together.

Here, the rotation directions of the first J1P pulley 615a and the first J1P auxiliary pulley 616a are opposite to each other. This is because the first set driving pulley 6223 and the first J1P auxiliary pulley 616a are compared with the first set driving wire 635J1 connecting the first set driving pulley 6223 and the first J1P pulley 615a. This is because the Article 1 auxiliary drive wire 635J1 'to be connected is twisted once. That is, since the rotational force transmission directions of the first set driving wire 635J1 and the first set auxiliary driving wire 635J1 'are opposite to each other, the first J1P pulley 615a and the first J1P auxiliary pulley 616a. Direction of rotation is opposite to each other.

However, in the drawing, the first J2P pulley 614a and the second J2P pulley 614b are connected, and the first input part 6311 and the second differential pulley of the second J2P pulley 614b and the first differential pulley 631. Although the second input unit 6322 of 632 is shown to be connected to each other, this is for convenience of description, and the first J2P pulley 614a and the first differential in a state where the second J2P pulley 614b is omitted. It is also possible that the first input unit 6311 of the pulley 631 and the second input unit 6322 of the second differential pulley 632 are directly connected.

Similarly, in the drawing, the first J1P pulley 615a and the second J1P pulley 615b are connected, and the second J1P pulley 615b and the first input part 6321 of the second differential pulley 632 are shown to be connected. However, this is for convenience of description and a configuration in which the first J1P pulley 615a and the first input unit 6321 of the second differential pulley 632 are directly connected in a state where the second J1P pulley 615b is omitted. Would also be possible.

Similarly, in the drawing, a first J1P auxiliary pulley 616a and a second J1P auxiliary pulley 616b are connected, and a second J1P auxiliary pulley 616b and a second input portion 6312 of the first differential pulley 631 are connected. Although illustrated as being illustrated for convenience of description, the second input unit 6312 of the first J1P auxiliary pulley 616a and the first differential pulley 631 may be omitted while the second J1P auxiliary pulley 616b is omitted. It will also be possible to configure the connection directly.

(Overall operation of the sixth embodiment)

Hereinafter, with reference to the above description, the overall configuration of the pitch operation, yaw operation and actuation operation of the surgical instrument 600 according to the sixth embodiment of the present invention.

First, the first differential pulley 631 of the surgical instrument 600 according to the sixth embodiment of the present invention includes a first input unit 6311, a second input unit 6312, an output unit 6313, and a first differential control. A member 6314, a second differential control member 6315, and a differential control wire 6316, and the second differential pulley 632 includes a first input unit 6321, a second input unit 6322, and an output unit 6323. ), A first differential control member 6324, a second differential control member 6325, and a differential control wire 6326.

In detail, in order to perform the pitch, yaw and actuation operation of the end tool 620, the operation input of the operation unit 610 may be divided into pitch, yaw and actuation actions. Power transmission is required. The configuration of the operation unit is largely composed of a pitch operation unit 611, a first operation unit 612, a second operation unit 613, and these operation inputs should be separated into pitch, yaw and actuation components. In the case of pitch, the rotation operation of the pitch drive bar can be directly connected to the pitch operation of the end tool. However, the yaw and actuation operation of the end tool 620 should be configured by reconfiguring the operation inputs of Article 1 and Article 2, which can be expressed as follows.

Y = J1 + J2 (when the jaw rotates in the same direction)

A = J1-J2 (actuation action, the two pairs rotate in opposite directions)

To this end, the two jaw motion inputs are connected to the first J1P pulley 615a and the first J2P pulley 614a. In addition, a first J1P auxiliary pulley 616a is also provided so that the motion input of the first article is reversed. This can be expressed as the following formula.

J1 _P = J1 + P

J1 _P2 = -J1 + P

J2 _P = J2 + P

(Where J1 _P is rotation of J1 _P pulley, J1 _P2 is rotation of J1P auxiliary pulley, J2 _P is rotation of J2 _P pulley, J1 is rotation of Article 1 drive pulley, J2 is rotation of Article 2 drive pulley, P is the rotation of the pitch driven pulley)

Therefore, in order to transfer the output of the operation unit 610 to the end tool 620 using only the components of Y and A, the following components extraction is required in the power transmission unit 630.

Y = J1 + J2 = J2 _P -J1 _P2

A = J1-J2 = J1 _P -J2 _P

To this end, the power transmission unit 630 needs a differential pulley that receives J2 _P and J1 _P2 and outputs only the difference Y component, and a differential pulley that receives J1 _P and J2 _P and outputs only the difference A component.

Here, the first input unit 6311 of the first differential pulley 631 is connected to the first J2P pulley 614a (or the second J2P pulley 614b connected thereto), and the second set driving pulley 6133 rotates. It rotates also when the pitch drive pulley 6113 rotates. In addition, the second input unit 6312 of the first differential pulley 631 may be connected to the first J1P auxiliary pulley 616a (or the second J1P auxiliary pulley 616b connected thereto), and the first set driving pulley 6223 may be used. Is rotated when the rotation is performed, and is rotated when the pitch drive pulley 6113 rotates. The output unit 6313 of the first differential pulley 631 is connected to a yaw wire 635Y to control yaw operation of the end tool 620.

On the other hand, the first input portion 6321 of the second differential pulley 632 is connected to the first J1P pulley 615a (or the second J1P pulley 615b connected thereto), so that the first set driving pulley 6223 rotates. It rotates also when the pitch drive pulley 6113 rotates. In addition, the second input part 6322 of the second differential pulley 632 is connected to the first J2P pulley 614a (or the second J2P pulley 614b connected thereto), and the second set driving pulley 6133 rotates. It rotates also when the pitch drive pulley 6113 rotates. The output unit 6323 of the second differential pulley 632 is connected to an actuation wire 635A to control the actuation operation of the end tool 620.

On the other hand, the pitch drive pulley 6113 is connected to the pitch wire (635P), to control the pitch operation of the end tool (620).

First, the pitch operation is as follows.

As described above, in a state where the user holds the pitch drive bar 6112 of the pitch control unit 611 of the operation unit 610 by hand, the pitch drive bar 6112 is moved around the pitch drive shaft 6111 of FIG. 27. Rotation in the direction of arrow P (pitch) causes the pitch drive pulley 6113 to rotate together with the pitch drive shaft 6111. Then, the pitch pulley 623 connected to the pitch driving pulley 6131 and the pitch wire 635P and the yaw pulley 624, jaw 621, and second jaw connected thereto jaw) 622 is rotated about the pitch axis of rotation (see 420PX of FIG. 20) to perform the pitch operation.

At this time, the pitch manipulation does not affect the two differential pulleys 631 and 632 of the power transmission unit 630 that determine the yaw and actuation operation of the end tool 620. In more detail, when the first J2P pulley 614a, the first J1P pulley 615a, and the first J1P auxiliary pulley 616a are rotated around the pitch drive shaft 6111 by the pitch operation, the second J2P is rotated. The first input part 6311 of the first differential pulley 631 connected to the pulley 614b and the second input part 6312 of the first differential pulley 631 connected to the second J1P auxiliary pulley 616b rotate, respectively. Since the rotations of the first differential pulley 631 cancel each other, the output part 6313 of the first differential pulley 631 does not rotate. Similarly, the first input part 6321 of the second differential pulley 632 connected to the second J1P pulley 615b and the second input part 6322 of the second differential pulley 632 to which the second J2P pulley 614b is connected are provided. Each of them rotates, but the rotations in the second differential pulley 632 cancel each other, so that the output portion 6323 of the second differential pulley 632 does not rotate. Thus, the pitch operation can be performed independently of the yaw operation and the actuation operation.

Next, the yaw and actuation operations of the present embodiment will be described.

For the yaw operation, the user places the thumb on the first jaw drive bar 6222 and the index finger on the second jaw drive bar 6132. While rotating in the direction of arrow J1 in FIG. 27, the second jaw drive bar 6132 is rotated in the direction of arrow J2 in FIG. 27. Rotate in the same direction.) Or, for the actuation (actuation) operation, the user rotates the first jaw drive bar (6122) in the opposite direction of the arrow J1 of Figure 27, while the second jaw drive bar (6132) ) Is rotated in the direction of arrow J2 of FIG. 27 (that is, the first jaw drive bar 6122 and the second jaw drive bar 6132 are rotated in opposite directions).

Then, the first jaw drive pulley 6223 connected to the first jaw drive bar 6222 rotates about the first jaw drive shaft (ie, pitch drive bar), and the rotational force is the first jaw drive wire 635J1. ) Is transferred to the first J1P pulley 615a and the second J1P pulley 615b connected thereto, so that the second J1P pulley 615b rotates. When the second J1P pulley 615b rotates, the first input unit 6321 of the second differential pulley 632 connected thereto and the output unit 6323 of the second differential pulley 632 connected thereto rotate. In addition, the rotational force of the first jaw drive pulley (6123) is transmitted to the first J1P auxiliary pulley (616a) and the second J1P auxiliary pulley (616b) connected thereto through the first Article auxiliary drive wire (635J1 '), the second The J1P auxiliary pulley 616b rotates. When the second J1P auxiliary pulley 616b rotates, the second input unit 6312 of the first differential pulley 631 connected thereto and the output unit 6313 of the first differential pulley 631 connected thereto rotate.

At the same time, the second jaw drive pulley 6133 connected with the second jaw drive bar 6132 rotates around the second jaw drive shaft (ie, pitch drive bar), and this rotational force is the second jaw drive wire 635J2. Is transferred to the first J2P pulley 614a and the second J2P pulley 614b connected thereto to rotate the second J2P pulley 614b. When the second J2P pulley 614b rotates, the first input unit 6311 of the first differential pulley 631 connected thereto and the output part 6313 of the first differential pulley 631 connected thereto rotate. In addition, when the second J2P pulley 614b rotates, the second input part 6322 of the second differential pulley 632 connected thereto and the output part 6323 of the second differential pulley 632 connected thereto rotate.

Meanwhile, as described above, the first J2P pulley 614a and the second J2P pulley 614b connected thereto rotate together with the second jaw driving pulley 6133 when the second jaw driving pulley 6133 rotates, and the pitch When the drive pulley 6131 rotates, it rotates together with the pitch drive pulley 6113. Meanwhile, the first J1P pulley 615a and the second J1P pulley 615b connected thereto rotate together with the first driving pulley 6123 when the first driving pulley 6223 rotates, and the pitch driving pulley 6113 is rotated. Rotates together with the pitch drive pulley 6113. Similarly, the first J1P auxiliary pulley 616a and the second J1P auxiliary pulley 616b connected thereto also rotate together with the first driving pulley 6223 when the first driving pulley 6223 rotates, and the pitch driving pulley ( 6113 rotates together with the pitch drive pulley 6113.

As a result, when the second J2P pulley 614b and the second J1P auxiliary pulley 616b are connected to the two inputs of the first differential pulley 631, respectively, the rotation of the pitch driving pulley 6113 and the first jaw driving pulley ( Only the pure yaw motion control component can be extracted from the rotation of 6123 and the rotation of the second drive pulley 6133.

In the same way, when the second J1P pulley 615b and the second J2P pulley 614b are connected to the two inputs of the second differential pulley 632, respectively, the rotation of the pitch drive pulley 6113 and the first jaw drive pulley Only the pure actuation motion control component can be extracted from the rotation of the 6223 and the rotation of the Article 2 drive pulley 6133.

As a result, in order to perform the yaw operation, when the first jaw drive bar 6122 is rotated in the direction of arrow J1 of FIG. 27, and the second jaw drive bar 6132 is rotated in the direction of arrow J2 of FIG. 27, the first J2P pulley 614a and second J2P pulley 614b connected thereto rotate counterclockwise in FIG. 27, and first J1P pulley 615a and second J1P pulley 615b connected thereto counterclockwise in FIG. 27. And the first J1P auxiliary pulley 616a and the second J1P auxiliary pulley 616b rotate clockwise in FIG. 27. The first input part 6311 of the first differential pulley 631 connected to the second J2P pulley 614b rotates in a counterclockwise direction and the first differential pulley 631 connected to the second J1P auxiliary pulley 616b. The second input unit 6312 rotates in a clockwise direction. Therefore, while the output portion 6313 of the first differential pulley 631 rotates in the counterclockwise direction, the yaw wire 635Y connected to the output portion 6313 and the yaw pulley connected to the yaw wire 635Y ( The jaws 621 and 622 connected to the 624 and the yaw pulley 624 rotate about the yaw axis of rotation (see 420YX in FIG. 20), so that the yaw motion is performed.

In the same manner, in order to perform the actuation operation, the first jaw drive bar 6122 is rotated in the opposite direction to the arrow J1 in FIG. When rotated, the first J2P pulley 614a and the second J2P pulley 614b connected thereto rotate in the counterclockwise direction in FIG. 27, and the first J1P pulley 615a and the second J1P pulley 615b connected thereto are shown in FIG. 27. In clockwise direction 27, the first J1P auxiliary pulley 616a and the second J1P auxiliary pulley 616b rotate counterclockwise in FIG. 27. The first input part 6321 of the second differential pulley 632 connected to the second J1P pulley 615b rotates in a clockwise direction, and the first input of the second differential pulley 632 connected to the second J2P pulley 614b. The two input portions 6322 rotate counterclockwise. Accordingly, while the output portion 6323 of the second differential pulley 632 rotates clockwise, the actuation wire 635A connected to the output portion 6313 makes a linear movement in the direction of arrow A in FIG. The actuation operation of the first jaws 621 and the second jaws 622 is performed while the actuation axis connected to the wire 635A (see 420AX in FIG. 20) is translated.

According to the present invention, it is possible to extract the yaw motion and the actuation motion of the end tool from the rotation of each of the Article 1 drive pulley 6123 and the Article 2 drive pulley 6133. .

Thus, as described above, the pitch, article 1 and article 2 operation of the control panel is independently separated into the respective operating components of the pitch, yaw and actuation of the end tool, which is the pitch of the control panel, article 1 and article 2 Even if the manipulations occur simultaneously or not, they can be separated independently into the respective operating components of the pitch, yaw and actuation of the end tool.

Surgical instrument 600 according to the sixth embodiment of the present invention described above, the configuration of the various operation unit described in Figure 3a, etc., the configuration of the various power transmission unit described in Figures 4a and 7 to 19 and Figures 7 to 14 Various modifications described in the above will be applicable in various combinations.

Although the present invention has been described with reference to the limited embodiments, various embodiments are possible within the scope of the present invention. It will also be understood that, although not described, equivalent means are also incorporated into the present invention. Therefore, the true scope of protection of the present invention should be defined by the following claims.

100: surgical instrument
110:
120: End tool
130: Power transmission unit
140:

Claims (69)

delete An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
And the end tool is rotated in a direction substantially the same as the direction in which the manipulator is operated when the manipulator is rotated. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
The forming direction of the end tool at the one end of the connecting portion and the forming direction of the operating portion at the other end of the connecting portion are the same direction with respect to the extension axis (X axis) of the connecting portion. Surgical instrument, characterized in that. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
Wherein the operating portion extends in a direction away from a user gripping the surgical instrument. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
The operation unit includes at least one drive shaft and at least one drive bar rotating about the drive shaft to control the operation of the end tool, wherein the drive bar is formed toward the end tool rather than the drive shaft. Surgical Instruments. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
Surgical instrument, characterized in that the end of the operation portion is formed toward the end tool (end tool) so that the end of the user's finger holding the operation portion toward the end tool. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
Wherein the motion of the pitch wire, the yaw wire, and the actuation wire is performed independently of each other. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
A yaw pulley formed on one side of the first jaw and the second jaw and the yaw wire is wound; And
And a pitch pulley formed on one side of the yaw pulley and the pitch wire is wound. The method of claim 8,
The yaw wire is formed to pass through the extension line of the rotation axis of the pitch pulley,
The actuation wire is a surgical instrument, characterized in that formed to pass through the extension line of the rotation axis of the pitch pulley and the rotation axis of the yaw pulley. The method of claim 8,
On one side of the first jaw (jaw) and the second jaw (jaw), a yaw pulley base is fixedly coupled to the yaw pulley and formed with a guide hole at one end,
Surgical instrument on one side of the yaw pulley base, the yoke pulley engaging portion is coupled to the yoke pulley base protruding, the pitch pulley base fixed to the pitch pulley is formed. 11. The method of claim 10,
The pitch pulley is rotatably coupled relative to the pitch pulley coupling,
And the yaw pulley is rotatably coupled to the yaw pulley coupler. The method of claim 11,
Surgical instrument, characterized in that the pitch operation of the first pair and the second pair is performed in accordance with the rotation of the pitch wire wound on the pitch pulley. The method of claim 11,
Surgical instrument, characterized in that the pitch operation of the first and second pairs is performed in accordance with the rotation of the yaw wire wound on the yaw pulley. 11. The method of claim 10,
A guide hole is formed at one end of the first group and at one end of the second group,
An actuation shaft is inserted through the guide holes of the first and second sets and the guide holes of the yaw pulley base,
The actuation wire is coupled to the actuation axis,
And the actuation wires of the first and second articles are performed while the actuation wire is translated, the actuation axis connected thereto is translated along the guide holes. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
A pitch pulley formed on one side of the first jaw and the second jaw and the pitch wire is wound; And
The yaw pulley is formed on one side of the pitch pulley (yaw pulley) is wound around the surgical instrument further comprising. The method of claim 15,
The pitch wire is formed to pass through the extension line of the rotation axis of the yaw pulley,
And the actuation wire is formed to pass through an extension line of the rotation axis of the yaw pulley and an extension line of the rotation axis of the pitch pulley. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
Wherein,
A pitch operator for controlling a pitch motion of the end tool;
A yaw operator for controlling yaw movement of the end tool;
And an actuation operator for controlling the two jaws of the end tool to rotate in opposite directions to each other. The method of claim 17,
And the pitch manipulation unit is rotated about a pitch drive shaft, and the end tool is rotated in the same direction as the pitch manipulation unit based on the pitch drive shaft. The method of claim 17,
Wherein the end tool is rotated in the same direction as the yaw control part with respect to the yaw drive shaft when the yaw control part is rotated around the yaw drive shaft. The method of claim 17,
Wherein the first and second sets are rotated in opposite directions when the actuation manipulation portion is rotated about an actuation drive axis. The method of claim 17,
And the yaw control unit and the actuation operation unit rotate together with the pitch operation unit when the pitch operation unit is rotated about a pitch drive shaft. The method of claim 17,
The connecting part is a surgical instrument, characterized in that formed to be bent at least once while connecting the pitch drive shaft of the end tool and the operation unit. The method of claim 17,
And the yaw control unit and the actuation control unit are rotatably formed. 24. The method of claim 23,
The power transmission unit includes:
Two or more input units each receiving a predetermined amount of rotation from the operation unit;
A first differential member and a second differential member including an output unit for outputting a single rotation amount from the rotation amounts input to the two or more input units,
The pitch manipulation part and the yaw control part are connected to input parts of a first differential member, and the yaw wire is connected to an output part of the first differential member,
And the pitch manipulation unit and the actuation manipulation unit are connected to inputs of a second differential member, and the actuation wire is connected to the output of the second differential member. 25. The method of claim 24,
Wherein,
A pitch driving pulley which rotates together with the pitch operating unit when the pitch operating unit rotates,
YP pulley that rotates together with the pitch manipulation unit when the pitch manipulation unit rotates, and rotates together with the yaw manipulation unit when the yaw manipulation unit rotates;
And ap pulley which rotates together with the pitch manipulation unit when the pitch manipulation unit rotates, and rotates together with the actuation manipulation unit when the actuation manipulation unit rotates.
The pitch drive pulley and the YP pulley are each connected to inputs of the first differential member,
And the pitch drive pulley and the AP pulley are respectively connected to inputs of the second differential member. The method of claim 17,
And the actuation manipulation part is formed on the yaw manipulation part, and the actuation manipulation part rotates together with the yaw control part when the yaw manipulation part is rotated. 27. The method of claim 26,
The power transmission unit includes:
Two or more input units each receiving a predetermined amount of rotation from the operation unit;
A first differential member and a second differential member including an output unit for outputting a single rotation amount from the rotation amounts input to the two or more input units,
The pitch manipulation part and the yaw control part are connected to input parts of a first differential member, and the yaw wire is connected to an output part of the first differential member,
And the pitch manipulation portion, the yaw manipulation portion and the actuation manipulation portion are connected to inputs of a second differential member, and the actuation wire is connected to the output portion of the second differential member. 27. The method of claim 26,
Wherein,
A pitch driving pulley which rotates together with the pitch operating unit when the pitch operating unit rotates,
YP pulley that rotates together with the pitch manipulation unit when the pitch manipulation unit rotates, and rotates together with the yaw manipulation unit when the yaw manipulation unit rotates;
And an AYP pulley that rotates together with the pitch manipulation unit when the pitch manipulation unit rotates, rotates together with the yaw manipulation unit when the yaw manipulation unit rotates, and rotates together with the actuation manipulation unit when the actuation manipulation unit rotates.
The pitch drive pulley and the YP pulley are each connected to inputs of the first differential member,
And the YP pulley and the AYP pulley are respectively connected to inputs of the second differential member. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
Wherein,
A pitch operator for controlling a pitch motion of the end tool;
A first jaw operating portion for controlling the rotational movement of the first jaw;
Surgical instrument comprising a second jaw operation unit for controlling the rotational movement of the second jaw (jaw). 30. The method of claim 29,
And the pitch manipulation unit is rotated about a pitch drive shaft, and the end tool is rotated in the same direction as the pitch manipulation unit based on the pitch drive shaft. 30. The method of claim 29,
And the first jaw manipulation section and the second jaw manipulation section rotate together with the pitch manipulation section when the pitch manipulation section is rotated about a pitch drive shaft. 30. The method of claim 29,
When the first jaw operating portion is rotated, the first jaw is rotated in substantially the same direction as the first jaw operating portion,
And the second jaw is rotated in substantially the same direction as the second jaw manipulation when the second jaw operating portion is rotated. 30. The method of claim 29,
The connecting part is a surgical instrument, characterized in that formed to be bent at least once while connecting the pitch drive shaft of the end tool and the operation unit. 30. The method of claim 29,
The power transmission unit includes:
Two or more input units each receiving a predetermined amount of rotation from the operation unit;
A first differential member and a second differential member including an output unit for outputting a single rotation amount from the rotation amounts input to the two or more input units,
The pitch manipulation part, the first jaw manipulation part and the second jaw manipulation part are connected to inputs of a first differential member, and the yaw wire is connected to an output part of the first differential member,
The pitch manipulation unit, the first manipulation unit and the second manipulation unit are connected to inputs of a second differential member, and the actuation wire is connected to an output of the second differential member . 35. The method of claim 34,
Wherein,
J1P pulley that rotates together with the pitch operation unit when the pitch operation unit rotates, and rotates together with the first operation unit when the first manipulation unit rotates,
A J1P2 pulley that rotates together with the pitch manipulation unit when the pitch manipulation unit rotates, and rotates in a direction opposite to the J1P pulley when the first manipulation unit rotates, and
And a J2P pulley rotating together with the pitch manipulation unit when the pitch manipulation unit rotates, and rotating together with the second manipulation unit when the second manipulation unit rotates.
The J2P pulley and the J1P2 pulley are respectively connected to the input portions of the first differential member,
And the J2P pulley and the J1P pulley are respectively connected to inputs of the second differential member. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
The power transmission unit includes:
Two or more input units each receiving a predetermined rotational or translational movement,
And a differential member comprising an output unit for outputting a single rotational or translational motion from the rotational or translational motions input to the two or more inputs. The method of claim 36,
The power transmission unit has one or more differential members,
Wherein the differential member includes:
Two or more inputs, one output and a differential control member connecting the inputs and the outputs,
Wherein translational motion or rotational motion of at least a part of the differential control member occurs due to translational motions or rotational motions input to the two or more input portions,
A surgical instrument characterized in that the output unit translates or rotates by a sum or a difference of the translational or rotational movements input to the two or more input units by the translational or rotational movement of at least a portion of the differential control member . The method of claim 36,
The two or more input units are surgical instruments, characterized in that each independently capable of rotational movement or translational movement. The method of claim 36,
The differential member is a surgical instrument, characterized in that when the predetermined rotational movement or translational movement is input to only one of the input portion, the input rotational movement or translational movement is transmitted only to the output portion. The method of claim 36,
When a predetermined rotational movement or translational movement is input to each of the two or more input units, the sum or difference of the rotational or translational movements inputted to the respective inputting units is output through the output unit. . 41. The method of claim 40,
The rotational motion or translational motion outputted through the output section is expressed by the following equation
C = αA ± βB
It is calculated through, where C is the rotational movement or translational momentum output through the output unit, A and B is the rotational movement or translational movement amount respectively input through two or more inputs, α and β are the weight of each input amount Surgical instruments. The method of claim 36,
Surgical instrument, characterized in that the rotational or translational motion input to the respective input unit may not cause interference with each other. The method of claim 36,
Wherein the differential member includes:
A first input unit including two pulleys and a first input wire connecting the two pulleys, the first input unit receiving a predetermined amount of rotation through any one of the two pulleys;
A second input unit including two pulleys and a second input wire connecting the two pulleys, and receiving a predetermined amount of rotation through any one of the two pulleys;
A differential control bar, two pulleys formed at both ends of the differential control bar, a differential control wire connecting the two pulleys, a first differential joint to which the first input wire and the differential control wire are respectively coupled, and the second A differential control member comprising an input wire and a second differential joint to which the differential control wire is coupled respectively;
An output wire connected to both ends of the differential control member; And
And an output unit connected to the output wire and rotated by the output wire when the output wire is moved. 44. The method of claim 43,
The first input unit,
A translational motion member connected to the first differential joint for receiving translational motion, or
A first input wire connecting two pulleys and the two pulleys to receive a rotational movement, and allowing the first input wire and the differential control wire to couple at the first differential joint, Receive a predetermined rotational momentum through any one of the pulleys,
The second input unit,
A translational motion member connected to the second differential joint for receiving translational motion, or
And a second input wire connecting two pulleys and the two pulleys to receive a rotational movement, and allowing the second input wire and the differential control wire to couple at the second differential joint. Surgical instrument, characterized in that to receive a predetermined amount of rotational movement through any one of the pulleys. 44. The method of claim 43,
And the differential control member translates when the first input unit or the second input unit rotates, and rotates the output unit while the output wire is moved by the translational movement of the differential control member. The method of claim 36,
Wherein the differential member includes:
A first input unit and a second input unit receiving a predetermined rotational motion or translational motion, respectively;
A first differential control member connected to the first input unit and performing translational motion when the first input unit rotates or translates;
A second differential control member connected to the second input unit and performing translational motion when the second input unit performs rotational or translational motion;
A differential wire wound along pulleys provided in the first differential control member and the second differential control member, wherein at least one fixed end is formed at a portion of the differential wire; And
And at least a portion of the differential wire is connected, and the output unit rotates when the differential wire is moved. 47. The method of claim 46,
Wherein when the first input unit and the second input unit are rotated or translated, the first differential control member and the second differential control member, which are connected to each other,
And each of the first differential control member and the second differential control member performs a translational movement, wherein the differential wire connected thereto rotates the output unit while moving. 47. The method of claim 46,
The first differential control member includes a first pulley, a second pulley and a first differential control bar connecting the first pulley and the second pulley,
The second differential control member includes a first pulley, a second pulley and a second differential control bar connecting the first pulley and the second pulley,
The differential wire is wound along a first pulley of the first differential control member, a second pulley of the second differential control member, a second pulley of the first differential control member, and a first pulley of the second differential control member. Surgical instrument characterized by. 49. The method of claim 48,
The first pulley and the second pulley of the first differential control member are respectively connected to the first input part, and the first pulley and the second pulley of the first differential control member rotate when the first input part is translated or rotated. While the first differential control member performs a translational movement,
The first pulley and the second pulley of the second differential control member are respectively connected to the second input part, and the first pulley and the second pulley of the second differential control member rotate when the second input part is translated or rotated. And the second differential control member performs a translational movement. 47. The method of claim 46,
Wherein the first input includes a translational member coupled to the first differential control member for receiving translational motion,
And the second input unit includes a translation member connected to the second differential control member to receive the translation motion. 47. The method of claim 46,
One point of the differential wire and one point of the output unit is fixedly coupled, the output unit is characterized in that the output unit rotates when the differential wire is moved. 47. The method of claim 46,
The fixed end of the differential wire and the output unit is a surgical instrument, characterized in that formed on opposite sides with respect to each of the first differential control member and the second differential control member. The method of claim 36,
Wherein the differential member includes:
A first input unit and a second input unit, which are rotatable independently of each other and receive a predetermined amount of rotation;
An output pulley formed to be rotatable about an axis, an extension part extending in one direction from a rotation axis of the output pulley, and formed to be rotatable with the output pulley, and formed at one end of the extension part An output unit including a first differential control pulley and a second differential control pulley which are formed to be rotatable about an axis formed to have a predetermined angle to a rotation axis of the pulley and face each other; And
And a differential control wire connecting the first input unit, the first differential control pulley, the second input unit and the second differential control pulley. 54. The method of claim 53,
The differential control wire is wound in turn on the first input unit, the first differential control pulley, the second input unit, and the second differential control pulley, so that a predetermined amount of rotation is input to the first input unit or the second input units, respectively. If so, the surgical instrument, characterized in that for rotating the output unit by the sum or difference of the rotation amount input to the respective input units. 54. The method of claim 53,
When a predetermined rotational momentum is input to the first input unit or the second input units, respectively, the differential control wire connected thereto moves, and at the same time, the first differential control pulley or the second differential control pulley connected to the differential control wire And rotate the output pulley connected to the first differential control pulley and the second differential control pulley. The method of claim 36,
Wherein the differential member includes:
A first input unit including a first rotation shaft and a first input pulley rotating together with the first rotation shaft;
A second input part formed on one side of the first input part to be connected to the first input pulley and including a plurality of second input pulleys formed to face each other and rotatably around a second rotation axis;
A connection part formed on one side of the second input part, the connection part including a plurality of connection pulleys formed to face each other and rotatably formed around a fourth rotation axis;
An output part connected to the connection part and including an output pulley rotating together with a third rotation axis; And
The output unit, any one of the two connection pulleys, any one of the two second input pulleys, the first input pulley, the other one of the two second input pulleys, the other one of the two connection pulleys, and And a differential control wire formed to be in contact with the output part in order to rotate along the output part, the connection part, the second input part, and the first input part. 57. The method of claim 56,
Wherein the differential member includes:
Further comprising a coupling member connecting the first input unit and the second input unit,
The coupling member is formed to be fitted to the first rotation shaft and the second rotation shaft, respectively, the coupling member and the second rotation shaft is fixedly coupled, characterized in that the coupling member and the first rotation shaft is not fixedly coupled Surgical instruments. 57. The method of claim 56,
And the first input unit, the second input unit, the connection unit, and the output unit are arranged in this order, and the first input unit and the second input unit are formed to be rotatable about the second rotation axis. Instruments. 57. The method of claim 56,
The first input unit, the connecting unit, the second input unit and the output unit is arranged in the order, the first input unit, the connecting unit and the second input unit is formed to be rotatable about the second rotation axis together Surgical instruments. The method of claim 36,
The power transmission unit includes:
Two or more input units each receiving a predetermined amount of rotation from the operation unit;
And one or more differential gears including an output unit for outputting a single rotation amount from the rotation amounts input to the two or more input units. 64. The method of claim 60,
The differential gear
A first input including a first gear;
A second input including a second gear facing the first gear; And
An output pulley formed to be rotatable about an axis, an extension part extending in one direction from a rotation axis of the output pulley, the extension part formed to be rotatable with the output pulley, and formed to be rotatable about the extension part, and And an output unit including a differential control gear formed to mesh with the first gear and the second gear, respectively. 64. The method of claim 60,
The differential gear
A first input unit including a first pulley and a first gear connected to the first pulley through a first input wire and translating when the first pulley rotates;
A second input unit including a second pulley and a second gear connected to the second pulley through a second input wire and translating when the second pulley rotates;
Wherein the first gear and the second gear are configured to engage with the first gear and the second gear, and when the first gear or the second gear performs the translational motion, A differential control member including a gear; And
And an output unit connected to the differential control member through an output unit wire, wherein the output unit rotates by the output unit wire when the differential control member performs a translational movement. 64. The method of claim 60,
The differential gear
A first input including a first gear that translationally moves;
A second input section including a second gear for translational motion;
Wherein the first gear and the second gear are configured to engage with the first gear and the second gear, and when the first gear or the second gear performs the translational motion, A differential control member including a gear; And
And an output unit connected to the differential control member through an output unit wire, wherein the output unit rotates by the output unit wire when the differential control member performs a translational movement. 63. The method of claim 62 or 63,
And the first gear and the second gear act as racks, and the differential control gear acts as a pinion. 64. The method of claim 60,
The differential gear
A first input unit provided in the form of a gear rotatable about a predetermined axis;
A second input unit receiving the first input unit and having teeth on an inner circumferential surface thereof;
A differential control member accommodated in the second input portion and interposed between the teeth of the gear-shaped first input portion and the second input portion; And
And an output unit configured to provide a rotation path such that the differential control member is rotatable about an axis of the first input unit, and an output unit formed to be rotatable about an axis of the first input unit. 66. The method of claim 65,
And the second input portion and the output portion form an internal gear. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
The end tool comprises a first jaw and a second jaw each rotatably formed,
The power transmission unit includes a pitch wire connected to the operation unit to transmit a pitch movement of the operation unit to the end tool, a yaw wire connected to the operation unit to transmit a yaw movement of the operation unit to the end tool, And an actuation wire connected to the operating portion to transmit an actuation motion of the operating portion to the end tool,
The end tool is connected to the first and second jaws, the yaw pulley in which the yaw wire is wound, and a pitch pulley formed at one side of the yaw pulley and the pitch wire is wound. More,
The operation unit includes a pitch operator that controls a pitch movement of the end tool, and a yaw operator that controls a yaw movement of the end tool. And an actuation operator for controlling the two jaws of the end tool to rotate in opposite directions, wherein the yaw manipulator and the actuation manipulator are independently rotatable. Formed to
The operation unit may include: a pitch drive pulley rotating together with the pitch manipulation unit when the pitch manipulation unit rotates; an YP pulley rotating together with the pitch manipulation unit when the pitch manipulation unit rotates; And ap pulley which rotates together with the pitch manipulation unit when the pitch manipulation unit rotates and rotates together with the actuation manipulation unit when the actuation manipulation unit rotates.
The power transmission unit includes:
Two input units each receiving a predetermined rotation amount from the pitch driving pulley and the YP pulley, and an output unit for outputting a single rotation amount from the rotation amounts input to the two input units to the yaw wire. A first differential member comprising:
Two inputs each receiving a predetermined amount of rotation from the pitch drive pulley and the AP pulley, and an output for outputting a single amount of rotation from the amounts of rotation input to the two inputs and transmitting to the actuation wire. Further comprising a second differential member comprising a portion,
When the pitch manipulation unit rotates, rotation of the pitch manipulation unit is transmitted to the pitch pulley, the first jaw and the second jaw through the pitch wire, so that the first jaw and the second jaw are the same as the rotation direction of the pitch manipulator. Direction,
When the yaw manipulator rotates, the yaw manipulator rotates to the yaw pulley, the first jaw and the second jaw through the first differential member connected to the YP pulley and the yaw wire connected thereto. Transmitted, the first jaw and the second jaw rotate in the same direction as the rotation direction of the yaw control portion,
When the actuation manipulation unit rotates, the rotation of the actuation manipulation unit is transmitted to the first jaw and the second jaw through the second differential member connected to the AP pulley and the actuation wire connected thereto. Surgical instrument, characterized in that the first article and the second article is rotated in the opposite direction. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
The end tool comprises a first jaw and a second jaw each rotatably formed,
The power transmission unit includes a pitch wire connected to the operation unit to transmit a pitch movement of the operation unit to the end tool, a yaw wire connected to the operation unit to transmit a yaw movement of the operation unit to the end tool, And an actuation wire connected to the operating portion to transmit an actuation motion of the operating portion to the end tool,
The end tool is connected to the first and second jaws, the yaw pulley in which the yaw wire is wound, and a pitch pulley formed at one side of the yaw pulley and the pitch wire is wound. More,
The operation unit includes a pitch operator that controls a pitch movement of the end tool, and a yaw operator that controls a yaw movement of the end tool. And an actuation operator for controlling the two jaws of the end tool to rotate in opposite directions, wherein the actuation manipulator extends in one direction from the yaw manipulator. And the actuation manipulation portion is rotatable with the yaw manipulation portion and rotatable about an actuation drive shaft of the actuation manipulation portion when the yaw manipulation portion is rotated.
The operation unit may include: a pitch drive pulley rotating together with the pitch manipulation unit when the pitch manipulation unit rotates; an YP pulley rotating together with the pitch manipulation unit when the pitch manipulation unit rotates; And an AYP pulley which rotates together with the pitch manipulation unit when the pitch manipulation unit rotates, rotates together with the yaw manipulation unit when the yaw manipulation unit rotates, and rotates together with the actuation manipulation unit when the actuation manipulation unit rotates.
The operation unit is formed in the yaw control unit and rotates with the yaw control unit and the yaw drive pulley connected to the YP pulley, rotatably driven around the yaw drive shaft of the yaw operation unit and the yaw actuation drive connected to the AYP pulley And a pulley and an actuation drive pulley which is formed to be rotatable about an actuation drive shaft of the actuation operation part and is connected to the yaw-actuation drive pulley through a wire.
The power transmission unit includes:
Two input units each receiving a predetermined rotation amount from the pitch driving pulley and the YP pulley, and an output unit for outputting a single rotation amount from the rotation amounts input to the two input units to the yaw wire. A first differential member comprising:
Two input units for receiving a predetermined rotation amount from the YP pulley and the AYP pulley, respectively, and an output unit for outputting a single rotation amount from the rotation amounts input to the two input units to the actuation wire. Further comprising a second differential member comprising:
When the pitch manipulation unit rotates, rotation of the pitch manipulation unit is transmitted to the pitch pulley, the first jaw and the second jaw through the pitch wire, so that the first jaw and the second jaw are the same as the rotation direction of the pitch manipulator. Direction,
When the yaw manipulator rotates, the yaw drive pulley, the YP pulley, the first differential member and the yaw wire connected to the yaw pulley, the first jaw and the second jaw through the yaw wire connected thereto delivered to jaw, the first jaw and the second jaw rotate in the same direction as the rotational direction of the yaw control portion,
When the actuation manipulator rotates, the rotation of the actuation manipulator is driven by the actuation drive pulley, the yaw actuation drive pulley, the AYP pulley, the second differential member and the actuation wire connected thereto. Surgical instrument is delivered to the jaw (jaw) and the second jaw (jaw), the first jaw and the second jaw rotate in opposite directions to each other. An end tool comprising a first jaw and a second jaw operating independently of each other;
An operation unit for controlling the operation of the two jaws of the end tool;
A pitch wire connected to the operation unit to transfer a pitch movement of the operation unit to the end tool, a yoke wire connected to the operation unit to transfer a yaw movement of the operation unit to the end tool, and connected to the operation unit A power transmission unit including an actuation wire for transmitting an actuation movement of an operation unit to the end tool; And
One end is coupled to the end tool (end tool), the other end is coupled to the operation portion, the connection portion for connecting the operation portion and the end tool (end tool); includes;
At least a portion of the operation portion extends toward the end tool,
The operation direction of the operation unit and the operation direction of the end tool is intuitively matched,
The end tool comprises a first jaw and a second jaw each rotatably formed,
The power transmission unit includes a pitch wire connected to the operation unit to transmit a pitch movement of the operation unit to the end tool, a yaw wire connected to the operation unit to transmit a yaw movement of the operation unit to the end tool, And an actuation wire connected to the operating portion to transmit an actuation motion of the operating portion to the end tool,
The end tool is connected to the first and second jaws, the yaw pulley in which the yaw wire is wound, and a pitch pulley formed at one side of the yaw pulley and the pitch wire is wound. More,
The operation unit includes a pitch operator controlling a pitch movement of the end tool, a first jaw operation unit controlling a rotational movement of the first jaw, A second jaw operating portion for controlling the rotational movement of the second jaw,
The operation unit may be rotated together with the pitch operation unit when the pitch operation unit is rotated, and the J1P pulley rotates together with the first operation unit when the first operation unit is rotated, and rotates together with the pitch operation unit when the pitch operation unit is rotated. J1P2 pulley that rotates in the opposite direction to the rotation direction of the J1P pulley when the Article 1 control unit rotates and rotates together with the pitch operation unit when the pitch control unit rotates, and rotates together with the second control unit when the second control unit rotates. Further includes a J2P pulley,
The power transmission unit includes:
Two input units each receiving a predetermined amount of rotation from the J2P pulley and the J1P2 pulley, and an output unit configured to output a single rotation amount from the rotation amounts input to the two input units and to transmit the yaw wire to the yaw wire. A first differential member,
Two input units each receiving a predetermined amount of rotation from the J1P pulley and the J2P pulley, and an output unit for outputting a single rotation amount from the rotation amounts input to the two input units to the actuation wire. Further comprising a second differential member comprising:
When the pitch manipulation unit rotates, rotation of the pitch manipulation unit is transmitted to the pitch pulley, the first jaw and the second jaw through the pitch wire, so that the first jaw and the second jaw are the same as the rotation direction of the pitch manipulator. Direction,
When the Article 1 operation unit rotates,
Rotation of the first tank operating part is transmitted to the first tank and the second tank through the J1P2 pulley, the first differential member, the yaw wire and the yaw pulley connected to the first tank operating part,
Rotation of the first tank operating unit is transmitted to the first tank and the second tank through the J1P pulley, the second differential member, and the actuation wire connected to the first tank operating unit,
When the Article 2 operation unit rotates,
Rotation of the second tank operating part is transmitted to the first tank and the second tank through the J2P pulley, the first differential member, the yaw wire and the yaw pulley connected to the second tank operating part,
Surgical instrument is characterized in that the rotation of the second jaw operation unit is transmitted to the first jaw and the second jaw through the J2P pulley, the second differential member, the actuation wire connected to the second jaw manipulation unit.

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